公开(公告)号：US12066579B2

公开(公告)日：2024-08-20

申请号：US16876247

申请日：2020-05-18

Applicant: ABB Schweiz AG

Inventor： Santeri Vanhakartano ,  Kalevi Tervo ,  Eero Lehtovaara ,  Antti Pehkonen ,  Jari Saarinen

IPC: G01S7/62 ,  G01S7/06 ,  G01S7/51 ,  G01S13/91 ,  G01S13/937 ,  G01S15/93 ,  G01S17/93 ,  G06F3/04815

CPC classification number: G01S7/6281 ,  G01S7/062 ,  G01S7/51 ,  G01S7/6263 ,  G01S13/917 ,  G01S13/937 ,  G01S15/93 ,  G01S17/93 ,  G06F3/04815

Abstract: Real-time monitoring of surroundings of a marine vessel. One or more observation sensor modules are configured and positioned to generate sensor data extending around the marine vessel. One or more data processors are configured to map and visualize the sensor data in relation to a virtual model of the marine vessel. A user interface is configured to display the virtual model together with the visualized sensor data from a user selectable point of view to a mariner of the marine vessel.

公开(公告)号：US11169525B2

公开(公告)日：2021-11-09

申请号：US16710690

申请日：2019-12-11

Applicant: ABB Schweiz AG

Inventor： Juha Orivuori ,  Kalevi Tervo ,  Andrei Korsström

IPC: G05D1/02 ,  B63B39/08 ,  B63H20/00 ,  B63H25/38 ,  B63B79/15 ,  B63B79/20

Abstract: Controlling marine vessel: obtaining motion data related to the marine vessel; obtaining an operation state related to one or more apparatuses exerting force from the marine vessel to ambient water; detecting a disturbance in one or more degrees of freedom affecting the marine vessel based on the motion data; and determining control data for the one or more apparatuses exerting force to attenuate the detected disturbance.

公开(公告)号：US20200278433A1

公开(公告)日：2020-09-03

申请号：US16876247

申请日：2020-05-18

Applicant: ABB Schweiz AG

Inventor： Santeri Vanhakartano ,  Kalevi Tervo ,  Eero Lehtovaara ,  Antti Pehkonen ,  Jari Saarinen

IPC: G01S7/62 ,  G01S7/51 ,  G01S13/91 ,  G01S13/937 ,  G01S15/93 ,  G01S17/93 ,  G01S7/06

Abstract: Real-time monitoring of surroundings of a marine vessel. One or more observation sensor modules are configured and positioned to generate sensor data extending around the marine vessel. One or more data processors are configured to map and visualize the sensor data in relation to a virtual model of the marine vessel. A user interface is configured to display the virtual model together with the visualized sensor data from a user selectable point of view to a mariner of the marine vessel.

公开(公告)号：US12240581B2

公开(公告)日：2025-03-04

申请号：US17593784

申请日：2020-03-27

Applicant: ABB Schweiz AG

Inventor： Antti Matilainen ,  Kalevi Tervo ,  Santeri Vanhakartano

IPC: B63H25/02 ,  B63H21/21 ,  G05G9/047 ,  G06F3/01 ,  G06F3/0362 ,  G06F3/04847 ,  G05G1/015

Abstract: A user interface apparatus for controlling a marine vessel. The apparatus includes concentric positioned mechanical stick, block and ring for setting a control parameter, electric motors, and electric visual elements. The apparatus also includes one or more processors configured to operate the user interface apparatus in a plurality of operation modes, each operation mode with a distinct configuration, retrieve distinct settings for the tactile feedback and/or the visual feedback, and control the tactile feedback given by the one or more electric motors and/or the visual feedback given by the one or more electric visual elements based on the retrieved distinct settings during setting a selected control parameter mapped to the mechanical stick, block or ring.

公开(公告)号：US20240262482A1

公开(公告)日：2024-08-08

申请号：US18419838

申请日：2024-01-23

Applicant: ABB Schweiz AG

Inventor： Jonas Linder ,  Hamid Feyzmahdavian ,  Kalevi Tervo

IPC: B63H25/04 ,  B63H25/42

CPC classification number: B63H25/04 ,  B63H25/42

Abstract: A method of controlling a vessel having a plurality of thrusters, where the vessel is configured to operate in a bias mode where at least two of the thrusters provide thrust forces at least partly in opposite thrust directions, the method including estimating, by a control system, an operational condition associated with the vessel; and commanding, by the control system and based on the estimation, execution of a countermeasure associated with an activation of the bias mode, a deactivation of the bias mode or a change of a bias level of the bias mode. A control system and a vessel are also provided.

公开(公告)号：US20240193904A1

公开(公告)日：2024-06-13

申请号：US18534120

申请日：2023-12-08

Applicant: ABB Schweiz AG

Inventor： Stefano Marano ,  Bruno Arsenali ,  Deran Maas ,  Kalevi Tervo ,  Jukka Peltola

IPC: G06V10/26 ,  G06T7/11 ,  G06T7/70

CPC classification number: G06V10/26 ,  G06T7/11 ,  G06T7/70 ,  G08G3/02

Abstract: A method and a system for determining a region of water clearance of a water surface are disclosed. The method includes receiving image data of an image captured by a camera, determining water surface pixels of the image from the image data, determining image coordinates of at least a first group of the determined water surface pixels in an image coordinate system, determining a position and an orientation of the camera at the time the image has been captured, determining real-world coordinates of the corresponding water surface in the real world by transferring at least the image coordinates of the first group to a real-world coordinate system under consideration of the determined position and orientation of the camera, and determining a region of the water surface, which is defined by the determined real-world coordinates of the first group, as the region of water clearance.

公开(公告)号：US20220126971A1

公开(公告)日：2022-04-28

申请号：US17593784

申请日：2020-03-27

Applicant: ABB Schweiz AG

Inventor： Antti Matilainen ,  Kalevi Tervo ,  Santeri Vanhakartano

IPC: B63H25/02 ,  G05G9/047 ,  G06F3/0362 ,  G06F3/01 ,  G05G1/015

Abstract: A user interface apparatus for controlling a marine vessel. The apparatus includes concentric positioned mechanical stick, block and ring for setting a control parameter, electric motors, and electric visual elements. The apparatus also includes one or more processors configured to operate the user interface apparatus in a plurality of operation modes, each operation mode with a distinct configuration, retrieve distinct settings for the tactile feedback and/or the visual feedback, and control the tactile feedback given by the one or more electric motors and/or the visual feedback given by the one or more electric visual elements based on the retrieved distinct settings during setting a selected control parameter mapped to the mechanical stick, block or ring.