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公开(公告)号：US20200249333A1
公开(公告)日：2020-08-06
申请号：US16637445
申请日：2017-08-30
申请人： CPAC SYSTEMS AB
发明人： Peter FORSBERG , Oskar NORESSON
摘要： 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.
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公开(公告)号：US10329733B2
公开(公告)日：2019-06-25
申请号：US15576808
申请日：2015-06-16
申请人： CPAC SYSTEMS AB
发明人： Magnus Johansson , Per Björe Dahl
IPC分类号： E02F9/26 , E02F3/43 , G01L5/00 , E02F9/20 , G01C5/00 , G01F22/00 , G01G19/08 , E02F3/32 , E02F3/96
摘要： 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.
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公开(公告)号：US20170166290A1
公开(公告)日：2017-06-15
申请号：US15118106
申请日：2014-02-12
申请人： CPAC Systems AB
CPC分类号： B63H25/42 , B63H5/08 , B63H5/125 , B63H20/12 , B63H21/21 , B63H25/02 , B63H2020/003 , B63H2025/026 , B63J99/00 , B63J2099/008
摘要： 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.
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公开(公告)号：US11796656B2
公开(公告)日：2023-10-24
申请号：US16637445
申请日：2017-08-30
申请人： CPAC SYSTEMS AB
发明人： Peter Forsberg , Oskar Noresson
CPC分类号： G01S7/4972 , B60S1/48 , B60S1/54 , B60S1/56 , G01S7/4813 , G01S17/931
摘要： 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.
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公开(公告)号：US20230205207A1
公开(公告)日：2023-06-29
申请号：US17999282
申请日：2020-05-20
申请人： CPAC SYSTEMS AB
CPC分类号： G05D1/0206 , B63H21/213 , B63B79/10 , B63H2021/216 , B63B2213/02
摘要： 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.
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公开(公告)号：US20210213972A1
公开(公告)日：2021-07-15
申请号：US16477020
申请日：2017-01-27
申请人： CPAC SYSTEMS AB
IPC分类号： B60W60/00 , B60W40/06 , G01S17/89 , G01S17/931 , G06K9/00
摘要： 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.
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公开(公告)号：US11047105B2
公开(公告)日：2021-06-29
申请号：US15765750
申请日：2015-10-06
申请人： CPAC SYSTEMS AB
发明人： Pål Loodberg
摘要： 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.-
公开(公告)号：US10814952B2
公开(公告)日：2020-10-27
申请号：US15433050
申请日：2017-02-15
摘要： 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.
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公开(公告)号：US10711430B2
公开(公告)日：2020-07-14
申请号：US16094020
申请日：2016-04-19
申请人： CPAC SYSTEMS AB
发明人： Per Björe Dahl
摘要： 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.
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公开(公告)号：US20230227140A1
公开(公告)日：2023-07-20
申请号：US18154115
申请日：2023-01-13
申请人： CPAC SYSTEMS AB
发明人： Jonathan PERSSON , Eric GUSTAFSSON
摘要： 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.
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