Methods for controlling movement of a marine vessel near an object
First Claim
1. A method for controlling movement of a marine vessel near an object, the marine vessel being propelled by thrust generated by a marine propulsion system according to commands from a controller, the method comprising:
- accepting, with the controller, a signal representing a desired movement of the marine vessel from a desired movement operational section;
resolving the desired movement of the marine vessel into a target linear thrust and a target moment about a preselected point on the marine vessel;
determining a magnitude and a direction of a thrust vector of the marine propulsion system that will result in achievement of the target linear thrust and the target moment about the preselected point on the marine vessel;
sensing, with a sensor, a shortest distance between the object and the marine vessel and a direction of the object with respect to the marine vessel; and
with the controller, comparing the shortest distance between the object and the marine vessel to a predetermined range;
wherein in response to the marine vessel being within the predetermined range of the object, the controller automatically nullifies any vector components of the thrust vector that would otherwise cause net thrust in the direction of the object.
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Accused Products
Abstract
A method for controlling movement of a marine vessel near an object includes accepting a signal representing a desired movement of the marine vessel from a joystick. A sensor senses a shortest distance between the object and the marine vessel and a direction of the object with respect to the marine vessel. A controller compares the desired movement of the marine vessel with the shortest distance and the direction. Based on the comparison, the controller selects whether to command the marine propulsion system to generate thrust to achieve the desired movement, or alternatively whether to command the marine propulsion system to generate thrust to achieve a modified movement that ensures the marine vessel maintains at least a predetermined range from the object. The marine propulsion system then generates thrust to achieve the desired movement or the modified movement, as commanded.
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Citations
20 Claims
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1. A method for controlling movement of a marine vessel near an object, the marine vessel being propelled by thrust generated by a marine propulsion system according to commands from a controller, the method comprising:
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accepting, with the controller, a signal representing a desired movement of the marine vessel from a desired movement operational section; resolving the desired movement of the marine vessel into a target linear thrust and a target moment about a preselected point on the marine vessel; determining a magnitude and a direction of a thrust vector of the marine propulsion system that will result in achievement of the target linear thrust and the target moment about the preselected point on the marine vessel; sensing, with a sensor, a shortest distance between the object and the marine vessel and a direction of the object with respect to the marine vessel; and with the controller, comparing the shortest distance between the object and the marine vessel to a predetermined range; wherein in response to the marine vessel being within the predetermined range of the object, the controller automatically nullifies any vector components of the thrust vector that would otherwise cause net thrust in the direction of the object. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method for controlling movement of a marine vessel near an object, the marine vessel being propelled by thrust generated by a marine propulsion system, the method comprising:
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accepting, with a controller, a signal representing a desired movement of the marine vessel from a joystick; sensing, with a sensor, a shortest distance between the object and the marine vessel and a direction of the object with respect to the marine vessel; with the controller, comparing the desired movement of the marine vessel with the shortest distance and the direction; based on the comparison, selecting with the controller whether to command the marine propulsion system to generate thrust to achieve the desired movement, or alternatively whether to command the marine propulsion system to generate thrust to achieve a modified movement that ensures the marine vessel maintains at least a predetermined range from the object; and generating thrust with the marine propulsion system to achieve the desired movement or the modified movement, as commanded. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20)
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Specification