US20190039708A1 - Marine electric power steering autopilot system - Google Patents
Marine electric power steering autopilot system Download PDFInfo
- Publication number
- US20190039708A1 US20190039708A1 US16/051,862 US201816051862A US2019039708A1 US 20190039708 A1 US20190039708 A1 US 20190039708A1 US 201816051862 A US201816051862 A US 201816051862A US 2019039708 A1 US2019039708 A1 US 2019039708A1
- Authority
- US
- United States
- Prior art keywords
- signal
- steering
- control system
- marine vessel
- controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
Links
- 230000009471 action Effects 0.000 claims abstract description 11
- LIWAQLJGPBVORC-UHFFFAOYSA-N ethylmethylamine Chemical compound CCNC LIWAQLJGPBVORC-UHFFFAOYSA-N 0.000 claims 1
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 230000004075 alteration Effects 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
-
- 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
- B63H25/06—Steering by rudders
- B63H25/08—Steering gear
- B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
- B63H25/34—Transmitting of movement of engine to rudder, e.g. using quadrants, brakes
-
- 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
- B63H25/04—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring automatic, e.g. reacting to compass
-
- 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
- B63H25/06—Steering by rudders
- B63H25/08—Steering gear
- B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
- B63H25/18—Transmitting of movement of initiating means to steering engine
- B63H25/20—Transmitting of movement of initiating means to steering engine by mechanical 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
- B63H25/06—Steering by rudders
- B63H25/08—Steering gear
- B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
- B63H25/18—Transmitting of movement of initiating means to steering engine
- B63H25/22—Transmitting of movement of initiating means to steering engine by fluid 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
- B63H25/06—Steering by rudders
- B63H25/08—Steering gear
- B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
- B63H25/18—Transmitting of movement of initiating means to steering engine
- B63H25/24—Transmitting of movement of initiating means to steering engine by electrical 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
- B63H2025/022—Steering wheels; Posts for steering wheels
-
- 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
- B63H25/04—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring automatic, e.g. reacting to compass
- B63H2025/045—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring automatic, e.g. reacting to compass making use of satellite radio beacon positioning systems, e.g. the Global Positioning System [GPS]
Definitions
- Marine vessels may be provided with an autopilot system that permits automated steering of the vessel without human input.
- the autopilot system may require an additional apparatus to connect the autopilot system to an existing marine vessel steering system.
- a control system for a marine vessel that includes an autopilot system and a power steering system.
- the autopilot system is arranged to receive a first signal indicative of navigation information and output a second signal indicative of a steering action.
- the power steering system is in communication with the autopilot system and is arranged to pivot or turn at least one of a rudder and a propulsion unit based on the second signal.
- a control system for a marine vessel that includes an autopilot system and a power steering system.
- the autopilot system includes a processor arranged to receive a first signal indicative of navigation information from at least one of a GPS module and a nomadic device and is arranged to provide a second signal indicative of a steering action based on the first signal.
- the power steering system includes a steering assist unit and a controller.
- the steering assist unit is operatively connected to at least one of a rudder and a propulsion unit.
- the controller is arranged to receive the second signal and is programmed to command the steering assist unit to move at least one of the rudder and the propulsion unit based on the second signal.
- the FIGURE is a schematic representation of a system for controlling a marine vessel.
- the control system 10 includes a power steering system 20 and an autopilot system 22 .
- the power steering system 20 is operatively connected to a rudder and/or a propulsion unit 30 such as an outboard motor.
- the power steering system 20 is arranged to pivot, turn, or manipulate the rudder and/or the propulsion unit 30 to steer the marine vessel responsive to an input provided by an operator of the marine vessel or a control signal provided by the autopilot system 22 .
- the operator of the marine vessel may provide an input to the power steering system 20 through a steering wheel 40 to steer the marine vessel.
- the input may be communicated or transmitted mechanically, wirelessly, or through a wired connection to a steering assist unit 42 provided with the power steering system 20 that then moves the rudder/propulsion unit 30 based on the input.
- the operator input provided to the steering wheel 40 is electronically communicated through a power steering controller 44 .
- a steering sensor 46 is in communication with at least one of the steering wheel 40 and a steering shaft that is associated with the steering wheel 40 .
- the steering sensor 46 is arranged to provide a signal indicative of a rotational position, angular position, input force, or input torque applied to at least one of the steering wheel and the steering shaft associated with the steering wheel 40 to the power steering controller 44 .
- the power steering controller 44 is arranged to receive the signal and provide commands or signals to the steering assist unit 42 to move the rudder and/or propulsion unit 30 .
- the steering assist unit 42 may be a column electric power steering (CEPS) unit, a rack electric power steering (REPS) unit, a combination thereof, or the like. Should the steering assist unit 42 be arranged as a CEPS unit, the steering assist unit 42 may be directly coupled to a steering shaft that is associated with the steering wheel 40 . Should the steering assist unit 42 be arranged as a REPS unit, the steering assist unit 42 may be coupled to or disposed proximate the rudder and/or the propulsion unit 30 .
- CEPS column electric power steering
- REPS rack electric power steering
- the steering assist unit 42 includes an assist mechanism that is arranged to apply a force to the rudder and/or the propulsion unit 30 , based on the signal from the steering sensor 46 and/or the autopilot system 22 , to move the rudder and/or the propulsion unit 30 .
- the assist mechanism may include a hydraulic pressure transducer that is in communication with the power steering controller 44 .
- the hydraulic pressure transducer is operatively connected to at least one of a hydraulic pressure line and a hydraulic return line.
- the hydraulic pressure line and the hydraulic return line are operatively connected to an actuator cylinder, a push rod, or the like that is operatively connected to a steering linkage/rack and pinion steering system that is connected to the rudder/propulsion unit 30 .
- the assist mechanism may include an electric drive motor that is connected to the rudder/propulsion unit 30 through a gearing system.
- the electric drive motor that includes a plurality of electrical leads such as an electrical supply line, an electrical return line, and other input lines that are in communication with the power steering controller 44 .
- the electric drive motor is arranged to pivot or drive the rudder/propulsion unit 30 .
- the assist mechanism may include a mechanical unit that is connected to the rudder/propulsion unit 30 through a push-pull cable assembly.
- the mechanical unit may be a hydraulic system, an electrical system, or an electrohydraulic system that is arranged to move the cable assembly to pivot, turn, or otherwise move the rudder/propulsion unit 30 .
- an actuator 48 is connected to or disposed about a steering shaft associated with the steering wheel 40 .
- the actuator 48 is arranged to provide an input to the steering wheel 40 .
- the actuator 48 may be arranged to provide an adjustable level of feedback torque to the steering shaft associated with the steering wheel 40 .
- the actuator 48 is communication with the power steering controller 44 and is arranged to rotate or counter rotate the steering wheel 40 responsive to the steering or guidance of the marine vessel by the autopilot system 22 causing the rudder/propulsion unit 30 to move. Should the autopilot system 22 cause the rudder/propulsion unit 30 to move to guide the marine vessel towards the port-side (e.g.
- the power steering controller 44 is programmed to command the actuator 48 to rotate the steering wheel 40 towards the port-side or left side responsive to movement of the rudder/propulsion unit 30 .
- the power steering controller 44 is programmed to command the actuator 48 to rotate the steering wheel 40 towards the starboard-side or right side responsive to movement of the rudder/propulsion unit 30 .
- the autopilot system 22 is arranged to provide signals or inputs to the steering assist unit 42 of the power steering system 20 to pivot or turn or otherwise move the rudder and/or the propulsion unit 30 to steer or guide the marine vessel to a desired location.
- the autopilot system 22 is arranged to enable the marine vessel to operate as a semi-autonomous or autonomous marine vessel capable of navigation or guidance independent of the steering wheel 40 or without engagement of the steering wheel 40 by an operator of the marine vessel.
- the autopilot system 22 is arranged to steer or navigate the marine vessel along a path and streamline correction for set and drift, based on information provided by a GPS module 50 or a nomadic device 52 .
- the autopilot system 22 is arranged to receive a first signal indicative of navigation information from the GPS module 50 or nomadic device 52 and is arranged to output a second signal indicative of a steering action based on the first signal to the steering assist unit 42 of the power steering system 20 .
- the first signal may be provided by the GPS module 50 or a nomadic device 52 .
- the GPS module 50 may be a global positioning system (GPS) that is provided with the marine vessel or a GPS device.
- the nomadic device 52 may be a cellular phone or other handheld/portable device having GPS capabilities that is in communication with the autopilot system 22 .
- the nomadic device 52 may be provided with a guidance/mapping/routing application.
- the GPS module 50 or the nomadic device 52 may also be a compatible National Marine Electronics Association (NMEA) 0183 , NMEA 2000 device or the like.
- NMEA National Marine Electronics Association
- the GPS module 50 or the nomadic device 52 enables an operator of the marine vessel to input an operator selected destination, an operator selected bearing, an operator selected route, an operator selected waypoint, or multiple operator selected waypoints.
- the GPS module 50 or the nomadic device 52 may be connected to or interface with the autopilot system 22 and the autopilot system 22 is arranged to use data, information, messages, or signals provided by the GPS module 50 or the nomadic device 52 to operate the power steering system 20 to guide the marine vessel.
- the operation of the power steering system 20 may be done independent of throttle or propulsion control such that the speed of the marine vessel may continue to be manually controlled by the operator of the marine vessel.
- the autopilot system 22 is arranged to affect the speed of the marine vessel based on the maneuver to be performed by the marine vessel responsive to operation of the power steering system 20 .
- the autopilot system 22 may increase or decrease marine vessel speed to execute various steering maneuvers.
- the first signal may be a standardized NMEA message or data/information that contains navigation information that may be sent to the power steering system 20 , via the autopilot system 22 , to guide the marine vessel.
- the standardized NMEA message includes sentences that are transmitted from the GPS module 50 or the nomadic device 52 using communication, such as serial communications, wireless communications (e.g. Bluetooth, near field communication).
- the GPS module 50 or the nomadic device 52 passes the message to a converter 60 , such as an RS-232 to TTL converter, and ultimately to a processor of a control unit 70 of the autopilot system 22 .
- the control unit 70 includes the processor 80 and in some embodiments, the power steering controller 44 .
- the processor 80 may be a microprocessor that is arranged to analyze or interpret messages received through the converter 60 from the GPS module 50 or the nomadic device 52 .
- the conversion from RS-232 to TTL by the converter 60 converts the message into a format that may be analyzed by the processor 80 .
- the processor 80 is arranged to or programmed to run a processing code that may parse the messages provided by the GPS module 50 or the nomadic device 52 .
- the processor 80 gathers useful information from the recommended current information (RMC) and recommended navigation (RMB) NMEA sentences from the message.
- the processor 80 is arranged to or programmed to output the second signal indicative of the steering action and pass the second signal to the power steering controller 44 , which in turn operates the power steering system 20 to perform the steering action.
- the processor 80 may also receive and use information such as the marine vessel speed, the marine vessel course over ground, a bearing to destination, or cross track error value to determine the desired steering action associated with the second signal.
- the processor 80 may be regulated by a controller, such as a proportional integral derivative controller, and may send the desired steering action or desired position messages to the power steering controller 44 that is associated with the power steering system 20 .
- the controller that may regulate or contain the processor 80 may be provided with or may be a part of the power steering controller 44 .
- the power steering system 20 may then move, actuate, turn, pivot, or change a position of the rudder/propulsion unit 30 based on the second signal.
- the power steering controller 44 may provide signals or commands to the actuator 48 to move, rotate, or turn the steering wheel 40 based on the second signal.
- the rotation of the steering wheel 40 by the actuator 48 may be comparable to or proportionate to the amount of movement or rotation of the rudder/propulsion unit 30 .
- the actuator 48 may be arranged to pulse the steering wheel 40 towards the direction of steering or guidance of the marine vessel.
- An operator of the marine vessel may override the autopilot system 22 by operating the steering wheel 40 or deactivating the autopilot system 22 by turning off a switch, button, or the like.
- the power steering controller 44 may command the actuator 48 to provide haptic feedback or impart angular rotation to the steering wheel 40 within a predetermined range of angular rotation, to indicate that directional control is being handed over to the operator of the marine vessel.
- the power steering controller 44 may output for display an indicator indicative of the hand-over to the operator.
- the indicator may be an auditory indicator, a haptic indicator, or a visual indicator via the GPS module 50 , a display interface of the GPS module 50 , a display interface of a nomadic device 52 in communication with the autopilot system 22 , or a display interface of the marine vessel.
- the autopilot system 22 may continue to provide guidance to the marine vessel.
- the power steering controller 44 may command the actuator 48 to impart an angular bi-directional rotation or pivot to the steering wheel 40 within a predetermined range of angular rotation to indicate lack of hand over of directional control to the operator.
Abstract
Description
- This patent application claims priority to U.S. Provisional Patent Application Ser. No. 62/540,240, filed Aug. 2, 2017, which is incorporated herein by reference in its entirety.
- Marine vessels may be provided with an autopilot system that permits automated steering of the vessel without human input. The autopilot system may require an additional apparatus to connect the autopilot system to an existing marine vessel steering system.
- Accordingly, it is desirable to eliminate the additional apparatus connection and simplify the integration of an autopilot system with a marine vessel steering system.
- Disclosed is a control system for a marine vessel that includes an autopilot system and a power steering system. The autopilot system is arranged to receive a first signal indicative of navigation information and output a second signal indicative of a steering action. The power steering system is in communication with the autopilot system and is arranged to pivot or turn at least one of a rudder and a propulsion unit based on the second signal.
- Also disclosed is a control system for a marine vessel that includes an autopilot system and a power steering system. The autopilot system includes a processor arranged to receive a first signal indicative of navigation information from at least one of a GPS module and a nomadic device and is arranged to provide a second signal indicative of a steering action based on the first signal. The power steering system includes a steering assist unit and a controller. The steering assist unit is operatively connected to at least one of a rudder and a propulsion unit. The controller is arranged to receive the second signal and is programmed to command the steering assist unit to move at least one of the rudder and the propulsion unit based on the second signal.
- These and other advantages and features will become more apparent from the following description taken in conjunction with the drawings.
- The subject matter of the present disclosure is particularly pointed out and distinctly claimed in the claims at the conclusion of the specification. The foregoing and other features, and advantages of the present disclosure are apparent from the following detailed description taken in conjunction with the accompanying drawings in which:
- The FIGURE is a schematic representation of a system for controlling a marine vessel.
- Referring now to the FIGURE, where the present disclosure will be described with reference to specific embodiments, without limiting the same, it is to be understood that the disclosed embodiments are merely illustrative of the present disclosure that may be embodied in various and alternative forms. The Figures are not necessarily to scale; some features may be exaggerated or minimized to show details of particular components. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a representative basis for teaching one skilled in the art to variously employ the present disclosure.
- Referring to the FIGURE, a
control system 10 for a marine vessel is schematically illustrated. Thecontrol system 10 includes apower steering system 20 and anautopilot system 22. - The
power steering system 20 is operatively connected to a rudder and/or apropulsion unit 30 such as an outboard motor. Thepower steering system 20 is arranged to pivot, turn, or manipulate the rudder and/or thepropulsion unit 30 to steer the marine vessel responsive to an input provided by an operator of the marine vessel or a control signal provided by theautopilot system 22. - The operator of the marine vessel may provide an input to the
power steering system 20 through asteering wheel 40 to steer the marine vessel. The input may be communicated or transmitted mechanically, wirelessly, or through a wired connection to asteering assist unit 42 provided with thepower steering system 20 that then moves the rudder/propulsion unit 30 based on the input. - In the embodiment shown, the operator input provided to the
steering wheel 40 is electronically communicated through apower steering controller 44. Asteering sensor 46 is in communication with at least one of thesteering wheel 40 and a steering shaft that is associated with thesteering wheel 40. Thesteering sensor 46 is arranged to provide a signal indicative of a rotational position, angular position, input force, or input torque applied to at least one of the steering wheel and the steering shaft associated with thesteering wheel 40 to thepower steering controller 44. Thepower steering controller 44 is arranged to receive the signal and provide commands or signals to thesteering assist unit 42 to move the rudder and/orpropulsion unit 30. - The
steering assist unit 42 may be a column electric power steering (CEPS) unit, a rack electric power steering (REPS) unit, a combination thereof, or the like. Should thesteering assist unit 42 be arranged as a CEPS unit, thesteering assist unit 42 may be directly coupled to a steering shaft that is associated with thesteering wheel 40. Should thesteering assist unit 42 be arranged as a REPS unit, thesteering assist unit 42 may be coupled to or disposed proximate the rudder and/or thepropulsion unit 30. - The
steering assist unit 42 includes an assist mechanism that is arranged to apply a force to the rudder and/or thepropulsion unit 30, based on the signal from thesteering sensor 46 and/or theautopilot system 22, to move the rudder and/or thepropulsion unit 30. - The assist mechanism may include a hydraulic pressure transducer that is in communication with the
power steering controller 44. The hydraulic pressure transducer is operatively connected to at least one of a hydraulic pressure line and a hydraulic return line. The hydraulic pressure line and the hydraulic return line are operatively connected to an actuator cylinder, a push rod, or the like that is operatively connected to a steering linkage/rack and pinion steering system that is connected to the rudder/propulsion unit 30. - The assist mechanism may include an electric drive motor that is connected to the rudder/
propulsion unit 30 through a gearing system. The electric drive motor that includes a plurality of electrical leads such as an electrical supply line, an electrical return line, and other input lines that are in communication with thepower steering controller 44. The electric drive motor is arranged to pivot or drive the rudder/propulsion unit 30. - The assist mechanism may include a mechanical unit that is connected to the rudder/
propulsion unit 30 through a push-pull cable assembly. The mechanical unit may be a hydraulic system, an electrical system, or an electrohydraulic system that is arranged to move the cable assembly to pivot, turn, or otherwise move the rudder/propulsion unit 30. - In at least one embodiment, an
actuator 48 is connected to or disposed about a steering shaft associated with thesteering wheel 40. Theactuator 48 is arranged to provide an input to thesteering wheel 40. Theactuator 48 may be arranged to provide an adjustable level of feedback torque to the steering shaft associated with thesteering wheel 40. Theactuator 48 is communication with thepower steering controller 44 and is arranged to rotate or counter rotate thesteering wheel 40 responsive to the steering or guidance of the marine vessel by theautopilot system 22 causing the rudder/propulsion unit 30 to move. Should theautopilot system 22 cause the rudder/propulsion unit 30 to move to guide the marine vessel towards the port-side (e.g. left) thepower steering controller 44 is programmed to command theactuator 48 to rotate thesteering wheel 40 towards the port-side or left side responsive to movement of the rudder/propulsion unit 30. Should theautopilot system 22 cause the rudder/propulsion unit 30 to move to guide the marine vessel towards the starboard-side (e.g. right) thepower steering controller 44 is programmed to command theactuator 48 to rotate thesteering wheel 40 towards the starboard-side or right side responsive to movement of the rudder/propulsion unit 30. - The
autopilot system 22 is arranged to provide signals or inputs to thesteering assist unit 42 of thepower steering system 20 to pivot or turn or otherwise move the rudder and/or thepropulsion unit 30 to steer or guide the marine vessel to a desired location. Theautopilot system 22 is arranged to enable the marine vessel to operate as a semi-autonomous or autonomous marine vessel capable of navigation or guidance independent of thesteering wheel 40 or without engagement of thesteering wheel 40 by an operator of the marine vessel. Theautopilot system 22 is arranged to steer or navigate the marine vessel along a path and streamline correction for set and drift, based on information provided by aGPS module 50 or anomadic device 52. - The
autopilot system 22 is arranged to receive a first signal indicative of navigation information from theGPS module 50 ornomadic device 52 and is arranged to output a second signal indicative of a steering action based on the first signal to thesteering assist unit 42 of thepower steering system 20. The first signal may be provided by theGPS module 50 or anomadic device 52. TheGPS module 50 may be a global positioning system (GPS) that is provided with the marine vessel or a GPS device. Thenomadic device 52 may be a cellular phone or other handheld/portable device having GPS capabilities that is in communication with theautopilot system 22. Thenomadic device 52 may be provided with a guidance/mapping/routing application. TheGPS module 50 or thenomadic device 52 may also be a compatible National Marine Electronics Association (NMEA) 0183, NMEA 2000 device or the like. - The
GPS module 50 or thenomadic device 52 enables an operator of the marine vessel to input an operator selected destination, an operator selected bearing, an operator selected route, an operator selected waypoint, or multiple operator selected waypoints. TheGPS module 50 or thenomadic device 52 may be connected to or interface with theautopilot system 22 and theautopilot system 22 is arranged to use data, information, messages, or signals provided by theGPS module 50 or thenomadic device 52 to operate thepower steering system 20 to guide the marine vessel. The operation of thepower steering system 20 may be done independent of throttle or propulsion control such that the speed of the marine vessel may continue to be manually controlled by the operator of the marine vessel. In at least one embodiment, theautopilot system 22 is arranged to affect the speed of the marine vessel based on the maneuver to be performed by the marine vessel responsive to operation of thepower steering system 20. For example, theautopilot system 22 may increase or decrease marine vessel speed to execute various steering maneuvers. - The first signal may be a standardized NMEA message or data/information that contains navigation information that may be sent to the
power steering system 20, via theautopilot system 22, to guide the marine vessel. The standardized NMEA message includes sentences that are transmitted from theGPS module 50 or thenomadic device 52 using communication, such as serial communications, wireless communications (e.g. Bluetooth, near field communication). TheGPS module 50 or thenomadic device 52 passes the message to aconverter 60, such as an RS-232 to TTL converter, and ultimately to a processor of acontrol unit 70 of theautopilot system 22. - The
control unit 70 includes theprocessor 80 and in some embodiments, thepower steering controller 44. Theprocessor 80 may be a microprocessor that is arranged to analyze or interpret messages received through theconverter 60 from theGPS module 50 or thenomadic device 52. The conversion from RS-232 to TTL by theconverter 60 converts the message into a format that may be analyzed by theprocessor 80. - The
processor 80 is arranged to or programmed to run a processing code that may parse the messages provided by theGPS module 50 or thenomadic device 52. Theprocessor 80 gathers useful information from the recommended current information (RMC) and recommended navigation (RMB) NMEA sentences from the message. Theprocessor 80 is arranged to or programmed to output the second signal indicative of the steering action and pass the second signal to thepower steering controller 44, which in turn operates thepower steering system 20 to perform the steering action. - The
processor 80 may also receive and use information such as the marine vessel speed, the marine vessel course over ground, a bearing to destination, or cross track error value to determine the desired steering action associated with the second signal. Theprocessor 80 may be regulated by a controller, such as a proportional integral derivative controller, and may send the desired steering action or desired position messages to thepower steering controller 44 that is associated with thepower steering system 20. In at least one embodiment, the controller that may regulate or contain theprocessor 80 may be provided with or may be a part of thepower steering controller 44. - The
power steering system 20 may then move, actuate, turn, pivot, or change a position of the rudder/propulsion unit 30 based on the second signal. Thepower steering controller 44 may provide signals or commands to theactuator 48 to move, rotate, or turn thesteering wheel 40 based on the second signal. The rotation of thesteering wheel 40 by theactuator 48 may be comparable to or proportionate to the amount of movement or rotation of the rudder/propulsion unit 30. In at least one embodiment, theactuator 48 may be arranged to pulse thesteering wheel 40 towards the direction of steering or guidance of the marine vessel. - An operator of the marine vessel may override the
autopilot system 22 by operating thesteering wheel 40 or deactivating theautopilot system 22 by turning off a switch, button, or the like. Should an operator of the marine vessel provide an operator input such as an angular or rotational displacement of thesteering wheel 40 greater than a threshold displacement while theautopilot system 22 is on and guiding the marine vessel, thepower steering controller 44 may command theactuator 48 to provide haptic feedback or impart angular rotation to thesteering wheel 40 within a predetermined range of angular rotation, to indicate that directional control is being handed over to the operator of the marine vessel. In at least one embodiment, thepower steering controller 44 may output for display an indicator indicative of the hand-over to the operator. The indicator may be an auditory indicator, a haptic indicator, or a visual indicator via theGPS module 50, a display interface of theGPS module 50, a display interface of anomadic device 52 in communication with theautopilot system 22, or a display interface of the marine vessel. - Should an operator of the marine vessel provide an operator input to the
steering wheel 40 that is less than the threshold displacement while theautopilot system 22 is on and guiding the marine vessel, theautopilot system 22 may continue to provide guidance to the marine vessel. In at least one embodiment, responsive to an operator input to thesteering wheel 40 less than the threshold displacement, thepower steering controller 44 may command theactuator 48 to impart an angular bi-directional rotation or pivot to thesteering wheel 40 within a predetermined range of angular rotation to indicate lack of hand over of directional control to the operator. - While the present disclosure has been described in detail in connection with only a limited number of embodiments, it should be readily understood that the present disclosure is not limited to such disclosed embodiments. Rather, the present disclosure can be modified to incorporate any number of variations, alterations, substitutions or equivalent arrangements not heretofore described, but which are commensurate with the scope of the present disclosure. Additionally, while various embodiments of the present disclosure have been described, it is to be understood that aspects of the present disclosure may include only some of the described embodiments or combinations of the various embodiments. Accordingly, the present disclosure is not to be seen as limited by the foregoing description.
Claims (16)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US16/051,862 US20190039708A1 (en) | 2017-08-02 | 2018-08-01 | Marine electric power steering autopilot system |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201762540240P | 2017-08-02 | 2017-08-02 | |
US16/051,862 US20190039708A1 (en) | 2017-08-02 | 2018-08-01 | Marine electric power steering autopilot system |
Publications (1)
Publication Number | Publication Date |
---|---|
US20190039708A1 true US20190039708A1 (en) | 2019-02-07 |
Family
ID=65231490
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US16/051,862 Abandoned US20190039708A1 (en) | 2017-08-02 | 2018-08-01 | Marine electric power steering autopilot system |
Country Status (1)
Country | Link |
---|---|
US (1) | US20190039708A1 (en) |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3757713A1 (en) * | 2019-06-28 | 2020-12-30 | Furuno Electric Co., Ltd. | Device, method and program for controlling ship body |
US11181916B2 (en) | 2020-03-20 | 2021-11-23 | Yamaha Hatsudoki Kabushiki Kaisha | Watercraft and watercraft control system |
US11511841B2 (en) * | 2020-03-10 | 2022-11-29 | Steering Solutions Ip Holding Corporation | Electrically assisted hydraulic steering system |
US11643180B2 (en) | 2019-09-13 | 2023-05-09 | Furuno Electric Company Limited | Ship speed control device, ship speed controlling method, and ship speed control program |
US11866142B2 (en) | 2019-09-13 | 2024-01-09 | Furuno Electric Company Limited | Hull control device, hull controlling method, and hull control program |
US11866141B2 (en) | 2019-06-27 | 2024-01-09 | Furuno Electric Company Limited | Device, method, and program for controlling ship body |
US11884371B2 (en) | 2019-07-05 | 2024-01-30 | Furuno Electric Company Limited | Device, method, and program for controlling ship body |
-
2018
- 2018-08-01 US US16/051,862 patent/US20190039708A1/en not_active Abandoned
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11866141B2 (en) | 2019-06-27 | 2024-01-09 | Furuno Electric Company Limited | Device, method, and program for controlling ship body |
EP3757713A1 (en) * | 2019-06-28 | 2020-12-30 | Furuno Electric Co., Ltd. | Device, method and program for controlling ship body |
US11873067B2 (en) | 2019-06-28 | 2024-01-16 | Furuno Electric Company Limited | Device, method, and program for controlling ship body |
US11884371B2 (en) | 2019-07-05 | 2024-01-30 | Furuno Electric Company Limited | Device, method, and program for controlling ship body |
US11643180B2 (en) | 2019-09-13 | 2023-05-09 | Furuno Electric Company Limited | Ship speed control device, ship speed controlling method, and ship speed control program |
US11866142B2 (en) | 2019-09-13 | 2024-01-09 | Furuno Electric Company Limited | Hull control device, hull controlling method, and hull control program |
US11511841B2 (en) * | 2020-03-10 | 2022-11-29 | Steering Solutions Ip Holding Corporation | Electrically assisted hydraulic steering system |
US11181916B2 (en) | 2020-03-20 | 2021-11-23 | Yamaha Hatsudoki Kabushiki Kaisha | Watercraft and watercraft control system |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US20190039708A1 (en) | Marine electric power steering autopilot system | |
US10640190B1 (en) | System and method for controlling course of a marine vessel | |
US10336425B2 (en) | Variable rate of turn for a trolling motor | |
JP6479399B2 (en) | Navigation route generation device, automatic steering system, and navigation route generation method | |
JP5133637B2 (en) | Ship | |
US9290256B1 (en) | Systems and methods for steering a trolling motor | |
KR101422499B1 (en) | Steering apparatus for ship and control method threrof | |
US10252787B2 (en) | Electric power steering assist and control of a marine vessel | |
CN112407223A (en) | Ocean electric power steering automatic driving system | |
JP6532507B2 (en) | Steering control device for single shaft and two steering vessels | |
EP3406516A1 (en) | Ship maneuvering device and ship provided therewith | |
US10167070B2 (en) | Marine electric power steering system with cable assembly | |
CN107097924B (en) | A kind of on-line automatic control device of lake and reservoir operation ship antithesis deflecting side paddle | |
JP7358476B2 (en) | Personal watercraft, drive control system and method for steering control | |
JP5964268B2 (en) | Maneuvering system | |
CN109484604A (en) | Marine hydraulic steering engine servo steering instrument | |
US7011558B2 (en) | Directionally-stabilized waterjet steering apparatus | |
AU2022204915B2 (en) | Trolling motor foot pedal controlled sonar device | |
US20240116619A1 (en) | Steering system having steering angle correction function for single-propeller twin-rudder ship | |
EP2949573B1 (en) | Ship steering system for out-drive device | |
AU2019210622B2 (en) | Vessel conversion module, vessel and method | |
JP2019051755A (en) | Maneuvering system of flight device | |
JP2007076489A (en) | Control device for propeller turning type propulsion machine | |
KR20240049208A (en) | Steering system with steering angle correction function for 1 axis, 2 ships | |
KR20230085745A (en) | Steering control system for vehicle |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
STPP | Information on status: patent application and granting procedure in general |
Free format text: DOCKETED NEW CASE - READY FOR EXAMINATION |
|
AS | Assignment |
Owner name: STEERING SOLUTIONS IP HOLDING CORPORATION, MICHIGA Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:HAYES, BRYTON P.;MAUST, BRIAN G.;SIGNING DATES FROM 20170719 TO 20181120;REEL/FRAME:049159/0042 |
|
STPP | Information on status: patent application and granting procedure in general |
Free format text: NON FINAL ACTION MAILED |
|
STPP | Information on status: patent application and granting procedure in general |
Free format text: RESPONSE TO NON-FINAL OFFICE ACTION ENTERED AND FORWARDED TO EXAMINER |
|
STPP | Information on status: patent application and granting procedure in general |
Free format text: ADVISORY ACTION MAILED |
|
STPP | Information on status: patent application and granting procedure in general |
Free format text: DOCKETED NEW CASE - READY FOR EXAMINATION |
|
STPP | Information on status: patent application and granting procedure in general |
Free format text: NON FINAL ACTION MAILED |
|
STPP | Information on status: patent application and granting procedure in general |
Free format text: RESPONSE TO NON-FINAL OFFICE ACTION ENTERED AND FORWARDED TO EXAMINER |
|
STPP | Information on status: patent application and granting procedure in general |
Free format text: FINAL REJECTION MAILED |
|
STCB | Information on status: application discontinuation |
Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION |