Brunswick Corporation

Aaron J Ward

Travis C Malouf

Matthew Eric Derginer

Jason S Arbuckle

Matthew W Snyder

Todd D Dannenberg

Troy R Brockdorf

Steven J Andrasko

David J Belter

Michael J Lemancik

Jason F Pugh

Christopher R Jenks

Daniel P Klawitter

Brett J McNalley

Matthew David Jarrell

A method of controlling a marine propulsion system is provided wherein the marine propulsion system includes at least one rear marine drive steerable to a range of steering positions. The method includes receiving a propulsion demand input. For each of the at least one rear marine drive, a propeller direction and a commanded steering position are determined based on the propulsion demand input, a steering actuator is controlled to steer the rear marine drive toward the commanded steering position, a delayed time to begin propeller engagement is determined to coordinate initiation of propeller rotation with the rear marine drive reaching the commanded steering position. The rear marine drive is then controlled to begin rotating the propeller in the propeller direction based on the delayed time to generate the surge movement, the sway movement, and/or the yaw movement commanded.

Marine propulsion system and control method

A docking system for a marine vessel includes a user input device configured to facilitate user selection of a docking surface, the user input device comprising a direction indicator display including at least two direction indicators each configured to visually indicate a direction with respect to the marine vessel and a control system. The control system is configured to determine a direction of a potential docking surface with respect to the marine vessel and control at least one of the at least two direction indicators on the direction indicator display to indicate the direction of the potential docking surface with respect to the marine vessel.

Marine propulsion control system, method, and user interface for marine vessel docking and launch

A proximity sensing system on a marine vessel includes a main IMU positioned on the vessel at a main installation attitude and a main location, a first proximity sensor configured to measure the proximity of objects from a first sensor location on the vessel, and a first sensor IMU positioned on the vessel at the first sensor location and at a first installation attitude. A control system is configured to receive main IMU data from the main IMU and first IMU data from the first sensor IMU, wherein the main location of the main IMU on the marine vessel is known and at least one of the first sensor location and the first installation attitude of the first sensor IMU on the marine vessel are initially unknown, and calibrate the proximity measurements from the first proximity sensor based on the main IMU data and the first IMU data.

Proximity sensing system and method for a marine vessel with automated proximity sensor location estimation

A marine propulsion control system includes at least one propulsion device, an input device enabling user control input commanding movement direction and velocity, and at least one proximity sensor configured to generate proximity measurements describing a proximity of surrounding objects. A controller is configured to first limit the velocity commandable by the user via the input device based on the proximity measurements so as to maintain the marine vessel at least a buffer distance from any of the objects, then receive a user-generated instruction to suspend maintenance of the buffer distance in at least one direction and a user control input via the input device to move the marine vessel in the at least one direction and toward a first object. The at least one propulsion device is then controlled based on the user control input such that the marine vessel approaches and impacts the first object.

Marine propulsion control system and method with collision avoidance override

A propulsion control system for a marine vessel includes a propulsion system comprising at least one propulsion device configured to propel the marine vessel, a proximity sensor system configured to generate proximity measurements describing proximity of objects surrounding the marine vessel, and a control system. The control system is configured to receive the proximity measurements, generate a most important object (MIO) dataset based on the proximity measurements, wherein the MIO dataset defines a closest proximity measurement in each of a plurality of directions with respect to the marine vessel, calculate a velocity limit dataset based on the MIO dataset, wherein the velocity limit dataset defines a velocity limit in each of the plurality of directions, and control the propulsion system based on the velocity limit dataset.

Marine propulsion control system and method with proximity-based velocity limiting

A method for controlling low-speed propulsion of a marine vessel powered by a marine propulsion system having a plurality of propulsion devices includes receiving a signal indicating a position of a manually operable input device movable to indicate desired vessel movement within three degrees of freedom, and associating the position of the manually operable input device with a desired inertial velocity of the marine vessel. A steering position command and an engine command are then determined for each of the plurality of propulsion devices based on the desired inertial velocity and the propulsion system is controlled accordingly. An actual velocity of the marine vessel is measured and a difference between the desired inertial velocity and the actual velocity is determined, where the difference is used as feedback in subsequent steering position command and engine command determinations.

Methods and systems for controlling low-speed propulsion of a marine vessel

A navigation system for a marine vessel incudes one or more proximity sensors, each at a sensor location on the marine vessel and configured to measure proximity of objects in an area surrounding the marine vessel and generate proximity measurements, and a control system configured to receive the proximity measurements measured by the one or more proximity sensors. From the received proximity measurements, four linearly-closest proximity measurements to the marine vessel are identified, including one closest proximity measurement to the marine vessel in each of a positive X direction, a negative X direction, a positive Y direction, and a negative Y direction. A most important object (MIO) dataset is generated identifying the four linearly-closest proximity measurements and propulsion of the marine vessel is controlled based at least in part on the MIO dataset.

Proximity sensing system and method for a marine vessel

A method for controlling a propulsion system of a marine vessel includes receiving proximity measurements from one or more proximity sensors on the marine vessel, identifying an object located less than a buffer distance from a side of the marine vessel, and controlling a display device to indicate the side of the marine vessel where the object is located. A user input is then received to activate a buffer zone on the side of the marine vessel where the object is located, and then at least one propulsion device is automatically controlled based on the proximity measurements to move the marine vessel away from the object.

A method for controlling propulsion of a marine vessel powered by a marine propulsion system including a plurality of propulsion devices includes operating at least one proximity sensor to determine a relative position of the marine vessel with respect to an object, the at least one proximity sensor having a field of view (FOV), identifying a trigger condition for expanding the FOV of the at least one proximity sensor, and determining whether the object will be sufficiently captured based on recent vessel angle data of the marine vessel. Upon determining that the object will not be sufficiently captured, thrust and/or steering position of at least one of the plurality of propulsion devices is controlled to expand the FOV of the at least one proximity sensor by inducing a roll movement or a pitch movement of the marine vessel.

Methods and systems for controlling propulsion of a marine vessel to enhance proximity sensing in a marine environment

A propulsion control system on a marine vessel includes at least one propulsion device configured to propel the marine vessel and at least one proximity sensor system configured to generate proximity measurements describing proximity of objects surrounding the marine vessel. A control system is configured to receive the proximity measurements, access a preset buffer distance surrounding the marine vessel, calculate a velocity limit for the marine vessel in one or more directions of the objects based on a difference between the proximity measurements and the preset buffer distance surrounding the marine vessel so as to progressively decrease the velocity limit as the marine vessel approaches the preset buffer distance from any of the objects, and control the at least one propulsion device such that a velocity of the marine vessel does not exceed the velocity limit in the direction of any of the objects.

A system for proximity sensing on a marine vessel includes a main inertial measurement unit (IMU) positioned on the marine vessel at a main installation attitude and a main location, a first proximity sensor configured to measure proximity of objects from a first sensor location on the marine vessel, and a first sensor IMU positioned on the marine vessel at the first sensor location and at a first installation attitude. A processor is configured to receive main IMU data from the main IMU and first IMU data from the first sensor IMU, wherein the main location of the main IMU on the marine vessel is known and at least one of the first sensor location and the first installation attitude of the first sensor IMU are initially unknown, calibrate the proximity measurements based on the main IMU data and the first IMU data, and output a calibration completion alert.

A method of controlling propulsion of a marine vessel includes limiting user input authority over propulsion output by at least one propulsion device based on proximity measurements so as to maintain the marine vessel at least a buffer distance from any object, where in the buffer distance is a predefined distance around the marine vessel. After a user-generated instruction is received to suspend maintenance of the buffer distance and a user control input is received to move the marine vessel in the direction of the object, the at least one propulsion device is controlled based on the user control input such that the marine vessel approaches and impacts the object.

A method of proximity sensing on a marine vessel includes storing at least one zone map, wherein the zone map divides an area surrounding the marine vessel into two or more zones. Proximity measurements measured by one or more proximity sensors on the marine vessel are received, and the proximity measurements are then divided into zone sets based on a location of each proximity measurement with respect to the zone map. A closest proximity measurement in each zone set is then identified and a zone-filtered dataset is generated. The zone-filtered dataset contains only the closest proximity measurement from each zone set.

A marine propulsion system includes at least one propulsion device and a user input device configured to facilitate input for engaging automatic propulsion control functionality with respect to a docking surface, wherein the user input device includes a direction indicator display configured to visually indicate a direction with respect to the marine vessel. A controller is configured to identify a potential docking surface, determine a direction of the potential docking surface with respect to the marine vessel, and control the direction indicator display to indicate the direction of the potential docking surface with respect to the marine vessel. When a user selection is received via the user input device to select the potential docking surface as a selected docking surface, and propulsion of the marine vessel is automatically controlled by controlling the at least one propulsion device to move the marine vessel with respect to the selected docking surface.

A method of controlling a propulsion system on a marine vessel includes receiving proximity measurements describing locations of one or more objects with respect to the marine vessel, receiving a command vector instructing magnitude and direction for propulsion of the marine vessel with respect to a point of navigation for the marine vessel, and then determining a funnel boundary based on the command vector. When an object is determined to be within the funnel boundary, a propulsion adjustment command is calculated to move the marine vessel such that the object is no longer in the funnel boundary. At least one propulsion device is then controlled based on the propulsion adjustment command.

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Oshkosh, WI, United States of America

Aaron J Ward