US 11,809,179 B2
Castable sonar devices and operations in a marine environment
Jeremiah Clark, Tulsa, OK (US); Matthew Laster, Broken Arrow, OK (US); William B. Newberry, Jr., Tulsa, OK (US); and Kristopher C. Snyder, Claremore, OK (US)
Assigned to Navico, Inc., Tulsa, OK (US)
Filed by Navico, Inc., Tulsa, OK (US)
Filed on Jan. 25, 2023, as Appl. No. 18/159,209.
Application 18/159,209 is a continuation of application No. 16/926,914, filed on Jul. 13, 2020, granted, now 11,573,566.
Application 16/926,914 is a continuation of application No. 16/185,770, filed on Nov. 9, 2018, granted, now 10,719,077, issued on Jul. 21, 2020.
Application 16/185,770 is a continuation in part of application No. 16/001,384, filed on Jun. 6, 2018, granted, now 10,725,469, issued on Jul. 28, 2020.
Application 16/001,384 is a continuation of application No. 15/292,704, filed on Oct. 13, 2016, granted, now 10,019,002, issued on Jul. 10, 2018.
Prior Publication US 2023/0161340 A1, May 25, 2023
Int. Cl. G05D 1/00 (2006.01); B64D 1/02 (2006.01); B64D 47/08 (2006.01); B64C 39/02 (2023.01); B63G 8/00 (2006.01); G01S 15/89 (2006.01); G01S 15/88 (2006.01); G01S 13/88 (2006.01); G01S 7/00 (2006.01); G01S 15/96 (2006.01); B64D 47/02 (2006.01); G01S 7/62 (2006.01); G05D 1/02 (2020.01); B63B 34/00 (2020.01); B63B 35/00 (2020.01); B63B 21/66 (2006.01); B64U 101/30 (2023.01); B64U 101/60 (2023.01)
CPC G05D 1/0038 (2013.01) [B63B 34/00 (2020.02); B63B 34/05 (2020.02); B63G 8/001 (2013.01); B64C 39/024 (2013.01); B64D 1/02 (2013.01); B64D 47/02 (2013.01); B64D 47/08 (2013.01); G01S 7/003 (2013.01); G01S 7/6272 (2013.01); G01S 13/88 (2013.01); G01S 15/88 (2013.01); G01S 15/89 (2013.01); G01S 15/8902 (2013.01); G01S 15/96 (2013.01); G05D 1/0016 (2013.01); G05D 1/0094 (2013.01); G05D 1/0206 (2013.01); B63B 21/66 (2013.01); B63B 2035/005 (2013.01); B63B 2035/006 (2013.01); B63G 2008/005 (2013.01); B64U 2101/30 (2023.01); B64U 2101/60 (2023.01); B64U 2201/10 (2023.01); B64U 2201/20 (2023.01)] 20 Claims
OG exemplary drawing
 
1. A system for controlling castable sonar devices, the system comprising:
a plurality of castable sonar devices, wherein the plurality of castable sonar devices comprises a first castable sonar device and a second castable sonar device, and wherein each castable sonar device within the plurality of castable sonar devices comprises:
a housing configured to float on a body of water above an underwater environment, wherein the housing comprises a tether connection feature configured to connect to a tether or fishing line;
a power source positioned within the housing;
a transducer assembly positioned within the housing, wherein the transducer assembly comprises at least one transducer element positioned within the housing and aimed downwardly therefrom;
a location sensor configured to determine a position of the castable sonar device;
a propulsion system configured to propel the castable sonar device along a surface of the body of water;
a wireless communication element configured to transmit one or more signals to and receive one or more signals from a remote computing device; and
processing circuitry provided within the housing, wherein the processing circuitry is configured to:
determine a current position of the castable sonar device;
transmit the current position of the castable sonar device to the remote computing device;
receive instructions from the remote computing device to move to a location;
cause the propulsion system to operate to cause the castable sonar device to move to the location;
receive one or more sonar returns from the at least one transducer element; and
transmit, via the wireless communication element, sonar data or sonar image data corresponding to the one or more sonar returns to the remote computing device for presentation on a display of the remote computing device; and
the remote computing device comprising:
a wireless communication element configured for wireless communication with each of the plurality of castable sonar devices;
a user interface comprising a display; and
processing circuitry configured to:
determine a first position of the first castable sonar device and a second position of the second castable sonar device such that the first castable sonar device and the second castable sonar device form a relative position with respect to each other;
send a first signal to the first castable sonar device to cause the propulsion system of the first castable sonar device to propel the first castable sonar device to the first position;
send a second signal to the second castable sonar device to cause the propulsion system of the second castable sonar device to propel the second castable sonar device to the second position;
receive the one or more sonar images from the plurality of castable sonar devices; and
cause presentation of the one or more sonar images on the display of the remote computing device.