System and method for controlling course of a marine vessel

• US 10,640,190 B1
• Filed: 01/25/2017
• Issued: 05/05/2020
• Est. Priority Date: 03/01/2016
• Status: Active Grant

• Current Assignee: Brunswick Corporation
• Original Assignee: Brunswick Corporation
• Inventors: Gonring, Steven J.
• Primary Examiner(s): To, Tuan C
• Assistant Examiner(s): Castro, Paul A
• Application Number:
  US15/415,095
• Time in Patent Office: 1,196 Days
• CPC Class Codes: B62D 6/005 treating sensor outputs to obtain the actual yaw rate
• CPC Class Codes: B63B 2213/02 using satellite radio beacon positioning systems, e.g. the Global Positioning System GPS
• CPC Class Codes: B63B 49/00 Arrangements of nautical instruments or navigational aids nautical measuring instruments G01C; radio navigation, analogous arrangements using other waves G01S
• CPC Class Codes: B63H 20/00 Outboard propulsion units, e.g. outboard motors or Z-drives; Arrangements thereof on vessels
• CPC Class Codes: B63H 2020/003 Arrangements of two, or more outboard propulsion units
• CPC Class Codes: B63H 2021/216 using electric control means
• CPC Class Codes: B63H 2025/022 Steering wheels; Posts for steering wheels
• CPC Class Codes: B63H 2025/045 making use of satellite radio beacon positioning systems, e.g. the Global Positioning System [GPS]
• CPC Class Codes: B63H 21/21 Control means for engine or transmission, specially adapted for use on marine vessels
• CPC Class Codes: B63H 25/02 Initiating means for steering , for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
• CPC Class Codes: B63H 25/04 automatic, e.g. reacting to compass
• CPC Class Codes: B63H 25/42 Steering or dynamic anchoring by propulsive elements by jets B63H25/46; Steering or dynamic anchoring by propellers used therefor only; Steering or dynamic anchoring by rudders carrying propellers
• CPC Class Codes: G05D 1/0206 specially adapted to water vehicles
• CPC Class Codes: G05D 1/0208 dynamic anchoring

Abstract

A method for controlling a course of a marine vessel powered by a marine engine as it moves in a body of water includes determining a current global position and a current heading of the vessel and initiating an auto-waypoint mode of a vessel course control system. In response to initiation of the auto-waypoint mode, the method includes setting a course for the vessel based on a current position of a steering wheel of the system and the vessel'"'"'s current global position. The method thereafter includes automatically rotating a steerable component coupled to the vessel and rotatable to affect a direction of movement of the vessel so as to counteract external forces on the vessel and thereby to maintain the vessel'"'"'s set course.

Claims

1. A system for controlling a course of a marine vessel powered by a marine engine as it moves in a body of water, the system comprising:

a steering wheel rotatable to a plurality of positions;

a steerable component comprising a pod drive, an outboard motor, a stern drive, a jet drive, or a propeller capable of producing a thrust vector coupled to the vessel and rotatable about a steering axis to affect a direction of movement of the vessel in response to rotation of the steering wheel in a manual steering mode;

a navigation system that determines a current global position and a current heading of the vessel;

a mode selection device configured to initiate an auto-waypoint mode of the system; and

a control module in signal communication with the steering wheel, the steerable component, the navigation system, and the mode selection device;

wherein, in response to initiation of the auto-waypoint mode, the control module sets a virtual waypoint and sets a course for the vessel toward the virtual waypoint based on a current position of the steering wheel and the vessel'"'"'s current global position;

wherein the control module sets the virtual waypoint by projecting the vessel'"'"'s current global position out by a predetermined distance and at an angle from the vessel'"'"'s current heading the angle being based on the current position of the steering wheel; and

wherein the control module thereafter commands the steerable component to rotate automatically and independently of the current position of the steering wheel, so as to counteract external forces on the vessel due to wind, waves, current, or other environmental factors, to thereby maintain the vessel on the set course toward the virtual waypoint.

2. The system of claim 1, wherein in response to the steering wheel being rotated to a neutral, centered position upon initiation of the auto-waypoint mode, the control module calculates the virtual waypoint by projecting the vessel'"'"'s current global position out by the predetermined distance at zero degrees from the vessel'"'"'s current heading and sets the course as a straight line toward the virtual waypoint.

3. The system of claim 2, wherein in response to the steering wheel being rotated to the neutral, centered position upon initiation of the auto-waypoint mode, the control module establishes a detent for the steering wheel around the neutral, centered position.

4. The system of claim 2, wherein in response to the steering wheel being rotated out of the neutral, centered position while the course is the straight line toward the virtual waypoint, the control module cancels the auto-waypoint mode and returns the system to the manual steering mode.

5. The system of claim 2, wherein in response to the steering wheel being rotated out of the neutral, centered position while the course is the straight line toward the virtual waypoint, the control module sets a series of virtual waypoints, each virtual waypoint in the series of virtual waypoints being set by projecting the vessel'"'"'s current global position out at progressively increasing angles from the vessel'"'"'s current heading, and sets the course as being along an arc including the series of virtual waypoints.

6. The system of claim 1, wherein in response to the steering wheel being rotated to a non-neutral, angled position upon initiation of the auto-waypoint mode, the control module sets a series of virtual waypoints, each virtual waypoint in the series of virtual waypoints being set by projecting the vessel'"'"'s current global position out at progressively increasing angles from the vessel'"'"'s current heading, and sets the course as being along an arc including the series of virtual waypoints.

7. The system of claim 6, wherein in response to the steering wheel being rotated to the non-neutral, angled position upon initiation of the auto-waypoint mode, the control module calculates a radius of the arc based on the steering wheel'"'"'s current position and a current speed of the vessel.

8. The system of claim 7, wherein in response to a change in the vessel'"'"'s current speed while the course is along the arc including the series of virtual waypoints, the control module calculates a new radius of the arc based on the steering wheel'"'"'s current position and the new current speed of the vessel.

9. The system of claim 1, wherein in response to the control module not being able to maintain the set course with a calibrated amount of movement of the steerable component, the control module cancels the auto-waypoint mode and returns the system to the manual steering mode.

10. The system of claim 1, wherein the mode selection device is also configured to cancel the auto-waypoint mode, in response to which the control module returns the system to the manual steering mode.

11. A method for controlling a course of a marine vessel powered by a marine engine as it moves in a body of water, the method comprising:

determining a current global position and a current heading of the vessel;

initiating an auto-waypoint mode of a vessel course control system;

in response to initiation of the auto-waypoint mode, a control module setting a virtual waypoint and setting a course for the vessel toward the virtual waypoint based on a current position of a steering wheel of the system and the vessel'"'"'s current global position, wherein setting the virtual waypoint comprises projecting the vessel'"'"'s current global position out by a predetermined distance and at an angle from the vessel'"'"'s current heading, the angle being based on the current position of the steering wheel; and

automatically rotating a steerable component comprising a pod drive, an outboard motor, a stern drive, a jet drive, or a propeller capable of producing a thrust vector, which is coupled to the vessel and rotatable about a steering axis to affect a direction of movement of the vessel independently of the current position of the steering wheel so as to counteract external forces on the vessel due to wind, waves, current, or other environmental factors, and thereby maintaining the vessel on the set course toward the virtual waypoint.

12. The method of claim 11, wherein in response to the steering wheel being rotated to a neutral, centered position upon initiation of the auto-waypoint mode, the method further comprises calculating the virtual waypoint by projecting the vessel'"'"'s current global position out by the predetermined distance at zero degrees from the vessel'"'"'s current heading and setting the course as a straight line toward the virtual waypoint.

13. The method of claim 12, wherein in response to the steering wheel being rotated out of the neutral, centered position while the course is the straight line toward the virtual waypoint, the method further comprises canceling the auto-waypoint mode and returning the system to a manual steering mode, in which a position of the steering wheel determines a position of the steerable component.

14. The method of claim 12, wherein in response to the steering wheel being rotated out of the neutral, centered position while the course is the straight line toward the virtual waypoint, the method includes setting a series of virtual waypoints, each virtual waypoint in the series of virtual waypoints being set by projecting the vessel'"'"'s current global position out at progressively increasing angles from the vessel'"'"'s current heading, and setting the course as being along an arc including the series of virtual waypoints.

15. The method of claim 11, wherein in response to the steering wheel being rotated to a non-neutral, angled position upon initiation of the auto-waypoint mode, the method includes setting a series of virtual waypoints, each virtual waypoint in the series of virtual waypoints being set by projecting the vessel'"'"'s current global position out at progressively increasing angles from the vessel'"'"'s current heading, and setting the course as being along an arc including the series of virtual waypoints.

16. The method of claim 15, wherein in response to the steering wheel being rotated to the non-neutral, angled position upon initiation of the auto-waypoint mode, the method includes calculating a radius of the arc based on the steering wheel'"'"'s current position and a current speed of the vessel.

17. The method of claim 16, wherein in response to a change in the vessel'"'"'s current speed while the course is along the arc including the series of virtual waypoints, the method includes calculating a new radius of the arc based on the steering wheel'"'"'s current position and the new current speed of the vessel.

18. The method of claim 11, wherein in response to a determination that the vessel'"'"'s current global position and current heading are not available or are not valid, the method includes cancelling the auto-waypoint mode and returning the system to a manual steering mode, in which a position of the steering wheel determines a position of the steerable component.