Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
  • B63H—MARINE PROPULSION OR STEERING
  • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
  • B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
  • B63H—MARINE PROPULSION OR STEERING
  • B63H20/00—Outboard propulsion units, e.g. outboard motors or Z-drives; Arrangements thereof on vessels
  • B63H20/08—Means enabling movement of the position of the propulsion element, e.g. for trim, tilt or steering; Control of trim or tilt
  • B63H20/12—Means enabling steering
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
  • B63H—MARINE PROPULSION OR STEERING
  • B63H21/00—Use of propulsion power plant or units on vessels
  • B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
  • B63H21/213—Levers or the like for controlling the engine or the transmission, e.g. single hand control levers
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
  • B63H—MARINE PROPULSION OR STEERING
  • B63H21/00—Use of propulsion power plant or units on vessels
  • B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
  • B63H2021/216—Control means for engine or transmission, specially adapted for use on marine vessels using electric control means
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
  • B63H—MARINE PROPULSION OR STEERING
  • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
  • B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
  • B63H2025/026—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring using multi-axis control levers, or the like, e.g. joysticks, wherein at least one degree of freedom is employed for steering, slowing down, or dynamic anchoring

Definitions

• the present disclosure generally relates to systems for controlling vessel propulsion, and more particularly to joysticks and marine propulsion systems comprising joysticks.
• steerable marine drives may be mounted to or in the rear of the vessel, such as outboard motors that are attached to the transom of a marine vessel and stern drive systems that extend in a rearward direction from the stern of a marine vessel.
• Marine drives generally comprise a powerhead, such as an electric motor or an internal combustion engine, driving rotation of a drive shaft that is directly or indirectly connected to a propeller on a propeller shaft and that imparts rotation thereto.
• Some marine propulsion systems include groups of two or more and separately steerable marine drives at the rear of the marine vessel to enable surge, sway, and yaw directional control.
• the steerable marine drives are each steerable about their steering axis to a range of steering angles, which is effectuated by a remotely controlled steering actuator, often referred to as a steer-by-wire system.
• a remotely controlled steering actuator often referred to as a steer-by-wire system.
• User input control of such multi-drive propulsion systems is often provided by a joystick, which is configured to move forward, backward, and sideways to any position on a horizontal plane to command a thrust direction, as well as to twist to command a yaw rotation of the vessel.
• a marine propulsion system for a marine vessel includes a single rear marine drive configured to be positioned near (e.g., mounted on) a stern of the marine vessel, a joystick comprising a joystick handle configured to be movable by a user to provide steering demand input, wherein the joystick is configured such that the joystick handle is movable in a forward direction to demand a forward motion of the marine vessel, in a backward direction to demand backward motion of the marine vessel, and twistable to demand rotational motion of the marine vessel, wherein the joystick is configured to restrict movement of the joystick handle in a lateral direction, and a control system configured to control steering and/or thrust of the single rear marine drive based on the steering demand input to generate the demanded forward motion, the backward motion, and the rotational motion of the marine vessel.
• the joystick is configured to prevent lateral movement of the joystick handle in right and left lateral directions such that the joystick handle is configured to be movable only in the forward direction, the backward direction, and to twist about a shaft axis of a shaft connected to the joystick handle.
• the joystick further includes a base below the joystick handle, a shaft connected to the joystick handle and extending into the base, wherein the shaft is configured to move when the user manipulates the joystick handle, and a plate inside the base and positioned around the shaft, wherein the plate is configured to restrict lateral movement of the shaft and the joystick handle and to permit forward and backward movement of the shaft and the joystick handle and permit twist movement of the shaft and the joystick handle about a shaft axis of the shaft.
• control system is further configured to calculate a thrust command for each of the lateral marine drive and the rear marine drive and a steering position command for the rear marine drive based on the propulsion demand input and a location of each of at least the lateral marine drive and the rear marine drive with respect to a center of turn of the marine vessel.
• the elongated hole is centered around the shaft when the shaft is in a neutral position.
• a joystick for controlling propulsion of a marine vessel includes a joystick handle configured to be manipulated by a user to steer a marine vessel, a base below the joystick handle, a shaft connected to the joystick handle and extending into the base, wherein the shaft is configured to move when the user manipulates the joystick handle, and a plate inside the base and positioned around the shaft, wherein the plate is configured to restrict lateral movement of the shaft and the joystick handle and to permit forward and backward movement of the shaft and the joystick handle and permit twist movement of the shaft and the joystick handle about a shaft axis of the shaft.
• the joystick is configured to be installed on a marine vessel to control steering and/or thrust of a single rear marine drive on the marine vessel.
• the plate is mounted within the base such that it is centered around the shaft when the shaft is in a neutral position and configured to symmetrically restrict the lateral movement of the shaft in right and left lateral directions.
• the plate prevents lateral movement of the shaft and the joystick handle so as to only permit the forward, backward, and twist movements of the shaft and the joystick handle.
• the plate includes an elongated hole configured to restrict the lateral movement of the shaft.
• the elongated hole has a width that is slightly larger than a diameter of the shaft and a length that is substantially larger than the diameter of the shaft.
• the width of the elongated hole is between 1.01 and 1.2 times the diameter of the shaft.
• the length of the elongated hole is between 1.5 and 2.5 times the diameter of the shaft.
• the elongated hole is arc-shaped at each end, wherein a radius of the arc is slightly larger than a radius of the shaft.
• the elongated hole is centered around the shaft when the shaft is in a neutral position.
• the plate is comprised of metal.
• the inventors have recognized a need for vessel control systems and methods that provide a user input device, such as a joystick, that provides movement directions that are correlated with feasible with a single rear marine drive while restricting movement directions that are not feasible with a single rear marine drive.
• a user input device such as a joystick
• Certain movement directions such as sideways movement (or sway) and turning in place, are not possible on vessels with only a single rear marine drive and no other means of propulsion control.
• single drive vessels are not able to perform a full range of movements normally associated with joystick control of a multi-drive system.
• lateral sideways movements of the marine vessel are not achievable with only one rear marine drive situated at or near the rear of the vessel due to the limitations on propulsion that can be effectuated by the single rear marine drive.
• the inventors have recognized that the typical joystick system used for controlling multi-drive propulsion systems is problematic for controlling a single drive propulsion system because the single drive system is not capable of achieving propulsion in all of the directions that the joystick is configured to move.
• the control system is unable to effectuate steering and/or thrust that sufficiently correlates to the demanded motion.
• the system is unresponsive, users of the marine propulsion system may become confused or frustrated.
• the joystick is configured to provide control input for the single rear marine drive-i.e., to control steering and thrust of the rear marine drive and confine the joystick motion so as to enable propulsion demand input at the joystick only in those directions that correlate with feasible motion of the single drive system.
• the joystick restricts lateral movement of the joystick handle while allowing the joystick handle to be moved in a forward direction to demand a forward motion of the marine vessel, in a backward direction to demand backward motion of the marine vessel, and twistable to demand rotational motion of the marine vessel.
• the control system is configured to control steering and/or thrust of the single rear marine drive based on the steering demand input to generate the demanded forward motion, the backward motion, and the rotational motion of the marine vessel.
• the joystick includes a plate configured to confine movement of the shaft connected to the joystick handle, wherein the plate is configured to restrict lateral movement of the shaft and the joystick handle and to permit forward, backward, and twist movement of the shaft and the joystick handle.
• FIG. 1 is a schematic representation of a marine vessel 10 equipped with a marine propulsion system 100 including one rear marine drive 21 positioned on or near the stern 24, such as attached to the transom.
• the single rear marine drive 21 may be mounted along a centerline CL of vessel 10, which is to be understood as generally laterally centered with respect to the beam of the vessel 10 such that when the steerable rear marine drive 21 is in a centered steering position it propels the marine vessel approximately or exactly straight ahead (under ideal conditions with no current, wind, or other lateral forces).
• the single rear marine drive 21 may be, for example, an outboard drive, a stern drive, an inboard drive, a jet drive, or any other type of steerable drive.
• the rear marine drive 21 is steerable, having a steering actuator 13 configured to rotate the drive 21 about its vertical steering axis 31.
• the single rear marine drive 21 may be steerable about the steering axis 31 to a range of steering angles 32, such as wherein the range of steering angles 32 is no greater than between +30 and -30 degrees of a centered steering position, or between +45 degrees and -45 degrees of a centered steering position, or between some other range.
• the range of steering angles 32 may be no greater than between +90 degrees and -90 degrees of a centered steering position.
• the steering axis 31 is positioned at a distance X from the center of turn (COT) 30, which could also be the effective center of gravity (COG).
• the marine vessel 10 is maneuvered by causing the rear marine drive to rotate about its steering axis 31.
• the rear marine drive 21 is rotated in response to an operator's manipulation of the steering wheel 12 or joystick 40, which is communicatively connected through the control system 33 to the steering actuator 13 to rotate the marine drive 21. Rotating the rear marine drive 21 and effectuating thrust thereby cause rotation of the marine vessel 10 about the effective COT 30.
• the control system 33 may be configured to utilize yaw rate, such as from an inertial measurement unit (IMU) 26 or other rotational sensor capable of measuring yaw of the marine vessel 10, as the basis for controlling steering and thrust magnitude and direction from the single rear marine drive 21.
• the sensed yaw rate can be used as feedback control for adjusting the steering and/or thrust commands.
• the control system 33 may determine an expected yaw rate, or yaw velocity, associated with a rotational thrust command from the joystick 40 and may compare the measured yaw rate from the IMU 26 to the expected value(s) and adjust the thrust and/or steering commands to reduce the difference between the measured and expected values, such as between the measured yaw rate and the expected yaw rate.
• the marine propulsion system 100 will include a power storage device powering the motor(s) thereof.
• the power storage device such as a battery (e.g., lithium-ion battery) or bank of batteries, stores energy for powering the electric motor(s) (e.g., motor) and is rechargeable, such as by connection to shore power.
• the power storage device may include a battery controller configured to monitor and/or control aspects of the power storage device.
• the battery controller may be configured to communicate a charge level and other values to the central controller 34 and/or another controller within the control system 33.
• control system may be configured to control steering and/or thrust of the single rear marine drive 21 based on steering demand input to generate a demanded forward 50 motion, the backward 52 motion, and/or rotational motion 55 of the marine vessel 10.
• the marine propulsion system may include a joystick 40, such as configured to be installed at the helm of the marine vessel 10, to control the steering and/or thrust of the single rear marine drive on the marine vessel.
• the joystick 40 device comprises a base 68, a shaft 70, and a moveable joystick handle 66 suitable for movement by an operator to provide steering demand input.
• the handle can be moved forward and back (represented by arrow 67a), as well as twisted (represented by arrow 67b) relative to the base 68 to provide corresponding movement commands for the propulsion system.
• the joystick 40 is configured such that the joystick handle 66 is movable in a forward 50 direction to demand a forward 50 motion of the marine vessel, in a backward 52 direction to demand backward 52 motion of the marine vessel, and twistable to demand rotational motion of the marine.
• the movement effectuated by the single rear drive necessarily includes some forward or backward motion due to the propulsion constraints of the single drive, as indicated by the rotational arrow 55.
• the joystick 40 is configured to prevent lateral movement of the joystick handle 66 in right and left lateral directions to prevent propulsion commands in the lateral directions 54.
• the joystick 40 is configured such that the joystick handle 66 movable only in the forward direction, the backward direction, and to twist about an axis of a shaft connected to the joystick handle.
• FIGS. 3A-3B illustrate exemplary vessel movements that may be commanded via the joystick 40.
• FIG. 3A shows the vessel 10 moving in the forward 50 direction and backward 52 direction, also known as surge movement.
• FIG. 3B illustrates a combination of yaw movement, represented by arrow 62, and surge and sway translation in the forward and starboard directions, represented by arrow 60.
• the disclosed system enables movement of the marine vessel, such as that illustrated in FIGS. 3A-3B , by effectuating steering and thrust control of the rear marine drive 21. If the drive angle of the marine drive 21 is known, then vector analysis can be performed to effectuate any rotational movement.
• the system 100 is configured to provide translational movement in the forward and backward translational directions and to combine forward/reverse and yaw by adjusting the steering angle of the single rear marine drive.

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• Chemical & Material Sciences (AREA)
• Engineering & Computer Science (AREA)
• Combustion & Propulsion (AREA)
• Mechanical Engineering (AREA)
• Ocean & Marine Engineering (AREA)
• Mechanical Control Devices (AREA)

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• 2024
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