Systems and methods for controlling movement of a marine vessel using first and second propulsion devices
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
B63H-025/46
B63H-020/12
B63H-020/00
B63H-025/02
B63H-025/42
B63J-099/00
출원번호
US-0375615
(2016-12-12)
등록번호
US-9988134
(2018-06-05)
발명자
/ 주소
Gable, Kenneth G.
Malouf, Travis C.
Dimig, Joseph S.
Lemancik, Michael J.
Figueroa, Jr., Jose B.
출원인 / 주소
Brunswick Corporation
대리인 / 주소
Andrus Intellectual Property Law, LLP
인용정보
피인용 횟수 :
1인용 특허 :
18
초록▼
Systems and methods are for controlling movement of a marine vessel extending along a longitudinal axis between a bow and a stern and along a lateral axis between a port side and a starboard side, having a first propulsion device located closer to the stern than to the bow and steerable about a firs
Systems and methods are for controlling movement of a marine vessel extending along a longitudinal axis between a bow and a stern and along a lateral axis between a port side and a starboard side, having a first propulsion device located closer to the stern than to the bow and steerable about a first steering axis perpendicular to the longitudinal and lateral axes, a second propulsion device located closer to the bow than to the stern and steerable about a second steering axis perpendicular to the longitudinal and lateral axes. An input device is configured to input a request for movement of the marine vessel. A control module is configured to control steering and thrust of the first and second propulsion devices to achieve a resultant movement of the marine vessel commensurate with the request for movement.
대표청구항▼
1. A system for controlling movement of a marine vessel that extends along a longitudinal axis between a bow and a stern and along a lateral axis between a port side and a starboard side, wherein the longitudinal axis is perpendicular to the lateral axis, the system comprising: a first propulsion de
1. A system for controlling movement of a marine vessel that extends along a longitudinal axis between a bow and a stern and along a lateral axis between a port side and a starboard side, wherein the longitudinal axis is perpendicular to the lateral axis, the system comprising: a first propulsion device located closer to the stern than to the bow, wherein the first propulsion device is steerable about a first steering axis that is perpendicular to the longitudinal axis and perpendicular to the lateral axis;a second propulsion device located closer to the bow than to the stern, wherein the second propulsion device is steerable about a second steering axis that is perpendicular to the longitudinal axis and perpendicular to the lateral axis;a control module configured to control steering of and thrust provided by both the first propulsion device and the second propulsion device, wherein a steering angle is defined as the angle that the thrust is provided relative to the longitudinal axis; andan input device configured to input a request for movement of the marine vessel to the control module;wherein based upon the request for movement, the control module is configured to control steering of and thrust provided by both the first propulsion device and the second propulsion device to thereby achieve a resultant movement of the marine vessel that is commensurate with the request for movement of the marine vessel, wherein:the marine vessel has a center of pressure located between the bow and the stern, wherein the first propulsion device is located a longitudinal distance (A) from the center of pressure, and wherein the second propulsion device is located a longitudinal distance (B) in an opposite direction from the center of pressure;the request for movement of the marine vessel is a request for translation parallel to the lateral axis, without yaw movement with respect to the longitudinal and lateral axes; andthe control module is configured to cause the first propulsion device and the second propulsion device to output: opposingly matched longitudinal thrust components that are parallel to the longitudinal axis, anda first lateral thrust component and a second lateral thrust component, respectively, that are parallel to the lateral axis and unmatched, wherein a first moment caused by the first lateral thrust component acting at the longitudinal distance (A) from the center of pressure and a second moment caused by the second lateral thrust component acting at the longitudinal distance (B) from the center of pressure balance each other to prevent yaw movement of the marine vessel. 2. The system according to claim 1, wherein the control module is configured to operate the first propulsion device in a reverse gear to achieve the resultant movement of the marine vessel. 3. A system for controlling movement of a marine vessel that extends along a longitudinal axis between a bow and a stern and along a lateral axis between a port side and a starboard side, wherein the longitudinal axis is perpendicular to the lateral axis, the system comprising: a first propulsion device located closer to the stern than to the bow, wherein the first propulsion device is steerable about a first steering axis that is perpendicular to the longitudinal axis and perpendicular to the lateral axis;a second propulsion device located closer to the bow than to the stern, wherein the second propulsion device is steerable about a second steering axis that is perpendicular to the longitudinal axis and perpendicular to the lateral axis;a control module configured to control steering of and thrust provided by both the first propulsion device and the second propulsion device, wherein a steering angle is defined as the angle that the thrust is provided relative to the longitudinal axis; andan input device configured to input a request for movement of the marine vessel to the control module;wherein based upon the request for movement, the control module is configured to control steering of and thrust provided by both the first propulsion device and the second propulsion device to thereby achieve a resultant movement of the marine vessel that is commensurate with the request for movement of the marine vessel, wherein:the marine vessel has a center of pressure located between the bow and the stern, wherein the first propulsion device is located a longitudinal distance (A) from the center of pressure, and wherein the second propulsion device is located a longitudinal distance (B) in an opposite direction from the center of pressure;the request for movement of the marine vessel is a request for translation at an angle to the longitudinal axis and at an angle to the lateral axis, without yaw movement with respect to the longitudinal and lateral axes, andthe control module is configured to cause the first propulsion device and the second propulsion device to output: unmatched longitudinal thrust components that are parallel to the longitudinal axis, anda first lateral thrust component and a second lateral thrust component, respectively, that are parallel to the lateral axis and unmatched, wherein a first moment caused by the first lateral thrust component acting at the longitudinal distance (A) from the center of pressure and a second moment caused by the second lateral thrust component acting at the longitudinal distance (B) from the center of pressure balance each other to prevent yaw movement of the marine vessel. 4. A system for controlling movement of a marine vessel that extends along a longitudinal axis between a bow and a stern and along a lateral axis between a port side and a starboard side, wherein the longitudinal axis is perpendicular to the lateral axis, the system comprising: a first propulsion device located closer to the stern than to the bow, wherein the first propulsion device is steerable about a first steering axis that is perpendicular to the longitudinal axis and perpendicular to the lateral axis;a second propulsion device located closer to the bow than to the stern, wherein the second propulsion device is steerable about a second steering axis that is perpendicular to the longitudinal axis and perpendicular to the lateral axis;a control module configured to control steering of and thrust provided by both the first propulsion device and the second propulsion device, wherein a steering angle is defined as the angle that the thrust is provided relative to the longitudinal axis; andan input device configured to input a request for movement of the marine vessel to the control module;wherein based upon the request for movement, the control module is configured to control steering of and thrust provided by both the first propulsion device and the second propulsion device to thereby achieve a resultant movement of the marine vessel that is commensurate with the request for movement of the marine vessel, wherein:the marine vessel has a center of pressure located between the bow and the stern, wherein the first propulsion device is located a longitudinal distance (A) from the center of pressure, and wherein the second propulsion device is located a longitudinal distance (B) in an opposite direction from the center of pressure;the request for movement of the marine vessel is a request for translation parallel to the lateral axis, with yaw movement with respect to both the longitudinal axis and lateral axis; andthe control module is configured to cause the first propulsion device and the second propulsion device to output: opposingly matched longitudinal thrust components that are parallel to the longitudinal axis, anda first lateral thrust component and a second lateral thrust component, respectively, that are parallel to the lateral axis and unmatched, wherein a first moment caused by the first lateral thrust component acting at the longitudinal distance (A) from the center of pressure and a second moment caused by the second lateral thrust component acting at the longitudinal distance (B) from the center of pressure are unbalanced to thereby cause yaw movement of the marine vessel. 5. A system for controlling movement of a marine vessel that extends along a longitudinal axis between a bow and a stern and along a lateral axis between a port side and a starboard side, wherein the longitudinal axis is perpendicular to the lateral axis, the system comprising: a first propulsion device located closer to the stern than to the bow, wherein the first propulsion device is steerable about a first steering axis that is perpendicular to the longitudinal axis and perpendicular to the lateral axis;a second propulsion device located closer to the bow than to the stern, wherein the second propulsion device is steerable about a second steering axis that is perpendicular to the longitudinal axis and perpendicular to the lateral axis;a control module configured to control steering of and thrust provided by both the first propulsion device and the second propulsion device, wherein a steering angle is defined as the angle that the thrust is provided relative to the longitudinal axis; andan input device configured to input a request for movement of the marine vessel to the control module;wherein based upon the request for movement, the control module is configured to control steering of and thrust provided by both the first propulsion device and the second propulsion device to thereby achieve a resultant movement of the marine vessel that is commensurate with the request for movement of the marine vessel,wherein the request for movement of the marine vessel is a request for rotation about the center of pressure, and wherein the control module is configured to cause the first propulsion device and the second propulsion device to output a first lateral thrust component and a second lateral thrust component, respectively, that are parallel to the lateral axis and opposingly matched, wherein a first moment caused by the first lateral thrust component acting at the longitudinal distance (A) from the center of pressure and a second moment caused by the second lateral thrust component acting at the longitudinal distance (B) from the center of pressure are unbalanced to thereby cause yaw movement of the marine vessel. 6. A system for controlling movement of a marine vessel that extends along a longitudinal axis between a bow and a stern and along a lateral axis between a port side and a starboard side, wherein the longitudinal axis is perpendicular to the lateral axis, the system comprising: a first propulsion device located closer to the stern than to the bow, wherein the first propulsion device is steerable about a first steering axis that is perpendicular to the longitudinal axis and perpendicular to the lateral axis;a second propulsion device located closer to the bow than to the stern, wherein the second propulsion device is steerable about a second steering axis that is perpendicular to the longitudinal axis and perpendicular to the lateral axis;a control module configured to control steering of and thrust provided by both the first propulsion device and the second propulsion device, wherein a steering angle is defined as the angle that the thrust is provided relative to the longitudinal axis; andan input device configured to input a request for movement of the marine vessel to the control module;wherein based upon the request for movement, the control module is configured to control steering of and thrust provided by both the first propulsion device and the second propulsion device to thereby achieve a resultant movement of the marine vessel that is commensurate with the request for movement of the marine vessel, wherein:the marine vessel has a center of pressure located between the bow and the stern, wherein the first propulsion device is located a longitudinal distance (A) from the center of pressure, and wherein the second propulsion device is located a longitudinal distance (B) in an opposite direction from the center of pressure;the request for movement of the marine vessel is a request for translation parallel to the longitudinal axis, with yaw movement with respect to both the longitudinal axis and the lateral axis; andthe control module is configured to cause the first propulsion device and the second propulsion device to output: longitudinal thrust components having the same orientation and being parallel to the longitudinal axis, anda first lateral thrust component and a second lateral thrust component, respectively, having opposing orientations and being parallel to the lateral axis, wherein a first moment caused by the first lateral thrust component acting at the longitudinal distance (A) from the center of pressure and a second moment caused by the second lateral thrust component acting at the longitudinal distance (B) from the center of pressure have the same orientation and cause yaw movement of the marine vessel. 7. The system according to claim 6, wherein the steering and the thrust of the second propulsion device is based on a turning radius corresponding to the steering angle of the first propulsion device, wherein a lateral line extends from the center of pressure and is parallel to the lateral axis, wherein a first steering line extends from the first steering axis and is perpendicular to the steering angle of the first propulsion device, wherein a second steering line extends from the second steering axis and is perpendicular to the steering angle of the second propulsion device, wherein the lateral line and the first steering line intersect at an intersection, wherein the turning radius is a distance (C) from the center of pressure to the intersection, and wherein the steering angle of the second propulsion device is chosen such that the second steering line intersects with the lateral line at the intersection. 8. The system according to claim 7, wherein the second steering line intersects with the lateral line at the intersection, wherein a distance (D) is defined between the first steering axis and the intersection, wherein a distance (F) is defined between the second steering axis and the intersection, and wherein the thrust provided by the second propulsion device is equal to the thrust provided by the first propulsion device multiplied by the ratio of the distance (F) over the distance (D). 9. A system for controlling movement of a marine vessel that extends along a longitudinal axis between a bow and a stern and along a lateral axis between a port side and a starboard side, wherein the longitudinal axis is perpendicular to the lateral axis, and wherein the marine vessel has a center of pressure located between the bow and the stern, the system comprising: a first propulsion device located closer to the stern than to the bow and at a longitudinal distance (A) from the center of pressure, wherein the first propulsion device is steerable about a first steering axis that is perpendicular to the longitudinal axis and perpendicular to the lateral axis;a second propulsion device located closer to the bow than to the stern and at a longitudinal distance (B) in an opposite direction from the center of pressure as the longitudinal distance (A), wherein the second propulsion device is steerable about a second steering axis that is perpendicular to the longitudinal axis and perpendicular to the lateral axis;a control module configured to control steering of and thrust provided by both the first propulsion device and the second propulsion device, wherein a steering angle is defined as the angle that the thrust is provided relative to the longitudinal axis; andan input device configured to input a request for movement of the marine vessel to the control module;wherein based upon the request for movement, the control module is configured to control steering of and thrust provided by both the first propulsion device and the second propulsion device to thereby achieve a resultant movement of the marine vessel that is commensurate with the request for movement of the marine vessel;wherein the request for movement of the marine vessel is one of movement of the marine vessel: parallel to the longitudinal axis;parallel to the lateral axis, without yaw movement with respect to the longitudinal and lateral axes;in translation at an angle to the longitudinal axis and at an angle to the lateral axis;parallel to the lateral axis, with yaw movement with respect to both the longitudinal and lateral axes;in rotation about the center of pressure; orparallel to the longitudinal axis, with yaw movement with respect to both the longitudinal and lateral axes. 10. The system according to claim 9, wherein the second propulsion device is a trolling motor, and wherein the second propulsion device is steerable at least 10 degrees about the second steering axis. 11. The system according to claim 9, wherein the input device is a manually operable joystick. 12. The system according to claim 9, wherein the control module is configured to detect a distance between the marine vessel and an external object, and wherein the control module is configured to cause the first propulsion device and the second propulsion device to stop producing thrust when the distance between the marine vessel and the external object is less than a predetermined threshold. 13. The system according to claim 9, wherein the control module is configured to cause the first propulsion device and the second propulsion device to output: thrust components that are parallel to the longitudinal axis if the request for movement of the marine vessel is a request for movement of the marine vessel parallel to the longitudinal axis;opposingly matched longitudinal thrust components that are parallel to the longitudinal axis, and a first lateral thrust component and a second lateral thrust component, respectively, that are parallel to the lateral axis and unmatched, wherein a first moment caused by the first lateral thrust component acting at the longitudinal distance (A) from the center of pressure and a second moment caused by the second lateral thrust component acting at the longitudinal distance (B) from the center of pressure balance each other to prevent yaw movement of the marine vessel, if the request for movement of the marine vessel is a request for movement parallel to the lateral axis, without yaw movement with respect to the longitudinal and lateral axes;unmatched longitudinal thrust components that are parallel to the longitudinal axis, and a first lateral thrust component and a second lateral thrust component, respectively, that are parallel to the lateral axis and unmatched, wherein a first moment caused by the first lateral thrust component acting at the longitudinal distance (A) from the center of pressure and a second moment caused by the second lateral thrust component acting at the longitudinal distance (B) from the center of pressure balance each other to prevent yaw movement of the marine vessel, if the request for movement of the marine vessel is a request for translation at an angle to the longitudinal axis and at an angle to the lateral axis;opposingly matched longitudinal thrust components that are parallel to the longitudinal axis, and a first lateral thrust component and a second lateral thrust component, respectively, that are parallel to the lateral axis and unmatched, wherein a first moment caused by the first lateral thrust component acting at the longitudinal distance (A) from the center of pressure and a second moment caused by the second lateral thrust component acting at the longitudinal distance (B) from the center of pressure are unbalanced to thereby cause yaw movement of the marine vessel, if the request for movement of the marine vessel is a request for movement parallel to the lateral axis, with yaw movement with respect to both the longitudinal and lateral axes;a first lateral thrust component and a second lateral thrust component, respectively, that are parallel to the lateral axis and opposingly matched, wherein a first moment caused by the first lateral thrust component acting at the longitudinal distance (A) from the center of pressure and a second moment caused by the second lateral thrust component acting at the longitudinal distance (B) from the center of pressure are unbalanced to thereby cause yaw movement of the marine vessel, if the request for movement of the marine vessel is a request for rotation about the center of pressure; andlongitudinal thrust components having the same orientation and being parallel to the longitudinal axis, and a first lateral thrust component and a second lateral thrust component, respectively, having opposing orientations and being parallel to the lateral axis, wherein a first moment caused by the first lateral thrust component acting at the longitudinal distance (A) from the center of pressure and a second moment caused by the second lateral thrust component acting at the longitudinal distance (B) from the center of pressure have the same orientation and cause yaw movement of the marine vessel, if the request for movement of the marine vessel is a request for movement parallel to the longitudinal axis, with yaw movement with respect to both the longitudinal and lateral axes. 14. A system for controlling movement of a marine vessel that extends along a longitudinal axis between a bow and a stern and along a lateral axis between a port side and a starboard side, wherein the longitudinal axis is perpendicular to the lateral axis, the system comprising: a first propulsion device located closer to the stern than to the bow, wherein the first propulsion device is steerable about a first steering axis that is perpendicular to the longitudinal axis and perpendicular to the lateral axis;a second propulsion device located closer to the bow than to the stern, wherein the second propulsion device is steerable about a second steering axis that is perpendicular to the longitudinal axis and perpendicular to the lateral axis;a control module configured to control steering of and thrust provided by both the first propulsion device and the second propulsion device, wherein a steering angle is defined as the angle that the thrust is provided relative to the longitudinal axis; andan input device configured to input a request for movement of the marine vessel to the control module;wherein based upon the request for movement, the control module is configured to control steering of and thrust provided by both the first propulsion device and the second propulsion device to thereby achieve a resultant movement of the marine vessel that is commensurate with the request for movement of the marine vessel,wherein the input device includes a translation switch and a steering wheel that turns between a left stop and a right stop, wherein the control module is configured to cause the first propulsion device and the second propulsion device to both output thrust components that are parallel to the longitudinal axis when the translation switch is actuated and the steering wheel is steered to one of the left stop or the right stop. 15. A method for controlling movement of a marine vessel that extends along a longitudinal axis between a bow and a stern and along a lateral axis between a port side and a starboard side, wherein the longitudinal axis is perpendicular to the lateral axis, the method comprising: providing a first propulsion device located closer to the stern than to the bow, wherein the first propulsion device is steerable about a first steering axis that is perpendicular to the longitudinal axis and perpendicular to the lateral axis;providing a second propulsion device located closer to the bow than to the stern, wherein the second propulsion device is steerable about a second steering axis that is perpendicular to the longitudinal axis and perpendicular to the lateral axis;inputting, with an input device, a request for movement of the marine vessel to control module; andcontrolling, with the control module, steering of and thrust provided by both the first propulsion device and the second propulsion device to thereby achieve a resultant movement of the marine vessel that is commensurate with the request for movement of the marine vessel;wherein the marine vessel has a center of pressure located between the bow and the stern, wherein the first propulsion device is located a longitudinal distance (A) from the center of pressure, and wherein the second propulsion device is located a longitudinal distance (B) in an opposite direction from the center of pressure, and wherein the request for movement includes a request for rotation about the center of pressure.
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이 특허에 인용된 특허 (18)
McKenney Shepard W. ; Fadeley Kenton D., Autopilot-based steering and maneuvering system for boats.
Gable, Kenneth G.; Robertson, William R.; Van Buren, David M.; Anderson, Glenn E.; Taylor, Brad E., Systems and methods for laterally maneuvering marine vessels.
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