A control unit for automatically controlling at least part of an anchoring function of a marine vessel is arranged to obtain a predetermined relationship between keel depth and preferred distance from land for dropping anchor from the storage medium, to receive first sensor data indicative of a current distance between the marine vessel and land, to receive second sensor data indicative of a current keel depth of the marine vessel, to determine a suitable location and/or time period for dropping anchor based on the first sensor data, the second sensor data, and the predetermined relationship between keel depth and preferred distance from land for dropping anchor, and to control at least part of the anchoring function of the marine vessel based on the determined suitable location and/or time period for dropping anchor.
B63B 79/15 - Monitoring properties or operating parameters of vessels in operation using sensors, e.g. pressure sensors, strain gauges or accelerometers for monitoring environmental variables, e.g. wave height or weather data
B63B 21/00 - Tying-upShifting, towing, or pushing equipmentAnchoring
B63B 79/40 - Monitoring properties or operating parameters of vessels in operation for controlling the operation of vessels, e.g. monitoring their speed, routing or maintenance schedules
G01S 13/86 - Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
The present disclosure relates to a marine surround sensing system for controlling a marine vessel (100), wherein the marine surround sensing system comprises: Light Detection And Ranging, LiDAR, sensors (201) mounted around the marine vessel (100) for registering surroundings of the marine vessel (100), wherein the surroundings comprise obstacles (303, 500, 503, 601) and water (305), - a control unit (205) with neural network to process info about the registered surroundings which has been registered by the LiDAR sensors, where the control unit (205) is programmed to visualize the registered surroundings based on LiDAR data enriched by the neural network where the registered information has been classified into class objects in order to distinct between different types of objects (303, 500, 503, 601) in the surroundings.
A joystick device is operable to provide speed, direction and steering commands for controlling a marine vessel. A marine propulsion control system controls a set of propulsion units carried by a hull of a marine vessel, wherein the marine propulsion control system is adapted to receive an input command from such a joystick device.
A method to control a marine vessel comprising two or more drive units. The method involves registering an operating command indicating a requested sideways or bow bollard push function; detecting a current vessel position; registering the current vessel position as a desired vessel position; executing the requested bollard push function; and monitoring the current vessel position in order to detect a deviation relative to the desired vessel position. If it is detected that a deviation between the desired vessel position has exceeded a predetermined value, then the requested bollard push function is deactivated. The disclosure further relates to a control unit arranged to control a marine vessel and a marine vessel comprising such a control unit.
G05D 1/02 - Control of position or course in two dimensions
B63H 21/21 - Control means for engine or transmission, specially adapted for use on marine vessels
B63B 79/10 - Monitoring properties or operating parameters of vessels in operation using sensors, e.g. pressure sensors, strain gauges or accelerometers
5.
Method to control a marine vessel, a control unit and a vessel
An operating command indicating a requested vessel direction and plotting a course represented by a reference line for the requested vessel direction from an initial position is registered. It is then monitored if the vessel has deviated from the reference line and if a deviation from the reference line is detected, then a value for current vessel speed is detected. The detected vessel speed value is compared to a predetermined reference speed value to determine if the current vessel speed value is within a high speed interval or a low speed interval relative to the reference speed value. Depending on the determined speed interval the vessel is controlled according a low speed control strategy; or a high speed control strategy in order to move the vessel from a current vessel heading to the reference line and the requested vessel direction.
G05D 1/02 - Control of position or course in two dimensions
B63B 79/40 - Monitoring properties or operating parameters of vessels in operation for controlling the operation of vessels, e.g. monitoring their speed, routing or maintenance schedules
B63H 25/04 - Initiating means for steering automatic, e.g. reacting to compass
G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
B63H 20/00 - Outboard propulsion units, e.g. outboard motors or Z-drivesArrangements thereof on vessels
A method to control at least a first and a second parallel hybrid driveline arranged to drive a marine vessel is provided. Each driveline comprises a first propulsion unit operatively connected with a second propulsion unit to drive a propeller shaft and produce a thrust force. At least one control unit controls each first and second propulsion unit in all the parallel hybrid drivelines.
The method involves individual adjustment of the rotational speed of the first propulsion unit in each driveline to improve the efficiency of this first propulsion unit while maintaining the requested vessel speed, and a simultaneous adjustment of the load from the second propulsion unit in each driveline to improve the efficiency of each driveline and the complete driveline installation.
The present disclosure generally relates to a method for selectively forwarding data messages between a plurality of neighboring wireless communication nodes. The present disclosure also relates to a corresponding wireless communication node and to a wireless communication system.
12211. If it is detected that a deviation between the desired vessel position has exceeded a predetermined value, then the requested bollard push function is deactivated. The disclosure further relates to a control unit arranged to control a marine vessel and a marine vessel comprising such a control unit.
The present disclosure generally relates to a computer implemented method for controlling vehicles, specifically in relation to a plurality of vehicles passing through an intersection. The present disclosure also relates to a corresponding management server and computer program product.
H04W 4/44 - Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
11.
Method for forming a local navigation path for an autonomous vehicle
The present disclosure relates to a method for forming a local navigation path for an autonomous vehicle (100, 102), specifically using a plurality of path detection modules (206) and obstacle avoidance modules (208) individually targeted towards specific path and obstacle conditions, respectively. The present disclosure also relates to a navigation path determination system (200) and to a corresponding computer program product.
G06V 20/58 - Recognition of moving objects or obstacles, e.g. vehicles or pedestriansRecognition of traffic objects, e.g. traffic signs, traffic lights or roads
G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
A method for controlling a propulsion operation of a propulsion unit to reach a desired speed of a marine vessel. The method comprises obtaining a target speed configuration indicating the desired speed of the marine vessel, obtaining a current speed value associated with a current speed of the marine vessel, obtaining a fill level value associated with a fill level of one or more ballast tanks of the marine vessel, and controlling the propulsion operation of the propulsion unit to reach the desired speed based on the target speed configuration, the current speed value, and on the fill level value.
B63B 13/00 - Conduits for emptying or ballastingSelf-bailing equipmentScuppers
B63H 21/21 - Control means for engine or transmission, specially adapted for use on marine vessels
B63B 79/40 - Monitoring properties or operating parameters of vessels in operation for controlling the operation of vessels, e.g. monitoring their speed, routing or maintenance schedules
B63B 79/10 - Monitoring properties or operating parameters of vessels in operation using sensors, e.g. pressure sensors, strain gauges or accelerometers
B63H 21/14 - Use of propulsion power plant or units on vessels the vessels being motor-driven relating to internal-combustion engines
B63H 21/17 - Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
B63H 25/00 - SteeringSlowing-down otherwise than by use of propulsive elementsDynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
B63B 34/00 - Vessels specially adapted for water sports or leisureBody-supporting devices specially adapted for water sports or leisure
122) of the first propulsion unit (111, 112; 311, 321, 331) in each driveline to improve the efficiency of this first propulsion unit while maintaining the requested vessel speed, and a simultaneous adjustment of the load from the corresponding second propulsion unit (121, 122; 312, 322, 332) in each driveline to improve the efficiency of each driveline and the complete driveline installation.
The disclosure relates to a sensor mounting device for mounting a sensor to an object The device comprises an object attachment member for attaching the sensor mounting device to the object, a sensor attachment member for attaching the sensor to the sensor mounting device, wherein the object attachment member and the sensor attachment member are located at a distance from each other in a longitudinal direction of the sensor mounting device. The object attachment member and the sensor attachment member are connected by at least two connecting elements, and the at least two connecting elements are adapted to adjust an inclination of the object attachment member relative to the sensor attachment member by adjusting the distance in the longitudinal direction between portions of the object attachment member and the sensor attachment member. Furthermore, the present invention relates to a sensor assembly and a vehicle comprising a sensor mounting device.
The invention relates to a method and a control unit for automatic control of a propulsion arrangement comprising multiple propulsion units when maneuvering a marine vessel (100) during docking, station keeping and similar maneuvers, the vessel comprising at least two steerable main propulsion units (111, 112) and at least one transverse propulsion unit (113). The method comprises the steps of receiving input indicating a requested displacement of the vessel (100) towards a desired position and heading; calculating a required thrust vector for each main propulsion unit in order to achieve the requested displacement; determining whether the main propulsion units (111, 112) are able to provide the required thrust vectors. If all main propulsion units (111, 112) are able to provide the required thrust vectors then only the main propulsion units (111, 112) are controlled to perform the requested displacement. If at least one main propulsion unit is unable to provide a required thrust vector then the main propulsion units (111, 112) and the transverse propulsion unit (113) are controlled to perform the requested displacement.
G05D 1/02 - Control of position or course in two dimensions
B63H 25/00 - SteeringSlowing-down otherwise than by use of propulsive elementsDynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
16.
Method for determining a speed profile for a marine vessel
A method for determining a speed profile for a marine vessel. The method includes determining a travel segment along which the marine vessel is expected to travel; determining a curvature value indicative of a curvature of the travel segment; on the basis of at least the curvature value, determining a speed profile for the marine vessel along the travel segment.
B63H 21/21 - Control means for engine or transmission, specially adapted for use on marine vessels
B63H 25/04 - Initiating means for steering automatic, e.g. reacting to compass
G05D 1/02 - Control of position or course in two dimensions
B63B 79/40 - Monitoring properties or operating parameters of vessels in operation for controlling the operation of vessels, e.g. monitoring their speed, routing or maintenance schedules
The present disclosure generally relates to a computer implemented method for controlling vehicles, specifically in relation to a plurality of vehicles passing through an intersection. The present disclosure also relates to a corresponding management server and computer program product.
A method for controlling a propulsion operation of a propulsion unit to reach a desired speed of a marine vessel. The method comprises obtaining a target speed configuration indicating the desired speed of the marine vessel, obtaining a current speed value associated with a current speed of the marine vessel, obtaining a fill level value associated with a fill level of one or more ballast tanks of the marine vessel, and controlling the propulsion operation of the propulsion unit to reach the desired speed based on the target speed configuration, the current speed value, and on the fill level value.
The present disclosure generally relates to a method for selectively forwarding data messages between a plurality of neighboring wireless communication nodes. The present disclosure also relates to a corresponding wireless communication node and to a wireless communication system.
H04W 4/70 - Services for machine-to-machine communication [M2M] or machine type communication [MTC]
H04W 4/46 - Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
H04W 84/18 - Self-organising networks, e.g. ad hoc networks or sensor networks
H04W 40/24 - Connectivity information management, e.g. connectivity discovery or connectivity update
A method for a propulsion arrangement (101) for providing propulsive power to a marine vessel (1), the method comprising the steps of: —determining (S1) whether the vessel (1) is running by means of the propulsion arrangement at a constant vessel speed, —storing (S3) a value (V1) of the constant vessel speed, —detecting (S4) a value (n1) of a rotational speed of a rotatable part (102) of the propulsion arrangement while the vessel is running at the constant vessel speed, —storing (S5) the detected rotational speed value, —subsequently controlling (S6) the propulsion arrangement so as to change the vessel speed, —subsequently repeating (S7-S11) the steps of determining whether the vessel is running at a constant vessel speed, storing a value (V2-V4) of the constant vessel speed, and detecting and storing a value (n2-n4) of the rotational speed of the rotatable part, to obtain a plurality of stored pairs of vessel speed values and rotational speed values, and —creating (S12) based at least partly on the stored pairs of values a correlation record (126) correlating vessel speed values with rotational speed values.
B63H 21/21 - Control means for engine or transmission, specially adapted for use on marine vessels
F02D 3/00 - Controlling low-pressure fuel injection, i.e. where the fuel-air mixture containing fuel thus injected will be substantially compressed by the compression stroke of the engine, by means other than controlling only an injection pump
21.
A SYSTEM FOR CONTROLLING THE MOVEMENT OF A MARINE VESSEL
The invention relates to a system (18) for controlling the movement of a marine vessel (10) relative to a marine vessel location area (48). The system (18) comprises a receiver (20) adapted to be located on the marine vessel (10). The receiver (20) is adapted to receive signals actively transmitted from each one of at least three, preferably at least four, stationary transmitters (42, 44, 46, 66) at least partially delimiting the marine vessel location area (48) to thereby determine relative positions between the receiver (20) and each one of the at least three stationary transmitters (42, 44, 46). The system (18) is adapted to automatically issue a control input to a steering and propulsion arrangement (14) of the marine vessel (10) in response to the relative positions.
A control unit is provided for a working machine. The working machine includes an implement and a main body. The implement is movable relative to the main body. The working machine further includes a control entity adapted to be activated upon receipt of an action initiating signal. The control unit is adapted to identify that a human operator of the working machine actively operates the implement relative to the main body towards a reference surface until the implement contacts the reference surface, thereby identifying a human operator input signal, and upon identification of the operator input signal, issue the action initiating signal to the control entity.
E02F 3/32 - DredgersSoil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam working downwardly and towards the machine, e.g. with backhoes
23.
SENSOR MOUNTING DEVICE, SENSOR ASSEMBLY AND VEHICLE
The disclosure relates to a sensor mounting device (1) for mounting a sensor (2) to an object The device (1) comprises an object attachment member (10) for attaching the sensor mounting device (1) to the object, a sensor attachment member (20) for attaching the sensor (2) to the sensor mounting device (1), wherein the object attachment member (10) and the sensor attachment member (20) are located at a distance from each other in a longitudinal direction (A) of the sensor mounting device (1). The object attachment member (10) and the sensor attachment member (20) are connected by at least two connecting elements (30), and the at least two connecting elements (30) are adapted to adjust an inclination of the object attachment member (10) relative to the sensor attachment member (20) by adjusting the distance in the longitudinal direction (A) between portions of the object attachment member (10) and the sensor attachment member (20). Furthermore, the present invention relates to a sensor assembly (100) and a vehicle (200) comprising a sensor mounting device (1).
The invention relates to a control arrangement (16) for steering a marine vessel (10). The marine vessel (10) comprises a propulsion unit set (12) which in turn comprises at least one propulsion unit (14, 14', 14"). The control arrangement (16) comprises a calibration mode in which the control arrangement (16) is adapted to: - determine a motion request indicative of a desired motion of the marine vessel (10); - issue a control signal set to the propulsion unit set (12) for obtaining the desired motion. Moreover, in the calibration mode, the control arrangement (16) is adapted to: - receive an actual motion signal indicative the actual motion of the marine vessel (10); - on the basis of a motion difference between the actual motion of the marine vessel (10) and the desired motion of the marine vessel (10), determine a control signal offset required in order for the motion difference to be within a predetermined motion difference range, and - store the control signal offset and the desired motion.
B63H 25/42 - Steering or dynamic anchoring by propulsive elementsSteering or dynamic anchoring by propellers used therefor onlySteering or dynamic anchoring by rudders carrying propellers
B63H 21/21 - Control means for engine or transmission, specially adapted for use on marine vessels
B63H 20/00 - Outboard propulsion units, e.g. outboard motors or Z-drivesArrangements thereof on vessels
G05D 1/02 - Control of position or course in two dimensions
25.
METHOD FOR DETERMINING A SPEED PROFILE FOR A MARINE VESSEL
The present invention relates to a method for determining a speed profile (vp) for a marine vessel (10). The method comprises: - determining a travel segment (36) along which the marine vessel (10) is expected to travel; - determining a curvature value indicative of a curvature of the travel segment (36); - on the basis of at least the curvature value, determining a speed profile (vp) for the marine vessel (10) along the travel segment (36).
B63H 25/04 - Initiating means for steering automatic, e.g. reacting to compass
B63H 25/42 - Steering or dynamic anchoring by propulsive elementsSteering or dynamic anchoring by propellers used therefor onlySteering or dynamic anchoring by rudders carrying propellers
B63B 49/00 - Arrangements of nautical instruments or navigational aids
G05D 1/02 - Control of position or course in two dimensions
26.
Method and electronic control unit for determining a vertical position
A method is provided for determining the vertical position of at least a point of a ground portion using a work machine including an implement. The work machine further includes a position determining arrangement adapted to determine at least the vertical position of the implement and a force determining arrangement adapted to determine a force applied to the implement. The method includes determining a contact force value indicative of a contact force between the ground portion and the implement using the force determining arrangement, determining whether or not the contact force value is within a predetermined contact force value range, and if it is determined that the contact force value is within the predetermined contact force value range, using the position determining arrangement for determining at least the vertical position of a portion of the implement which is in contact with the ground portion.
G01C 5/00 - Measuring heightMeasuring distances transverse to line of sightLevelling between separated pointsSurveyors' levels
G01F 22/00 - Methods or apparatus for measuring volume of fluids or fluent solid material, not otherwise provided for
G01G 19/08 - Weighing apparatus or methods adapted for special purposes not provided for in groups for incorporation in vehicles
E02F 3/32 - DredgersSoil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam working downwardly and towards the machine, e.g. with backhoes
E02F 3/96 - DredgersSoil-shifting machines mechanically-driven with arrangements for alternate use of different digging elements
27.
Control unit for determining the position of an implement in a work machine
A control unit is provided for a work machine. The work machine includes an implement and an arrangement for determining the position and orientation of the implement. The control unit is adapted to, for at least two different orientations of the implement, perform the steps of:
determining that the implement contacts a reference surface,
determining the position of a reference point for the implement when the implement and the reference surface are in contact with each other, and
determining the position of a point on the periphery of the implement relative to said reference point by using said reference point position.
G01B 21/22 - Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapersMeasuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for testing the alignment of axes
G01B 21/02 - Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
E02F 3/32 - DredgersSoil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam working downwardly and towards the machine, e.g. with backhoes
E02F 3/14 - BucketsChainsGuides for buckets or chainsDrives for chains
A boat basically includes a hull, at least one propulsion unit, a heading sensor, a position sensor and a controller. The at least one propulsion unit is movably mounted to the hull, and has a propulsion axis. The heading sensor is configured to detect a heading of the boat. The position sensor is configured to detect a position of the boat. The controller is programmed to turn the at least one propulsion unit relative to the hull such that the propulsion axis moves away from a center point of the boat to correct the heading of the boat upon determining that the boat is drifting in a drift direction based on detection results of the heading sensor and the position sensor.
B63H 25/42 - Steering or dynamic anchoring by propulsive elementsSteering or dynamic anchoring by propellers used therefor onlySteering or dynamic anchoring by rudders carrying propellers
G05D 1/02 - Control of position or course in two dimensions
B63H 20/00 - Outboard propulsion units, e.g. outboard motors or Z-drivesArrangements thereof on vessels
The present disclosure relates to a method for forming a local navigation path for an autonomous vehicle (100, 102), specifically using a plurality of path detection modules (206) and obstacle avoidance modules (208) individually targeted towards specific path and obstacle conditions, respectively. The present disclosure also relates to a navigation path determination system (200) and to a corresponding computer program product.
A method for a propulsion arrangement (101) for providing propulsive power to a marine vessel (1), the method comprising the steps of: - determining (S1) whether the vessel (1) is running by means of the propulsion arrangement at a constant vessel speed, - storing (S3) a value (V1) of the constant vessel speed, - detecting (S4) a value (n1) of a rotational speed of a rotatable part (102) of the propulsion arrangement while the vessel is running at the constant vessel speed, - storing (S5) the detected rotational speed value, - subsequently controlling (S6) the propulsion arrangement so as to change the vessel speed, - subsequently repeating (S7-S11) the steps of determining whether the vessel is running at a constant vessel speed, storing a value (V2-V4) of the constant vessel speed, and detecting and storing a value (n2-n4) of the rotational speed of the rotatable part, to obtain a plurality of stored pairs of vessel speed values and rotational speed values, and - creating (S12) based at least partly on the stored pairs of values a correlation record (126) correlating vessel speed values with rotational speed values.
The present invention relates to a control unit (28) for a working machine (10). The working machine (10) comprises an implement (14) and a main body (12). The implement (14) is movable relative to said main body (12). The working machine (10) further comprises a control entity (32) adapted to be activated upon receipt of an action initiating signal. The control unit (28) is adapted to: - identify that a human operator of said working machine (10) actively operates said implement (14) relative to said main body (12) towards a reference surface (34) until said implement (14) contacts said reference surface (34), thereby identifying a human operator input signal, and - upon identification of said operator input signal, issue said action initiating signal to said control entity (32).
The present disclosure relates to a propulsion control system (30) for controlling a marine vessel (10) comprising at least four propulsion units (20, 22, 24, 26). The marine vessel (10) comprises a longitudinal centre line (L) and a transversal line (T). The transversal line (T) extends in a direction perpendicular to the longitudinal centre line (L) and also extends through the steering axis of the aftmost of the propulsion units. The marine vessel (10) comprises four quadrants (I, II, III, IV) defined by the longitudinal centre line (L) and the transversal line (T) wherein a first (I) and a second (II) quadrant are located on the same side of said longitudinal centre line (L). When a combined sway and yaw motion is desired, the thrust of one propulsion unit is directed towards the second (I) quadrant, and the thrust of the other propulsion units is directed towards the first (II) quadrant.
B63H 25/42 - Steering or dynamic anchoring by propulsive elementsSteering or dynamic anchoring by propellers used therefor onlySteering or dynamic anchoring by rudders carrying propellers
B63J 99/00 - Subject matter not provided for in other groups of this subclass
B63H 5/08 - Arrangements on vessels of propulsion elements directly acting on water of propellers of more than one propeller
B63H 5/125 - Arrangements on vessels of propulsion elements directly acting on water of propellers movably mounted with respect to hull, e.g. adjustable in direction
B63H 21/21 - Control means for engine or transmission, specially adapted for use on marine vessels
B63H 20/00 - Outboard propulsion units, e.g. outboard motors or Z-drivesArrangements thereof on vessels
33.
CONTROL UNIT FOR DETERMINING THE POSITION OF AN IMPLEMENT IN A WORK MACHINE
The present disclosure relates to a control unit (30) for a work machine (10). The work machine (10) comprises an implement (14) and an arrangement (32) for determining the position and orientation of the implement (14). The control unit (30) is adapted to, for at least two different orientations of the implement (14), perform the steps of: - determining that the implement (14) contacts a reference surface (38), - determining the position of a reference point (40) for the implement (14) when the implement (14) and the reference surface (38) are in contact with each other, and - determining the position of a point on the periphery of the implement (14) relative to said reference point (40) by using said reference point position (44).
The present disclosure relates to a method for determining the vertical position of at least a point of a ground portion (40) using a work machine (10) comprising an implement (14). The work machine (10) further comprises position determining means (32) adapted to determine at least the vertical position of the implement (14) and force determining means (28) adapted to determine a force applied to the implement (14). The method comprises: -determining a contact force value indicative of a contact force between the ground portion (40) and the implement (14) using the force determining means (28); -determining whether or not the contact force value is within a predetermined contact force value range, and -if it is determined that the contact force value is within the predetermined contact force value range, using the position determining means (32) for determining at least the vertical position of a portion of the implement (14) which is in contact with the ground portion (40).
The present disclosure relates to a propulsion control system (30) for controlling a marine vessel (10) comprising at least four propulsion units (20, 22, 24, 26). The marine vessel (10) comprises a longitudinal centre line (L) and a transversal line (T). The transversal line (T) extends in a direction perpendicular to the longitudinal centre line (L) and also extends through the steering axis of the aftmost of the propulsion units. The marine vessel (10) comprises four quadrants (I, II, III, IV) defined by the longitudinal centre line (L) and the transversal line (T) wherein a first (I) and a second (II) quadrant are located on the same side of said longitudinal centre line (L). When a combined sway and yaw motion is desired, the thrust of one propulsion unit is directed towards the second (I) quadrant, and the thrust of the other propulsion units is directed towards the first (II) quadrant.
B63H 5/125 - Arrangements on vessels of propulsion elements directly acting on water of propellers movably mounted with respect to hull, e.g. adjustable in direction
B63H 5/08 - Arrangements on vessels of propulsion elements directly acting on water of propellers of more than one propeller
In a marine propulsion control system for controlling a set of propulsion units carried by a hull of a vessel, cavitation typically occurs on the propulsion unit with reverse gear engaged, and in a triple propulsion unit installation the normally idle center propulsion unit can be used to increase the reverse thrust and thereby limit the RPM of propulsion units in reverse, so that the cavitation effect is limited, and simultaneously allow for higher forward thrust on the third propulsion unit, thus increasing the total thrust for the vessel.
B63H 25/00 - SteeringSlowing-down otherwise than by use of propulsive elementsDynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
A marine propulsion control system for controlling a set of propulsion units carried by a hull of a vessel is based on the recognition that simultaneous control of yaw and sway movements can be achieved through a control system for a set of propulsion units where two propulsion units achieve yaw movement and two propulsion units achieve a sway movement.
B63H 25/42 - Steering or dynamic anchoring by propulsive elementsSteering or dynamic anchoring by propellers used therefor onlySteering or dynamic anchoring by rudders carrying propellers
B63H 23/08 - Transmitting power from propulsion power plant to propulsive elements with mechanical gearing for transmitting drive from a single propulsion power unit with provision for reversing drive
The present invention relates to a marine propulsion control system (9) for controlling a set of propulsion units (6, 7, 8) carried by a hull (2) of a vessel. The invention is based on the realization that cavitation typically occurs on the propulsion unit with reverse gear engaged, and that in a triple propulsion unit installation the normally idle center propulsion unit can be used to increase the reverse thrust and thereby limit the RPM of propulsion units in reverse, so that the cavitation effect is limited, and simultaneously allow for higher forward thrust on the third propulsion unit, thus increasing the total thrust for the vessel.
The present invention relates to a marine propulsion control system (9) for controlling a set of propulsion units (5, 6, 7, 8) carried by a hull (2) of a vessel (1). The invention is based on the inventor's realization that simultaneous control of yaw and sway movements can be achieved through a control system for a set of propulsion units where two propulsion units achieve yaw movement and two propulsion units achieve a sway movement.
Steering control system for a vessel including set of propulsion units including at least two propulsion units pivotally arranged in relation to the hull of the vessel for generating a driving thrust of the vessel in a desired direction, the control system including a steering control instrument for generating input signals for control of a desired route of the vessel a control unit complex controlling the angular position of the propulsion units, the control unit complex being arranged for receiving input signals from the steering control instrument, which input signals represents a general direction of movement of the vessel and thus a general desired angular position of each propulsion unit the control unit complex furthermore containing a feed forward pivot angle correction control block for each propulsion unit, which feed forward pivot angle correction blocks are arranged to generate desired angular positions of the propulsion units by adding a correction value to the general desired angular position of the propulsion units, the correction value including compensation for toe in setting of the propulsion units and/or Ackerman position setting of the propulsion units, and method for operating such a steering control system.
B63H 25/42 - Steering or dynamic anchoring by propulsive elementsSteering or dynamic anchoring by propellers used therefor onlySteering or dynamic anchoring by rudders carrying propellers
In a method for calibrating a system for controlling thrust and steering of a drive arrangement in a watercraft, the system includes an operating device adapted for indicating a requested direction of travel of the watercraft, the operating device being connected to a control unit for providing corresponding thrust and steering commands to the drive arrangement. The method includes receiving an activation command in the control unit, for beginning the calibration, detecting any movements of the operating device, storing values corresponding to the movements in the control unit together with corresponding thrust and steering values, and repeating the detecting step and the storing step until a termination command is received in the control unit, thereby using the stored values in subsequent operation of the operating device for indicating the direction of travel of the watercraft. An arrangement for calibrating a system for controlling thrust and steering of a drive arrangement in a watercraft is also provided.
B63H 25/00 - SteeringSlowing-down otherwise than by use of propulsive elementsDynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
42.
Method and arrangement for controlling a drive arrangement in a watercraft
A method is provided for controlling a drive arrangement in a watercraft. The method includes detecting thrust and steering commands from an operating device which is connected to a control unit, and controlling the drive arrangement based on detected commands from the operating device for obtaining a desired course of travel of the watercraft, wherein a force is generated which acts towards a defined position on the watercraft. The method furthermore includes determining the speed of the watercraft and adapting the position on which the force from the drive arrangement acts as a function of at least the speed and as a function of the influence of the position of the center of pressure of the watercraft, thereby maintaining the desired course of travel. An arrangement for controlling a drive arrangement in a watercraft is also provided.
B63H 21/22 - Use of propulsion power plant or units on vessels the propulsion power units being controlled from exterior of engine room, e.g. from navigation bridgeArrangements of order telegraphs
B63H 23/00 - Transmitting power from propulsion power plant to propulsive elements
43.
Marine propulsion control system and a vessel containing such a marine propulsion control system
A marine propulsion control system for controlling a set of propulsion units carried by a hull of a vessel, said marine propulsion control system including an input command regulator for generating a desired delivered thrust by the propulsion units in the set of propulsion units, a set of control units, wherein each control unit is associated with a separate propulsion unit in said set of propulsion units, wherein each control units is arranged to control the delivered thrust of the associated propulsion unit depending on input control signals received by the control unit and vessel including such a propulsion control unit.
B63H 5/125 - Arrangements on vessels of propulsion elements directly acting on water of propellers movably mounted with respect to hull, e.g. adjustable in direction
44.
Steering control system for a vessel, a vessel including such a steering control system and a method for controlling a steering system
Steering control system for a vessel including at least two propulsion units pivotally arranged in relation to the hull of the vessel for generating a driving thrust of the vessel in a desired direction, wherein each propulsion unit is moveable within a working volume defined for each propulsion unit and wherein the working volume for neighboring propulsion units of the at least two propulsion units have a common space, the control system including at least two separate control units each controlling an associated propulsion unit, and a steering control instrument for determining the desired angular position of the propulsion units, where each of the separate control units are arranged for receiving a first input signal from the steering control instrument for determining the desired angular position of its associated propulsion unit and second input signal(s) originating from the other separate control units, associated with neighboring propulsion units, which second input signal(s) indicating the status of the their associated propulsion units.
B63H 21/22 - Use of propulsion power plant or units on vessels the propulsion power units being controlled from exterior of engine room, e.g. from navigation bridgeArrangements of order telegraphs
45.
STEERING CONTROL SYSTEM FOR A VESSEL AND METHOD FOR OPERATING SUCH A STEERING CONTROL SYSTEM
Steering control system (7) for a vessel (1) including set of propulsion units including at least two propulsion units (5,6) pivotally arranged in relation to the hull (2) of the vessel (1) for generating a driving thrust of said vessel (1) in a desired direction, said control system including a steering control instrument (10,11) for generating input signals for control of a desired route of the vessel a control unit complex (8,9) controlling the angular position of said propulsion units (5,6), said control unit complex being arranged for receiving input signals from said steering control instrument (10,11), which input signals represents a general direction of movement of the vessel and thus a general desired angular position of each propulsion unit said control unit complex furthermore containing a feed forward pivot angle correction control block for each propulsion unit, which feed forward pivot angle correction blocks are arranged to generate desired angular positions of the propulsion units by adding a correction value to the general desired angular position of the propulsion units, said correction value including compensation for toe in setting of said propulsion units and/or Ackerman position setting of said propulsion units, and method for operating such a steering control system.
A marine propulsion control system for controlling a set of propulsion units carried by a hull of a vessel, said marine propulsion control system including an input command regulator for generating a desired delivered thrust by the propulsion units in the set of propulsion units, a set of control units, wherein each control unit is associated with a separate propulsion unit in said set of propulsion units, wherein each control units is arranged to control the delivered thrust of the associated propulsion unit depending on input control signals received by the control unit and vessel including such a propulsion control unit.
Steering control system for a vessel including at least two propulsion units pivotally arranged in relation to the hull of the vessel for generating a driving thrust of said vessel in a desired direction, wherein each propulsion unit is moveable within a working volume defined for each propulsion unit and wherein the working volume for neighbouring propulsion units of said at least two propulsion units have a common space, said control system including at least two separate control units each controlling an associated propulsion unit, and a steering control instrument for determining the desired angular position of the propulsion units, where each of said separate control units are arranged for receiving a first input signal from said steering control instrument for determining the desired angular position of its associated propulsion unit and second input signal(s) originating from the other separate control units, associated with neighbouring propulsion units, which second input signal(s) indicating the status of the their associated propulsion units.
The invention relates to a method for controlling a drive arrangement (4, 5) in a watercraft (1 ), comprising: detecting thrust and steering commands from an operating device (10) which is connected to a control unit (8); and controlling said drive arrangement (4, 5) based on detected commands from said operating device (10), for obtaining a desired course of travel of the watercraft (1 ), wherein a force is generated which acts towards a defined position (17) on said watercraft (1 ). According to the invention, said method furthermore comprises: determining the speed (v) of the watercraft (1 ); and adapting said position (17) on which the force from said drive arrangement (4, 5) acts as a function of at least said speed (v) and as a function of the influence of the position of the centre of pressure (18) of said watercraft (1 ), thereby maintaining said desired course of travel. The invention also relates to an arrangement for controlling a drive arrangement (4, 5) in a watercraft (1 ).
B63H 25/42 - Steering or dynamic anchoring by propulsive elementsSteering or dynamic anchoring by propellers used therefor onlySteering or dynamic anchoring by rudders carrying propellers
B63H 21/22 - Use of propulsion power plant or units on vessels the propulsion power units being controlled from exterior of engine room, e.g. from navigation bridgeArrangements of order telegraphs
B63H 25/46 - Steering or dynamic anchoring by jets
G05D 1/02 - Control of position or course in two dimensions
49.
A METHOD AND ARRANGEMENT FOR CALIBRATION OF A SYSTEM FOR DETERMINING THE AMOUNT OF LIQUID IN A RESERVOIR
The invention relates to a method for calibration of a system for determining the amount of fuel in a fuel tank (1 ), comprising: a first step (14) of initiating a start of said calibration; a second step (15) which comprises detection of a level (Li) of a fuel-level sensor (4) and detection of a point in time at which said level (L-i) was detected; and further steps (17; 19) corresponding to a periodical repetition of said second step (15). According to the invention, said calibration is carried out during addition of fuel (6) to said fuel tank (1 ) at a generally constant flow velocity. The invention also relates to an arrangement for such a calibration.
G01F 25/00 - Testing or calibration of apparatus for measuring volume, volume flow or liquid level or for metering by volume
G01F 17/00 - Methods or apparatus for determining the capacity of containers or cavities, or the volume of solid bodies
G01F 23/00 - Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
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