Brunswick Corporation

Matthew Eric Derginer

Travis C Malouf

Aaron J Ward

Troy R Brockdorf

Todd D Dannenberg

John O Scherer, Iii

Roger W Schreiber

Mark Raymond Hanson

Peter Christian Schneider

Jason S Arbuckle

David J Belter

Michael J Lemancik

Kyle F Karnick

David W Dochterman

David D Dochterman

A method of controlling steering of a marine vessel includes receiving a steering input from an operator-controlled steering input device, determining a desired turn rate for the marine vessel and a desired roll angle for the marine vessel based on the steering input, and controlling a steering angle of at least one trimmable propulsion device based on the desired turn rate and controlling a trim deployment of a pair of trim tabs and/or the trimmable propulsion device based on the desired roll angle so as to steer the marine vessel according to the steering input.

Marine steering system and 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 system for a marine vessel including a joystick, at least one steerable and trimmable marine drive, and a control system configured to receive a user input to engage full vessel control mode, receive a vessel speed parameter, and receive a joystick position from the joystick. The control system determines a thrust command, a steering command, and a trim command for the at least one marine drive based on the joystick position and the vessel speed parameter and to control the at least one marine drive accordingly.

Marine propulsion system and joystick control method

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 marine propulsion system for a marine vessel includes one steerable rear marine drive positioned along the center line of the marine vessel and a lateral marine drive positioned at a bow region of the marine vessel. The rear marine drive is steerable about a vertical steering axis to a range of steering angles. The lateral marine drive is positioned at a fixed angle with respect to the marine vessel and configured to generate lateral thrust on the marine vessel. A user input device is operable by a user to provide a propulsion demand input commanding surge movement, sway movement, and yaw movement of the marine vessel, and the control system is configured to control steering and thrust of the rear marine drive and thrust of the lateral marine drive based on the propulsion demand input to generate the surge movement, sway movement, and/or the yaw movement commanded by the user.

Marine propulsion system and method with single rear drive and lateral marine drive

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 of controlling attitude of a marine vessel includes measuring a roll motion of the marine vessel with an attitude sensor, and then determining that the roll motion exceeds a threshold roll where no corresponding steering input is present. The method further includes determining a counteracting drive movement for at least one propulsion device based on the measured roll motion and then controlling a steering actuator to move the at least one propulsion device to effectuate the counteracting drive movement so as to counteract an environmentally-induced roll motion of the marine vessel without effectuating a net change in heading and/or translation.

Method and system for controlling attitude of a marine vessel

A marine propulsion system for a marine vessel includes a lateral marine drive positioned at a bow region of the marine vessel, wherein the lateral marine drive is configured to generate lateral thrust on the marine vessel and a user input device operable by a user to provide a propulsion demand input to control the lateral marine drive. A control system is configured to determine a maximum allowable lateral output based on a speed characteristic and to control the lateral marine drive based on the propulsion demand input such that the lateral marine drive does not exceed the maximum allowable lateral output.

Marine propulsion system and method with rear and lateral marine drives

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 marine propulsion system for propelling a marine vessel includes at least two steerable rear marine drives that each generate forward and reverse thrusts, wherein each rear marine drive is independently steerable to a range of steering angles, and a lateral marine drive configured to generate starboard and port thrusts on the marine vessel. The system further includes a user input device, such as a joystick, operable by a user to provide a propulsion demand input commanding lateral movement of the marine vessel and rotational movement of the marine vessel. A control system is included that is configured to control steering and thrust of each of the at least two rear marine drives and thrust of the lateral marine drive based on the propulsion demand input so as to generate the lateral movement and/or the rotational movement commanded by the user.

Marine propulsion control system and method with rear and lateral marine drives

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 steering system on a marine vessel includes at least one outboard drive configured to propel the marine vessel, a steering actuator configured to rotate the at least one outboard drive, at least one trim device coupled to the marine vessel and movable with respect to a hull of the marine vessel to adjust a running angle thereof, and at least one trim actuator. A control system configured to determine a desired roll angle and at least one of a desired turn rate and desired turn angle for the marine vessel based on a steering instruction and control the steering actuator to rotate the at least one outboard drive based on the desired turn rate and/or the desired turn angle and control the at least one trim actuator to move the at least one trim device based on the desired roll angle to effectuate the steering instruction.

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.

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Butte des Mort, WI, United States of America

Matthew Eric Derginer