US 12,436,532 B2
Control method and control unit for a marine vessel
Simon Björkman, Gothenburg (SE); David Wall, Gothenburg (SE); Lennart Dahlström, Mölnlycke (SE); and Oskar Waldemarsson, Gothenburg (SE)
Assigned to CPAC SYSTEMS AB, Gothenburg (SE)
Appl. No. 17/999,282
Filed by CPAC SYSTEMS AB, Gothenburg (SE)
PCT Filed May 20, 2020, PCT No. PCT/EP2020/064034
§ 371(c)(1), (2) Date Nov. 18, 2022,
PCT Pub. No. WO2021/233533, PCT Pub. Date Nov. 25, 2021.
Prior Publication US 2023/0205207 A1, Jun. 29, 2023
Int. Cl. G05D 1/02 (2020.01); B63B 79/10 (2020.01); B63H 21/21 (2006.01); G05D 1/00 (2006.01)
CPC G05D 1/0206 (2013.01) [B63B 79/10 (2020.01); B63H 21/213 (2013.01); B63B 2213/02 (2013.01); B63H 2021/216 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A method to control a marine vessel comprising two or more drive units; the method involving the steps of:
registering an operating command indicating a requested bollard push function;
detecting a current vessel position;
registering the current vessel position as a desired vessel position;
executing the requested bollard push function by controlling thrust and direction of the drive units in order to push the vessel against a fixed structure at a requested heading with a predetermined force;
during execution of the requested bollard push function, monitoring the current vessel position in order to detect a deviation relative to the desired vessel position;
if the detected deviation relative to the desired vessel position has exceeded a predetermined value,
deactivating the requested bollard push function, wherein deactivation of the bollard push function will at least involve an inhibition of the thrust from the drive units.