Joystick method for maneuvering a marine vessel with two or more sterndrive units
View Patent ↗A method for controlling the movement of a marine vessel rotates one of a pair of marine propulsion devices and controls the thrust magnitudes of two marine propulsion devices. A joystick is provided to allow the operator of the marine vessel to select port-starboard, forward-reverse, and rotational direction commands that are interpreted by a controller which then changes the angular position of at least one of a pair of marine propulsion devices relative to its steering axis.
1. A method for controlling the movement of a marine vessel, comprising the steps of:
attaching a first marine propulsion device to said marine vessel for rotation about a first steering axis;
attaching a second marine propulsion device to said marine vessel for rotation about a second steering axis;
connecting a first steering actuator to said first marine propulsion device;
connecting a second steering actuator to said second marine propulsion device;
providing a first manually manipulatable control device which is configured to receive vessel movement commands from an operator of said marine vessel;
providing a second manually manipulatable control device which is configured to receive vessel maneuver commands from said operator of said marine vessel;
providing a controller connected in signal communication with said first and second manually manipulatable control devices;
receiving a set of vessel maneuver commands from said second manually manipulatable control device;
calculating a first thrust magnitude for said first marine propulsion device, a second thrust magnitude for said second marine propulsion device, and an angular position of said second marine propulsion device which will achieve a maneuver of said marine vessel which accomplishes said vessel maneuver commands;
maintaining said first marine propulsion device in a position which disposes a propeller shaft of said first marine propulsion device in parallel association with a central axis of said marine vessel;
causing said second marine propulsion device to move to said angular position;
causing said first marine propulsion device to generate said first thrust magnitude; and
causing said second marine propulsion device to generate said second thrust magnitude.
2. The method of claim 1 , further comprising:
connecting a third steering actuator to said first and second marine propulsion devices.
3. The method of claim 2 , wherein:
said third steering actuator is selectively configurable in a first state wherein said first and second marine propulsion devices are rigidly attached together for synchronous rotation about their respective steering axes and a second state wherein said first and second marine propulsion devices are movable relative to each other.
4. The method of claim 1 , further comprising:
causing said first marine propulsion device to move to a fixed position.
5. The method of claim 4 , wherein:
said fixed position disposes a propeller shaft of said first marine propulsion device in parallel association with a central axis of said marine vessel extending from a transom to a bow of said marine vessel.
6. The method of claim 1 , further comprising:
using said first steering actuator to respond to said vessel movement commands; and
using said second steering actuator to respond to said vessel maneuver commands.
7. The method of claim 1 , wherein:
said first and second marine propulsion devices are sterndrive units which are attached to a transom of said marine vessel.
8. The method of claim 1 , wherein:
said second manually manipulatable control device is a joystick.
9. The method of claim 1 , wherein:
said controller comprises a microprocessor.
10. The method of claim 1 , wherein:
said vessel maneuver commands comprise a left-right command, a forward-reverse command, and a rotate command.
11. A method for controlling the movement of a marine vessel, comprising the steps of:
attaching a first sterndrive unit to said marine vessel for rotation about a first steering axis;
attaching a second sterndrive unit to said marine vessel for rotation about a second steering axis;
connecting a first steering actuator to said first sterndrive unit;
connecting a second steering actuator to said second sterndrive unit;
connecting a third steering actuator between said first and second sterndrive units, said third steering actuator being selectively configurable in a first state wherein said first and second sterndrive units are rigidly attached together for synchronous rotation about their respective steering axes and a second state wherein said first and second sterndrive units are movable relative to each other;
providing a first manually manipulatable control device which is configured to receive vessel movement commands from an operator of said marine vessel;
providing a second manually manipulatable control device which is configured to receive vessel maneuver commands from said operator of said marine vessel;
providing a controller connected in signal communication with said first and second manually manipulatable control devices;
receiving a set of vessel maneuver commands from said second manually manipulatable control device;
calculating a first thrust magnitude for said first sterndrive unit, a second thrust magnitude for said second sterndrive unit, and an angular position of said second sterndrive unit which will achieve a maneuver of said marine vessel which accomplishes said vessel maneuver commands;
causing said second sterndrive unit to move to said angular position;
causing said first sterndrive unit to generate said first thrust magnitude; and
causing said second sterndrive unit to generate said second thrust magnitude.
12. The method of claim 11 , further comprising:
using said first steering actuator to respond to said vessel movement commands; and
using said second steering actuator to respond to said vessel maneuver commands.
13. The method of claim 11 , wherein:
said first manually manipulatable control device is a steering wheel; and
said second manually manipulatable control device is a joystick.
14. The method of claim 11 , further comprising:
causing said first sterndrive unit to move to a fixed position, said fixed position disposing a propeller shaft of said first sterndrive unit in parallel association with a central axis of said marine vessel extending from a transom to a bow of said marine vessel.
15. The method of claim 11 , wherein:
said vessel maneuver commands comprise a left-right command, a forward-reverse command, and a rotate command.
16. A method for controlling the movement of a marine vessel, comprising the steps of:
attaching a first sterndrive unit to said marine vessel for rotation about a first steering axis;
attaching a second sterndrive unit to said marine vessel for rotation about a second steering axis;
connecting a first hydraulic actuator to said first sterndrive unit;
connecting a second hydraulic actuator to said second sterndrive unit;
connecting a third hydraulic actuator between said first and second sterndrive units, said third hydraulic actuator being selectively configurable in a first state wherein said first and second sterndrive units are rigidly attached together for synchronous rotation about their respective steering axes and a second state wherein said first and second sterndrive units are movable relative to each other;
providing a steering wheel which is configured to receive vessel movement commands from an operator of said marine vessel;
providing a joystick which is configured to receive vessel maneuver commands from said operator of said marine vessel;
providing a controller connected in signal communication with said steering wheel and joystick;
receiving a set of vessel maneuver commands from said joystick;
calculating a first thrust magnitude for said first sterndrive unit, a second thrust magnitude for said second sterndrive unit, and an angular position of said second sterndrive unit which will achieve a maneuver of said marine vessel which accomplishes said vessel maneuver commands;
causing said second sterndrive unit to move to said angular position;
causing said first sterndrive unit to generate said first thrust magnitude; and
causing said second sterndrive unit to generate said second thrust magnitude.
17. The method of claim 16 , further comprising:
using said first hydraulic actuator to respond to said vessel movement commands; and
using said second hydraulic actuator to respond to said vessel maneuver commands.
18. The method of claim 16 , further comprising:
causing said first sterndrive unit to move to a fixed position, said fixed position disposing a propeller shaft of said first sterndrive unit in parallel association with a central axis of said marine vessel extending from a transom to a bow of said marine vessel.
19. The method of claim 16 , wherein:
said vessel maneuver commands comprise a left-right command, a forward-reverse command, and a rotate command.