The present inventions relate to systems and methods of controlling a watercraft, for example, with multiple outboard motors.
A type of control method that controls the magnitude and direction of a thrust generated by each of a plurality of outboard motors so as to turn the bow of a watercraft has been known. For example, a control device for outboard motors described in U.S. Pat. No. 10,766,589 controls right and left outboard motors in accordance with movements of a joystick, including twisting. Specifically, when the joystick is twisted rightward, the control device causes the outboard motor disposed on the port side to generate a thrust for forward movement, and simultaneously, causes the outboard motor disposed on the starboard side to generate a thrust for rearward movement. Thus, the watercraft turns the bow rightward due to difference in forces between the right and left outboard motors.
The control device disclosed in U.S. Pat. No. 10,766,589 can also be used to move the watercraft forward (or rearward) while turning the bow of the watercraft. In such a situation, the operator can push the joystick forward or rearward and also simultaneously twist the joystick rightward or leftward. The control device controls the throttle position, steering angle, and gear selection (forward or reverse) to generate a movement corresponding to the operator's movement of the joystick. Further, the control system of U.S. Pat. No. 10,766,589 also provides for sideways or lateral movements of a watercraft. For example, when an operator moves the joystick rightward or leftward, the control system puts one of the outboard motors in a forward gear and the other outboard motor in a rearward gear and adjusts the steering angles and throttles appropriately to cause a leftward or rearward lateral movement of the watercraft. In this mode of operation, the steering angles of the outboard motors are nonparallel and pass through the center of pressure of the watercraft to avoid creating any torque on the watercraft and thus resulting only in a net lateral thrust direction. In some modes of operation, this control system returns the gear position of both outboard motors to neutral when the joystick is released. Further, when the joystick is subsequently moved, the control system automatically changes the gear position of each outboard motor to forward or reverse, to effect the movement corresponding to the operator's manipulation of the joystick.
An aspect of at least one of the embodiments disclosed herein includes the realization that outboard motors with larger ranges of steering angle adjustment can be controlled in such as manner as to provide a shiftless maneuvering mode of operation. For example, conventional outboard motors that are mounted to a watercraft so as to be steerable about a steering axis, typically have a steering range of approximately 30 degrees (positive or negative) (e.g., 30 degrees to either side of straight ahead). The total range of movement can illustratively be approximated to a total of 60 degrees of a range of movement about the steering axis. As such, in order to produce the thrusts required for certain low-speed maneuvers, such as rotation or lateral movement, and no thrust, the outboard motors are shifted into and out of gear (forward or reverse) each time the operator releases the joystick so it return to the default position and each time the operator moves the joystick from the default position. As such, both outboard motors produce a shock or vibration that is both audible to the users of the boat and tactile in that the operators can feel the shock transmitted to the boat, for each gearshift. This effect is more pronounced on smaller vessels.
However, outboard motors that have an increased steering angle range, including an orientation in which the propellers can be oriented so as to generate thrust vectors that are directly opposed and thereby cancelled, can be operated in a manner so as to provide a shockless maneuvering mode.
More specifically, using such outboard motors can provide for a mode of operation in which the outboard motors are in a drive gear (e.g., forward gear) and oriented at directly opposed orientations so as to generate no net thrust when a joystick is in its default position, i.e., a position in which the user is not requesting any thrust. In this orientation, the outboard motors can both be running at idle speed, in forward gear, and thus generating equal but opposite thrusts, for a net zero thrust. When the user then manipulates the joystick, such as pushing the joystick directly forward, the outboard motors can be steered toward a partially or totally forward-pointing orientation, so as to produce a net forward thrust. Thus, the outboard motors switch from a mode in which they are producing no net thrust, to producing a net positive forward thrust, without the need for any gear changes, thereby avoiding the creation of any shocks or sounds normally associated with shifting an outboard motor from a neutral gear to forward or reverse.
Further, if the operator is holding the joystick in a forward position for generating forward thrust, then releases the joystick, the outboard motors can be steered from an orientation for a net forward thrust to a directly opposed orientation to generate a net zero thrust. Again, this allows the outboard motors to change from a mode of operation in which they are generating a net forward thrust to a net zero thrust, without the requirement to shift from a forward or reverse gear to neutral. This further avoids the creation of noise and shock associated with an outboard motor being shifted from a forward or reverse gear, to neutral.
In some embodiments, such a control system can be used with outboard motors that have a steering angle of at least about 180 degrees (measured as a positive value or a negative value and can further include some variation (e.g., +/−5 degrees). The total steering angle can illustratively be approximated as a range of 180 degrees to 360 degrees. Such a further enlarged steering angle range can support additional, shiftless changes in modes of operation. For example, but without limitation, outboard motors with such an increased steering angle range can be controlled in a shiftless manner to provide a reverse movement, sideways movement, as well as forward, reverse, and sideways movements with rotation.
In some embodiments, the outboard motors used with the present control system can be configured to provide for 360-degree steering angle ranges. In some embodiments, the upper unit of such outboard motors can be mounted to a watercraft in a fixed angular orientation (relative to a vertical axis) and include steerable lower units.
Thus, in accordance with some embodiments, a system for controlling a watercraft can include a left outboard motor on a port side of the watercraft, a right outboard motor on a starboard side of the watercraft, a left steering actuator configured to change a steering angle of the left outboard motor, a right steering actuator that is configured to change a steering angle of the right outboard motor, and a controller communicating with the left and right outboard motors and the left and right steering actuators. The controller can be configured to receive a forward thrust signal and a no-thrust signal, wherein the controller is configured to control the left and right steering actuators so as to adjust the steering angles of the left and right outboard motors to be in direct opposition to each other so as to produce a net zero thrust when the controller receives the no-thrust signal, and wherein the controller is configured to control the left and right steering actuators to adjust the steering angles of the left and right outboard motors so as to produce a net positive forward thrust, when the controller receives the forward thrust signal.
In some embodiments, a method of controlling a watercraft having left and right outboard motors and left and right steering actuators, can comprise receiving a no-thrust signal and a forward thrust signal. The method can also include controlling the left and right steering actuators, in response to receiving the no-thrust signal, so as to direct the steering angles of the left and right outboard motors to be in direct opposition thereby generating no substantial net thrust, and controlling the left and right steering actuators, in response to receiving the forward thrust signal, so as to adjust the steering angles of the left and right outboard motors to an orientation generating a net forward thrust.
Another aspect of at least one of the inventions disclosed herein includes the realization that a watercraft having outboard motors with 360° steerable lower units can benefit from a control system that provides different propulsion control modes, including a mode where the steering angles of the outboard motors are limited to less than 360°. For example, although the outboard motors may be capable of rotating the lower units 360°, for enhanced maneuvering control, with a joystick for example, it also may be beneficial or desirable to a user to provide a more convention propulsion mode as well. Thus, an aspect of at least one of the inventions disclosed herein includes the realization that a propulsion control system can include a steering wheel, throttle levers, and a joystick for controlling outboard motors that have 360° steerable capability. In a joystick maneuvering mode of operation, the control system can utilize the 360° rotatability of the motors to provide for enhanced maneuvering, such as docking, rotating, lateral movements, etc. Additionally, the control system can offer a more conventional steering mode in which the steering wheel angle input by a user is used to control the rudder angles of the outboard motors to a limited range of steering angles that is more common for conventional outboard motor steering, for example, to about 30° to the left and right sides. In such a mode of operation, optionally, the controller can control the throttle output and gear position of the outboard motors in a more conventional manner. Thus, the handling characteristics of the watercraft would feel more typical of conventional watercraft behavior and response when using the steering and throttle levers.
Another aspect of at least one of the inventions disclosed herein includes the realization that under a joystick control mode, a remote control system for multiple outboard motor powered watercraft can provide a more user-friendly and easier to use speed control technique for changing a speed of the watercraft in an integrative proportional or stepwise manner in which a thrust generated by the outboard motors is held when the joystick is released thereby providing a more convenient manner for speed control for the user. For example, the control system can be configured to operate in a thrust hold mode and detect and respond to “tapped” inputs into the joystick. One example would be if a user were to tap the joystick in the forward direction and the controller would, in response, increase the thrust generated by the outboard motors in a stepwise manner. The control system could control the outboard motors to provide one or more watercraft sub idle speed modes of operation and one or more super idle speed modes of operation.
In some embodiments, the system is configured for use with 360° steerable outboard motors. For example, the control system, in response to receiving an initial “tap” could orient the 360° steerable outboard motors into position in which the rudder angles of the outboard motors are pointed partially at each other, thereby cancelling some of the thrust generated by the outboard motors but producing a net positive forward thrust on the watercraft. In such a mode of operation, the watercraft would move at a forward speed that is less than the watercraft speed achievable with both outboard motors, parallel to the longitudinal axis of the watercraft with the engines operating at idle speed. Some such speed settings can be useful for trolling for example, and other low speed maneuvers.
With additional “taps” to the joystick, the controller can cycle through, optionally, additional orientations of the outboard motors providing additional sub idle watercraft speed modes, or, optionally, orient the outboard motor straight ahead and cycle through additional forward modes of operation in which the engine speed of the outboard motors is increased to provide higher, super idle watercraft speeds. In this “tapping” mode of operation, each time the joystick is tapped and released causes the controller to change the total amount of propulsion generated by the outboard motors and thereby changing the watercraft speed of the watercraft. Thus, the watercraft would continue to operate at speed without the user needing to hold the joystick in any particular position.
Optionally, in a different thrust hold mode of operation, the control system can be configured to integrate a detected position of the joystick and gradually and/or continuously change the thrust generated by the outboard motors at a predetermined rate of increase or proportional to the displacement of the joystick by the operator. For example, if the watercraft was at rest with the control system generating zero thrust and the user pushes the joystick forward to 60% of its full range of motion, the control system can integrate the detected position over time and gradually increase the thrust produced by the outboard motors from a zero thrust most towards a mode corresponding to the 60% actuation position. In such a mode of operation, the controller could first, change the rudder angles of the outboard motors through a range of orientations from being directly opposed to one another (in which they generate a zero net thrust on the watercraft) up through rudder angles in which the outboard motors are almost parallel to one another, which corresponds to a range of watercraft speeds that are less than a typical idle watercraft speed. After the outboard motors reach a fully parallel orientation, then the controller can further increase the thrust generated by increasing the output from the outboard motor engines, thereby for example, raising the engine speeds and thus the speed of the propellers. After the user releases the joystick allowing it to return to its default position, the control system can hold the power output of each outboard motor and their rudder angle to thereby continue to produce the thrust generated when the user released the joystick thereby, thereby providing a more convenient mode for using a joystick for propulsion control. To slow the watercraft, a user could tilt the joystick towards the rearward direct, in response to which the control system could gradually reduce the thrust produced by the outboard motors.
The above and other elements, features, steps, characteristics and advantages of the present invention will become more apparent from the following detailed description of the preferred embodiments with reference to the attached drawings.
FIG. 5B1 is a schematic diagram showing control of the peripheral motors in a first mode of forward movement.
Preferred embodiments of the present inventions are hereinafter explained with reference to the drawings.
The central motors 1a, 1b may be attached to the stern of the watercraft 100. In some embodiments, the central motors 1a, 1b can be disposed in alignment in the width direction of the watercraft 100. Specifically, the left central motor 1a can be disposed on the port side of the watercraft 100 and the right central motor 1b can be disposed on the starboard side of the watercraft 100. Each of the central motors 1a, 1b generates a thrust to propel the watercraft 100.
Illustratively, a watercraft can include three outboard motors. Specifically, as will be described, the watercraft can include two peripheral motors and at least one central motor to implement different configurations in accordance with multiple aspects of the present application. In some embodiments, a pair of peripheral motors can be added as a dealer option at the dealer service station or an aftermarket installation. Accordingly, a watercraft may be configured to allow for the installation of a pair of peripheral motors to an existing watercraft together with necessary wiring and software controls to facilitate the same configuration of the embodiments described in this application can be achieved.
With continued reference to
In this embodiment of present application, the outboard motors may be operated in accordance with control software that provides for a plurality of operating modes or control modes related to operation of the outboard motors. Specifically, in a first operating mode, the central motors, such as central motors 1a and 1b, may be operated to be the sole source of thrust to the personal watercraft. In this operating mode, the peripheral motors do not provide any form of thrust. This operating mode may be generally referred to as a central motor only mode. In a second operating mode, the peripheral motors, such as peripheral motors 11a and 11b, may be operated to be the sole source of thrust to the personal watercraft. In this operating mode, the central motors do not provide any form of thrust. This operating mode may be generally referred to as a peripheral only mode. Still further, in a third operating mode, the central motors and peripheral motors may be operated jointly to provide the source of thrust to the personal watercraft. This operating mode may be generally referred to as a hybrid or combination operating mode.
Illustratively, the central motor only operating mode may be suitable for a long-range high-speed cruising as the central motor(s) may be configured to operate for the purpose. Specifically, in some embodiments, the central motors, such as central motors 1a and 1b, may be configured to provide sufficient horsepower to allow for the cruising of the personal watercraft without need for additional thrust from peripheral motors, such as peripheral motors 11a and 11b. In this embodiment, a controller may be configured to cause the left and right peripheral motors to engage in a retracted position during operation of the central motors to mitigate drag during operation of the central motors.
Illustratively, the peripheral motor only operating mode may be suitable for lower speed operation of a personal watercraft. In some embodiments, the peripheral motors may be configured with lower horsepower relative to the central motors, such via electric motors. Additionally, the peripheral motors may be configured to allow for directional control and thrust associated with lower speed maneuvering, which can include differences in rotation speed and variations in rotation speed.
Illustratively, the hybrid or combination operating mode may be suitable for at least two situations: Using both of the central motor(s) and the peripheral motors at the same time create more thrust by combining all motors. The peripheral motors can function as booster thrust generators at least for a limited time and less than the top speed of the watercraft. When using the central motor(s) as a power source of propulsion of the watercraft, the peripheral motors may be implemented as power generators such that the movement of the watercraft in the water will create a rotation of armature(rotor) in the peripheral motors connected to the propeller so that the built-in or external battery can be recharged while cruising with the central motor(s). This mode may eliminate the needs of high voltage electric wiring from a separate generator to the peripheral motors, while the electricity to the peripheral motors can still be supplied from an external battery as well.
In accordance with other aspects of the present application, users of the personal watercraft may utilize various controls to operate the motors. More specifically, in accordance with some embodiments of the present application, a user may be presented with a common set of interfaces for controlling the throttling/power levels of the motors and the direction (e.g., steering) of the outboard motors. Such interfaces can include both physical interfaces (e.g., joysticks, levers, steering wheels, etc.), software controls (e.g., graphical user interfaces, etc.), or a combination thereof. Still further, user operation or user interaction with the common set of interfaces may be facilitated independent of a current operating mode (as described above). Accordingly, the same interaction mechanism (e.g., manipulation of physical or virtual control) to elicit power levels and directional controls can be implemented by the user without need to adjust according to a current operation mode of the motors. As will be explained in greater detail below, the translation of such elicited power levels and directional controls may be translated differently to the outboard motors, respectively the central outboard motors and the peripheral outboard motors, based on a current operation mode. Specifically, each of the motors may be associated with an output ratio that measures a current output thrust relative to a maximum thrust value for the individual motor. In some embodiments, that central motors may be associated with much higher maximum thrust values relative to the peripheral motors. In control modes including operation both the central motors and the peripheral motors (e.g., a hybrid control mode), the same control joystick signals (direction and power) may result into different output ratios based on the translated amount of thrust generated by the peripheral motors (e.g., a second propulsion unit) and the central motors (e.g., a first propulsion unit) relative to maximums for the propulsion units. Specifically, in some embodiments, the output ratios associated with the peripheral motors (e.g., the second propulsion units) would be greater than the output ratios associated with the central motors (e.g., the first propulsion units).
In accordance with still further aspects of the present application, users of the personal watercraft may utilize various controls to operate the selection and switching of one or more operating modes. Illustratively, in one aspect, the switching of operating modes corresponds to user-initiated actions via a physical interface, software interface, or a combination thereof. In one example, the switching of the setting can be done by simply physical switches. Optionally, it can be a three-position rotatable setting selector for selecting a specific operating mode. Similarly, in another example, a set of physical switches that can be depressed/activated in a dynamic manner to elicit temporary switching of the operating mode for the duration of the depression or a complete transition of operating mode.
In another example, the user-initiated actions can be implemented through various software-based graphical interfaces. In the case of manual selection, the user can pick and choose the desired setting by selecting on one of icons displayed on a touch screen display. Still further, the user-initiated actions may be elicited through complimentary interfaces on other devices, such as a mobile application on a mobile computing device that present graphical interfaces that either correspond to a similar graphical interface on an instrument panel on the personal watercraft or separate from any interfaces on the personal watercraft. For example, a mobile application may present a simplified interface that provides a streamlined manner to select between operating modes. Still further, in other aspects, the personal watercraft may be configured with additional input devices, such as microphones or vision systems, that allow for a user to provide audio inputs or physical signals that can be translated to user-initiated commands to switch between operating modes. For example, the personal watercraft may be able to access localized or remote processing services that allow for translation of audible commands or physical gestures into commands.
In still other aspects, the switching of operating modes corresponds to automated or predetermined actions. For example, a control unit can be configured with evaluation criteria based on operational attributes of the personal watercraft that be characterized as requiring an automatic change in operation mode. Such processing of operational attributes can include automatic selection made by configuring the control program to respond to signals from a throttle lever or a joystick. The processing of operational attributes can also include selection of operating modes based on battery levels associated with the personal watercraft. In this example, if the peripheral motors correspond to electric motors, the control program may automatically switch the operating mode to either a central motor only (e.g., the first operating mode) or the hybrid operating mode if a calculated battery level become low. Further, the control program may automatically switch operating modes based on a determination that additional thrust is necessary based on some form of user input, detection of environmental metrics (e.g., wind speed, current, etc.), or a combination thereof. Still further, in other embodiments, in a hybrid operating mode, the allocation of thrust between the peripheral motors and the central motors may also be adjusted based on performance metrics, such as output ratios, available power, environmental conditions (e.g., current and wind speeds), and the like.
In still another example, the processing of the operational attributes can correspond to location-based criteria such that the control until may be configured with predetermined criteria that allows for the automated switching of operating modes based on a determined location. In this example, the control unit may be configured to automatically switch to the peripheral only operating mode (e.g., the second operating mode) when a determined location of the personal watercraft indicates proximity to a dock, no wake zone, etc. Similarly, the control unit may be configured to automatically switch to central motor only operating mode when a determined location of the personal watercraft indicates a cruising environment. The location-based criteria may be implemented according to default location information, customized user profiles including the selection of geographic zones (e.g., geofencing) for changing operating modes, or learned behaviors tracking patterns in manual selection of operating modes for future automation. Still further, one or more aspects of the location-based processing can be facilitated with interaction with mobile applications, such as for determination or confirmation of currently calculated locations, user profiles/preferences or communications with additional network-based services.
For the automated configuration of the operating modes, additional aspects of the present application can include the inclusion of user verification or confirmation of the intended switching of operation modes, such as via physical actions, audible commands, physical gestures, and the like. Various other combination of automatic switching of setting can be made and some of are explained below as embodiments.
In this schematic rear view, the central motors 1a, 1b are both retracted from water engagement by tilting their attitude by around 90 degrees by a tilting mechanism (not shown in the drawings). On the contrary, propellers of the peripheral motors 11a, 11b are both deployed by extending the support arms (not shown) to engage water that they can produce thrusts with propellers 116a, 116b to propel the watercraft 100. The peripheral motor 11a, 11b each has its own retraction mechanism (not shown in the drawings) in the outside enclosure. The retraction mechanism is activated to take either the deployment position or the retraction position by either pushing or pulling supporting rods, extension arms, masts, etc. supporting to the propeller attached to a motor unit. In a retracted position, the peripheral motors 11 may be at least partially obscured to minimize potential drag either enclosed with the watercraft or within a mounting configured to reduce drag. The peripheral motors 11a, 11b are configured to provide for a full 360-degree rotation of their propellers to rotatably change the direction of thrusts relative to the watercraft. When the retraction mechanism retracts the propellers 116a, 116b to the outside enclosure of peripheral motors 11a, 11b, peripheral motors 11a, 11b have no contact with water so as not to produce any unwanted drag or otherwise minimize drag produced with fully deployed central motor(s).
As previously described, the controller selectable provides the control instructions to the left and right peripheral motors in preference to the central motor responsive to receipt of joystick position signals from the joystick unit during a specified control mode. The preference is selectable based on the switching of setting as explained above. In this regard, users of the personal watercraft may utilize the same interaction mechanisms for operation of the peripheral motors (e.g., throttle and directional controls of the joystick). The controller may be configured with configuration information that cause the translation of the user-initiated actions into control signals that cause the operation of the peripheral motors (e.g., motors 11a and 11b). In this regard, the configuration information can include processes the normalized the user interaction into an established operating range of the peripheral motors. Such operating range may be different from an operating range of the central motors. For example, a max throttle manipulation of a joystick control may be translated into different control signals for the peripheral motors than a similar control signal for the central motors. In this regard, a user would not need to adjust the physical manipulation of the throttle control based on different power or thrust characteristics of the peripheral motors. As described above, the operating ranges may be defined in terms of absolute numerical values, such as estimated thrust being generated, revolutions of the motor (or props), and the like. The operating ranges may also be defined in terms of relative output ratios that measure a current amount of thrust generated by a motor relative to a maximum thrust value. For example, in some embodiments, the central motors may be associated with higher (including substantially higher) maximum thrust values (individually or collectively) relative to the peripheral motors (individually or collectively). Accordingly, the translated or normalized control instructions may be specified based on output ratios. For example, in a hybrid operating mode, the peripheral and central motors may be operated according to a substantially similar output ratio, which would correspond to higher actual thrust being generated by the central motors relative to the peripheral motors from a common joystick command/instruction. In another example, the controller may wish to have similar actual thrust values from the peripheral motors and the central motors, which would result in the operation of the peripheral and central motors at different output ratios from a common joystick command/instruction. Accordingly, the output ratios associated with the central motors (e.g., the first propulsion units) would be considered lower than the output ratios of the peripheral motors (e.g., the second propulsion units).
Optionally, the bracket 17a supports in the upper portion of the left central motor 1a in an angular position that is fixed with regard to a vertical axis, relative to a watercraft 100. The left central motor 1a can also include a steering unit 12a that connects an upper unit UU to a lower unit UL and is configured to rotate the lower unit UL relative to the upper unit UU. For example, the steering unit 12a can include a rotatable connection configured to allow the lower unit UL to rotate about a steering axis 12x that can be coincident with the drive shaft 3a. Additionally, the steering unit 12a can include a steering actuator 8a. In some embodiments, the steering unit 12a can be referred to as a rotatable connector, the upper unit UU can be referred to as a stationary portion, and the lower unit UL can be referred to as a rotatable portion.
For example, the steering actuator 8a can be an electric or hydraulic powered device. The steering actuator 8a can be configured to receive a signal to drive the lower unit UL to a desired angular orientation about the steering axis 12x. In some embodiments, the steering unit 12a can be configured to provide for a full 360-degree rotation of the lower unit UL relative to the upper unit UU. U.S. Pat. Nos. 9,776,700 and 9,862,473 both disclose hardware for allowing a lower unit to be rotated relative to an upper unit and any of those mechanisms or other mechanisms can be used as the steering unit 12a. The entire contents of U.S. Pat. Nos. 9,776,700 and 9,862,473 are hereby incorporated by reference in their entirety.
The left central motor 1a preferably includes an engine 2a, a drive shaft 3a, a propeller shaft 4a, and a shift mechanism 5a. The engine 2a can drive the propeller 6a to thereby generate a thrust to propel the watercraft 100. The engine 2a includes a crankshaft 13a. The crankshaft 13a can extend in the vertical direction. The drive shaft 3a is connected to the crankshaft 13a. The drive shaft 3a can extend in the vertical direction. The propeller shaft 4a can extend in the front-and-back direction, which can be non-parallel (e.g., perpendicular) to the vertical direction, in some embodiment. The propeller shaft 4a is connected to the drive shaft 3a through the shift mechanism 5a. The propeller 6a is attached to the propeller shaft 4a. Though an internal combustion engine is used as an example of the engine 2a, 2b included in the central motor 1a, 1b other types of power source may be implemented as the engine 2a, 2b. For example, the engine 2a, 2b can comprise an electric motor.
The shift mechanism 5a preferably includes a forward moving gear 14a, a rearward moving gear 15a, and a clutch 16a. When gear engagement is switched between the gears 14a, 15a by the clutch 16a, the direction of rotation transmitted from the drive shaft 3a to the propeller shaft 4a is reversed. This is one example technique that can be utilized for switching the direction of movement of the watercraft 100 between forward movement and rearward movement. In some embodiments, the shift mechanism 5a can be referred to as a gear shifter.
Illustratively, the peripheral motors 11a, 11b are driven by electric motors with or without a built-in battery in the enclosure. In the case of without a built-in battery in the enclosure, the battery can be installed inside of the cabin that can share electric power for other electric equipment such as illumination, controller, navigator, refrigerator etc. on the watercraft. An electric motor is used as an example of the peripheral motors 11a, 11b other types of power source may be implemented as the peripheral motors 11a, 11b. For example, the peripheral motor 11a, 11b can comprise a smaller internal combustion engine with a propeller or impeller to produce water jet propulsion as far as it can rotate 360 degrees about a vertical axis. The battery can be charged by an external power source via an electric cable, by an onboard generator, solar generating cells, or self-power generation utilizing the power obtained from water pressure via propellers, such as in a hybrid operating mode as described above.
As shown in
The shift actuator 7a is connected to the clutch 16a of the shift mechanism 5a. The shift actuator 7a actuates the clutch 16a so as to switch gear engagement between the gears 14a, 15a. With this optional technique, movement of the watercraft 100 is thus switched between forward movement and rearward movement. Additionally, movements of the watercraft 100 can be switched between forward and rearward movement by operation of the steering actuator 8b so as to turn the lower unit UL to produce thrust in a rearward direction while the forward gear 14a is engaged. Additional modes of operation are described below. The shift actuator 7a can preferably comprise an electric motor. It should be noted that the shift actuator 7a may alternatively comprise another type of actuator such as, for example, an electric cylinder, a hydraulic motor, a hydraulic cylinder, etc.
With respect to the peripheral motor 11a, the movement of the watercraft 100 is switched between forward movement and rearward movement by changing the polarity of voltage from positive to negative or direction of electric current flow applied to the motor 112a. For example, positive voltage can rotate the propeller in clockwise and the negative voltage rotates the propeller in counterclockwise directions to produce the thrust in both directions. Additionally, movements of the watercraft 100 can be switched between forward and rearward movement by operation of the steering actuator 113a so as to turn the propellers orientation to produce thrust in a rearward direction while the positive current flow. As the propellers can be swiveled about 360 degrees, rotating the motor direction in 180 degrees can direct the thrust in opposite direction.
The steering actuator 8a is connected to the left central motor 1a. The steering actuator 8a rotates the lower unit UL of the left central motor 1a about the steering shaft axis 12x. The rudder angle of the left central motor 1a can thus be changed. The steering actuator 8a preferably comprise an electric motor. It should be noted that the steering actuator 8a may alternatively comprise another type of actuator such as, for example, an electric cylinder, a hydraulic motor, a hydraulic cylinder, etc.
The steering actuator 113a is connected to the left peripheral motor 11a. The steering actuator 113a rotates the electric motor 112a of the left peripheral motor 11a about a vertical axis. The rudder angle of the left peripheral motor 11a can thus be changed. The steering actuator 113a preferably comprise an electric motor. It should be noted that the steering actuator 113a may alternatively comprise another type of actuator such as, for example, an electric cylinder, a hydraulic motor, a hydraulic cylinder, etc.
The left central motor 1a includes an electric control unit (ECU) 9a. The ECU 9a preferably includes a processor such as a CPU and memory such as, for example, a RAM and a ROM. The ECU 9a stores a program and data to control the left central motor 1a. The ECU 9a controls actions of the engine 2a, the shift actuator 7a, and the steering actuator 8a.
The left peripheral motor 11a includes a motor control unit (MCU) 111a. The MCU 111a preferably includes a processor such as a CPU and memory such as, for example, a RAM and a ROM. The MCU 111a stores a program and data to control the left peripheral motor ala. The MCU 111a controls actions of the motor 112a and the steering actuator 113a.
As shown in
The right peripheral motor 11b preferably includes a motor 112b, a steering actuator 113b, and an MCU 111b. The motor 112b, the steering actuator 113b, and the MCU 111b in the right peripheral motor 11b are preferably configured similarly to the motor 112a, the steering actuator 113a, and the MCU 111a in the left central motor 1a, respectively.
The control system includes a steering wheel 21, throttle levers 22a, 22b, and a joystick 23. As shown in
The steering wheel 21 is a device that allows an operator to operate the watercraft 100 in a truing or operating direction. The steering wheel 21 includes a sensor 210. The sensor 210 outputs a signal indicating the operating direction and an operating amount (e.g., a rotation angle) of the steering wheel 21.
The throttle levers 22a, 22b can include a first lever 22a and a second lever 22b. The first lever 22a can comprise a device that allows the operator to regulate the magnitude of a thrust generated by the left central motor 1a. In some embodiments, the thrust generated by the left central motor 1a can depend at least in part on a throttle level controlled by the operator through the first lever 22a and a gear position. The first lever 22a can comprise a device that allows the operator to switch the direction of the thrust generated by the left central motor 1a between forward and rearward directions. The first lever 22a can be disposed to be operable from a neutral position to a forwardly moving directional side and a rearward moving directional side. The first lever 22a includes a sensor 221. The sensor 221 outputs a signal indicating an operating direction and an operating amount (e.g., a displacement from the neutral position) of the first lever 22a.
The second lever 22b can comprise a device that allows the operator to regulate the magnitude of a thrust generated by the right central motor 1b. The second lever 22b can comprise a device that allows the operator to switch the direction of the thrust generated by the right central motor 1b between forward and rearward directions. The second lever 22b can be disposed to be operable from a neutral position to a forwardly moving directional side and a rearward moving directional side. The second lever 22b includes a sensor 222. The sensor 222 outputs a signal indicating an operating direction and an operating amount (e.g., a displacement from the neutral position) of the second lever 22b.
The joystick 23 can comprise a device that allows the operator to operate the movement of the watercraft 100 in each of the moving directions of front, rear, right and left. The joystick 23 can comprise a device that allows the operator to operate the bow turning motion of the watercraft 100. The joystick 23 is tiltable in multi-directions. For example, the joystick can be configured to tilt in at least four directions including front, rear, right and left. It should be noted that four or more directions, and furthermore, all directions may be instructed by the joystick 23.
Moreover, the joystick 23 is preferably disposed to be turnable about a rotational axis Z. The joystick 23 includes a sensor 230. The sensor 230 outputs a propulsion signal indicating the tilt direction and a tilt amount (e.g., a tilt angle) of the joystick 23. The sensor 230 outputs a bow turning signal indicating a twist direction and a twist amount (e.g., a twist angle) of the joystick 23.
The control system includes a controller 10. The controller 10 preferably includes a processor such as a CPU and memory such as a RAM and an ROM, for example. The controller 10 stores a program and data used to control the right and left central motors 1b, 1a as well as the right and left peripheral motors 11a, 11b. The controller 10 is connected to the ECUs 9a, 9b and MCUs 111a, 111b through wired or wireless communication. The controller 10 is connected to the steering wheel 21, the throttle levers 22a, 22b, and the joystick 23 through wired or wireless communication.
The controller 10 receives signals from the sensors 210, 221, 222, 230. The controller 10 outputs command signals to the ECUs 9a, 9b and MCUs 111a, 111b based at least in part on the signals from the sensors 210, 221, 222, 230 depending on the three operating modes. As described above, the operating modes may be selected based on manual selection interfaces (physical, software or combination) or automatic selection based on configuration of control programs.
For example, in operating modes including the operation of the central motor (e.g., the central motor only or hybrid operating modes), the controller 10 outputs a command signal to the shift actuator 7a in accordance with the operating direction of the first lever 22a. Movement of the left central motor 1a is thus switched between forward movement and rearward movement. The controller 10 outputs a command signal to the engine 2a in accordance with the operating amount of the first lever 22a. An engine rotational speed of the left central motor 1a is thus controlled.
In operating modes including the operation of the peripheral motors (e.g., the peripheral motor only or hybrid operating modes), the controller 10 outputs a command signal to the MCU 111a. Movement of the left peripheral motor 11a is thus determined between forward movement and rearward movement as well as the direction and thrust amount. The controller 10 outputs a command signal to the MCU 111a includes operating amount of the first lever 22a. The motor rotational speed of the left peripheral motor 11a is thus controlled.
It should be noted that in this description of embodiments, the specification of operating modes, central only operating mode, peripheral only operating mode or hybrid operating mode, has been described in detail. Accordingly, for simplicity, the description of the operation of the central motors or peripheral motors should be interpreted in accordance with the various operating modes described above and will not be specifically referenced in each illustrative example below.
The controller 10 outputs a command signal to the shift actuator 7b in accordance with the operating direction of the second lever 22b. Movement of the right central motor 1b is thus switched between forward movement and rearward movement. The controller 10 outputs a command signal to the engine 2b in accordance with the operating amount of the second lever 22b. An engine rotational speed of the right central motor 1b is thus controlled.
The controller 10 outputs a command signal to the MCU 111b. Movement of the right peripheral motor 11b is thus determined between forward movement and rearward movement as well as the direction and thrust amount. The controller 10 outputs a command signal to the MCU 111b includes operating amount of the first lever 22b. The motor rotational speed of the left peripheral motor 11b is thus controlled.
The controller 10 outputs command signals to the steering actuators 8a and 8b in accordance with the operating direction and the operating amount of the steering wheel 21. When the steering wheel 21 is operated leftward from the neutral position, the controller 10 controls the steering actuators 8b, 8a such that the right and left central motors 1b, 1a are rotated rightward thereby enabling the watercraft 100 to turn, for example, in a leftward direction. When the steering wheel 21 is operated rightward from the neutral position, the controller 10 controls the steering actuators 8b, 8a such that the right and left central motors 1b, 1a are rotated leftward thereby enabling the watercraft 100 to turn, for example, in a rightward direction. The controller 10 can control the rudder angles of the right and left central motors 1b, 1a in accordance with the operating amount of the steering wheel 21.
The controller 10 outputs command signals to the steering actuators 113a and 113b in accordance with the operating direction and the operating amount of the steering wheel 21. When the steering wheel 21 is operated leftward from the neutral position, the controller 10 controls the steering actuators 113a, 113b such that the right and left peripheral motors 11b, 11a are rotated rightward thereby enabling the watercraft 100 to turn, for example, in a leftward direction. When the steering wheel 21 is operated rightward from the neutral position, the controller 10 controls the steering actuators 113a, 113b such that the right and left peripheral motors 11b, 11a are rotated leftward thereby enabling the watercraft 100 to turn, for example, in a rightward direction. The controller 10 can control the rudder angles of the right and left peripheral motors 11b, 11a in accordance with the operating amount of the steering wheel 21.
Optionally, in some embodiments, the controller 10 can be configured to operate in two different modes, one associated with the use of the steering wheel 21 and the throttle levers 22a, 22b and another mode of operation associated with use of the joystick 23. In some embodiments, the mode of operation associated with the use of the steering wheel 21 and the throttle levers 22a, 22b can be configured to provide a more conventional watercraft propulsion control technique. For example, although the central motors 1a, 1b can included a mechanism for an enlarged rudder angle steering range, such as over 180°, up to 360°. The controller 10 can be configured to limit the rudder angles achievable with the steering wheel 21. For example, in some embodiments, when the controller 10 is operating in the first mode of operation, the controller 10 operates the steering actuators 8a so that the rudder angles of the outboard motors 1a, 1b remain within 30° of straight ahead, for example, within 30° to the right and 30° to the left. This is a steering angle range that is common with conventional outboard motors that steer with a steering bracket. In this mode of operation, the engines 2a, 2b and shift actuators 7a, 7b can be controlled with the throttle levers 22a, 22b as described above. This can improve the comfort of steering wheel operations for a user.
In a second mode of operation, in which the thrust generated by the outboard motors 1a, 1b is controlled by the joystick 23, the controller 10 can allow for the rudder angles of the outboard motors 1a, 1b to be adjusted through a larger range of movement, for example, more than 30°, more than 180°, or a full 360°.
In the case of the peripheral motors 11a, 11b is controlled by the joystick 23, the controller 10 can allow for the rudder angles of the peripheral motors 11a, 11b to be adjusted through a full 360°. This configuration further improves the comfort of steering the watercraft 100 in a desired direction with a desired speed in relatively lower speed movement when docking the watercraft to the harbor or another boat or approaching designated spot for fishing or picking up a swimmer etc., especially in the Setting P.
The controller 10 also outputs command signals to the engines 2a, 2b, the shift actuators 7a, 7b, and the steering actuators 8a, 8b in accordance with the tilt direction and the tilt amount of the joystick 23. The controller 10 controls the engines 2a and 2b, the shift actuators 7a and 7b, and the steering actuators 8a and 8b such that translation (linear motion) of the watercraft 100 is made at a velocity corresponding to the tilt amount of the joystick 23 in a direction corresponding to the tilt direction of the joystick 23. Additionally, the controller 10 controls the engines 2a, 2b, the shift actuators 7a, 7b, and the steering actuators 8a, 8b such that the watercraft 100 turns the bow at an angular velocity corresponding to the twist amount of the joystick 23 in a direction corresponding to the twist direction of the joystick 23.
The controller 10 also outputs command signals to the motors 112a, 112b and the steering actuators 113a, 113b in accordance with the tilt direction and the tilt amount of the joystick 23. The controller 10 controls the motors 112a, 112b and the steering actuators 113a, 113b such that translation (linear motion) of the watercraft 100 is made at a velocity corresponding to the tilt amount of the joystick 23 in a direction corresponding to the tilt direction of the joystick 23. Additionally, the controller 10 controls the motors 112a, 112b and the steering actuators 113a, 113b such that the watercraft 100 turns the bow at an angular velocity corresponding to the twist amount of the joystick 23 in a direction corresponding to the twist direction of the joystick 23.
Processing executed by the controller 10 in accordance with an operation of the joystick 23 will be hereinafter explained in detail. In the following explanation, the term “composite operation” refers to a condition in which a bow turning operation and any one of forward (or rearward) and a lateral moving operation are both ongoing for the watercraft 100. In other words, the term “composite operation” means that the twist operation about the rotational axis Z and the tilt operation are both ongoing for the joystick 23. On the other hand, the term “sole operation” refers to a condition that only one of the bow turning operation, the forward (or rearward) moving operation, or the lateral moving operation is ongoing for the watercraft 100. In other words, the term “sole operation” means that only one of the twist operation about the rotational axis Z and the tilt operation is ongoing for the joystick 23.
The controller 10 determines which of the composite operation and the sole operation is ongoing based at least in part on the signal from the joystick 23. The controller 10 determines that the composite operation of bow turning and forward, rearward or lateral propulsion is ongoing when receiving both the propulsion signal indicating the tilt operation of the joystick 23 and the bow turning signal indicating the twist operation of the joystick 23. The controller 10 determines that the sole operation of bow turning is ongoing when receiving the bow turning signal without receiving the any of the forward, rearward or lateral propulsion signals. The controller 10 determines that the sole operation of propulsion is ongoing when receiving the forward, rearward, or lateral propulsion signals without receiving the bow turning signal.
The controller 10 can be configured to operate the outboard motors 1a, 1b, 11a, 11b so as to provide a continuous proportional response to movements of the joystick 23, stepwise operation of the outboard motors based at least in part on movements of the joystick 23, or a limited number of predetermined operational modes. Additionally, the controller 10 can be configured to accept pulsed inputs to the joystick 23 and to hold an operational condition of the outboard motors 1a, 1b, 11a, 11b when the joystick 23 is pulsed and released, for example, when the joystick 23 is “tapped” by an operator. In such a tapping mode of operation, the controller 10 can be configured to cycle the operational parameters of the outboard motors 1a, 1b, 11a, 11b through a series of particular operational states which may be predetermined.
For example, the controller 10 can divide forward movement of the watercraft 100 into ten (10) steps of forward propulsion and thus ten (10) taps of the joystick 23 in the forward direction would cause the controller 10 to cycle through ten (10) different operational states of increasing the forward propulsion, for example, between 0% forward propulsion to 100% forward propulsion. In some embodiments, the controller 10 can include an integrator unit configured to integrate one or more inputs from the joystick 23 over time, to produce a more gradual response to movements of the joystick 23. In some embodiments, the controller can be configured to change the operational states of the outboard motors 1a, 1b in proportional response to the integrated signal from the joystick sensor 230, and hold the then current operational stats of the outboard motors 1a, 1b, 11a, 11b when the joystick 23 is released by a user and returned to its default position; a position that otherwise corresponds to a request for no propulsion. Other optional modes of operation are described below.
As previously described, in accordance with still further aspects of the present application, users of the personal watercraft may utilize various controls to operate the selection and switching of one or more operating modes. Illustratively, in one aspect, the switching of operating modes corresponds to user-initiated actions via a physical interface, software interface, or a combination thereof In one example, the switching of the setting can be done by simply physical switches. Optionally, it can be a three-position rotatable setting selector for selecting a specific operating mode. Similarly, in another example, a set of physical switches that can be depressed/activated in a dynamic manner to elicit temporary switching of the operating mode for the duration of the depression or a complete transition of operating mode.
In another example, the user-initiated actions can be implemented through various software-based graphical interfaces. In the case of manual selection, the user can pick and choose the desired setting by selecting on one of icons displayed on a touch screen display. Still further, the user-initiated actions may be elicited through complimentary interfaces on other devices, such as a mobile application on a mobile computing device that present graphical interfaces that either correspond to a similar graphical interface on an instrument panel on the personal watercraft or separate from any interfaces on the personal watercraft. For example, a mobile application may present a simplified interface that provides a streamlined manner to select between operating modes. Still further, in other aspects, the personal watercraft may be configured with additional input devices, such as microphones or vision systems, that allow for a user to provide audio inputs or physical signals that can be translated to user-initiated commands to switch between operating modes. For example, the personal watercraft may be able to access localized or remote processing services that allow for translation of audible commands or physical gestures into commands.
In still other aspects, the switching of operating modes corresponds to automated or predetermined actions. For example, a control unit can be configured with evaluation criteria based on operational attributes of the personal watercraft that be characterized as requiring an automatic change in operation mode. Such processing of operational attributes can include automatic selection made by configuring the control program to respond to signals from a throttle lever or a joystick. The processing of operational attributes can also include selection of operating modes based on battery levels associated with the personal watercraft. In this example, if the peripheral motors correspond to electric motors, the control program may automatically switch the operating mode to either a central motor only (e.g., the first operating mode) or the hybrid operating mode if a calculated battery level become low. As described above, in still other embodiments, the operating parameters of the motors, such as in a hybrid operating mode incorporating second propulsion units (e.g., a plurality of peripheral motors) and second propulsion units (e.g., a plurality of central motors) may be further adjusted based on such operating metrics, including the modification of output ratios or allocation of thrust between propulsion units.
In still another example, the processing of the operational attributes can correspond to location-based criteria such that the control until may be configured with predetermined criteria that allows for the automated switching of operating modes based on a determined location. In this example, the control unit may be configured to automatically switch to the peripheral only operating mode (e.g., the second operating mode) when a determined location of the personal watercraft indicates proximity to a dock, no wake zone, etc. Similarly, the control unit may be configured to automatically switch to central motor only operating mode when a determined location of the personal watercraft indicates a cruising environment. The location-based criteria may be implemented according to default location information, customized user profiles including the selection of geographic zones (e.g., geofencing) for changing operating modes, or learned behaviors tracking patterns in manual selection of operating modes for future automation. Still further, one or more aspects of the location-based processing can be facilitated with interaction with mobile applications, such as for determination or confirmation of currently calculated locations, user profiles/preferences or communications with additional network-based services.
For the automated configuration of the operating modes, additional aspects of the present application can include the inclusion of user verification or confirmation of the intended switching of operation modes, such as via physical actions, audible commands, physical gestures, and the like.
In the mode of operation illustrated in
In the present mode of operation illustrated in
The controller 10 can be configured to recognize ranges of movement of the joystick 23 as corresponding to different ranges of intended or requested watercraft thrust. For example, with reference to
In the first mode of sole forward propulsion of
Various aspects of the present disclosure can include the realization that by controlling outboard motors in this way, a watercraft speed that is slower than the maximum watercraft speed obtainable during idle operation of the central motors 1a, 1b with the rudder angles at 0 degrees can be achieved, which can be desirable for trolling or docking maneuvers. This is because, as noted above, some of the thrust generated by each outboard motor 1a, 1b is cancelled by the thrust generated by the other outboard motor 1a, 1b because the lower units UL are directed partially toward each other, thereby cancelling some of the thrust created. However, because the lower units UL of the outboard motor 1a, 1b are not directly opposed to each other, there is a net positive amount of thrust, in this case, in the forward direction. As used herein, the term “idle watercraft speed” refers to a steady state. For example, the idle watercraft speed can be a steady state at the maximum watercraft speed obtainable during idle operation, with the rudder angles at 0 degrees. The term “sub idle watercraft speed” refers to watercraft speeds that are less than idle watercraft speed. The term “super idle watercraft speed” can be considered as including idle watercraft speeds and higher speeds.
In the case of peripheral motors 11a, 11b the net speed control or producing super idle watercraft speed is relatively easier in comparison with the central motors 1a, 1b, as electric motors are easily generated slower speed of rotation as there is no idling threshold that combustion engines stop running below the certain rotational speed. As a result, it is possible to direct the propeller direction to generate the vessel thrust forward with low speed instead of some of thrust created canceling each other. However, by maintaining the rotational speed of motors 112a, 112b at certain constant speed, it will be smoother to control the movement of the watercraft 100 in various directions.
With reference to FIG. 5B1, in the orientation illustrated in
As explained above, it is optional to constantly maintain the rotational speed of motors 112a, 112b and canceling the part of generated thrust or reducing the rotational speed by controlling the amount of electricity to supply to the motors 112a, 112b based on the maneuverability and energy consumption concerns.
As noted above, the controller 10 can be configured to provide for a proportional change in forward thrust produced by gradually adjusting the rudder angles of the outboard motors 1a, 1b between the position illustrated in
The controller 10 can be configured to allow for full power output from the outboard motors 1a, 1b, 11a, 11b or configured for limiting maximum output to a particular engine output (e.g., a predetermined engine output), which would correspond to a maximum thrust generated by the outboard motors 1a, 1b, 11a, 11b. In some embodiments, where the engines 2a, 2b are internal combustion engines, the controller 10 can be configured to control a throttle opening of the engines 2a, 2b, to thereby control the output from the engines 2a, 2b. Thus, in such embodiments, the controller 10 can be configured to limit the maximum throttle opening achievable by operation of the joystick 23. For example, the controller 10 may be configured or programmed with a maximum of a 35% opening of the throttle valves of the engines 2a, 2b. In some embodiments, the controller 10 can be configured to adjust the power output from the engines 2a, 2b, e.g., adjusting the opening of the throttle valves, between the idle speed setting associated with the operational mode of
As another embodiment, the controller 10 can be configured to make the joystick 23 operable only when the throttle opening of the engines 2a, 2b are 35% or less of the maximum opening, i.e., relatively slower thrust output from the engines 2a, 2b. At the same time, when the joystick 23 is control the watercraft 100, the central motor 1a, 1b inoperable by retracting the propellers 6a, 6b and making any portion of the central motors 1a, 1b outside of water. It can be achieved by the controller 10 sending command to ECU 9a, 9b to activate the tilting mechanism to rotate the change bracket 17a by 90 degrees (as seen
This feature is one embodiment of automatic setting control from Setting H to Setting P. The automatic setting change can be achieved from Setting P to Setting H when the throttle opening exceeds more than 35% of the maximum opening for predetermined amount of time such as about 60 seconds. Alternatively, the automatic change of the setting can take place immediately after the throttle opening exceeds 50% of the maximum opening, irrespective of the joystick control is available or not. If enabling or disabling either the throttle levers 22a, 22b or the joystick 23 is a matter of design based on the maneuvering comfort and safety. Not only based on the throttle opening, but also actual watercraft speed relative to the water is also factored in to decide appropriate threshold level to enable/disable the control by the throttle levers 22a, 22b or the joystick 23.
In some embodiments, the controller 10 can be configured to adjust the throttle openings proportionally corresponding to proportional movements of the joystick 23 over the range FH, between the position illustrated in
Thus, when a user operates the joystick 23 starting from the default position illustrated in
In the case of peripheral motors 11a, 11b the net speed control or producing super idle watercraft speed is relatively easier in comparison with the central motors 1a, 1b, as electric motors are easily generated slower speed of rotation as there is no idling threshold that combustion engines stop running below the certain rotational speed. As a result, it is possible to direct the propeller direction to generate the vessel thrust forward with low speed instead of some of thrust created canceling each other. However, by maintaining the rotational speed of motors 112a, 112b at certain constant speed, it will be smoother to control the movement of the watercraft 100 in various directions.
As such, the controller 10 can adjustment the watercraft speed in rearward direction in various ranges of watercraft speeds, similarly to that described above with regard to the forward modes of sole operation. For example, the controller 10 can be configured to provide an adjustment of rearward speeds from zero speed associated with
Further, as described above with reference to
various aspects of the present disclosure can include the realization that initiation of rotation or bow turning of a watercraft 100 can be significantly quicker and smoother compared to conventional techniques. For example, some conventional outboard motor control systems, when switching from a zero propulsion mode to a rotation mode, shift one outboard motor into forward gear, one outboard motor into rearward gear, which would cause multiple shocks, one from the gear shifting of each outboard motor, after which, the watercraft begin to rotate. However, in accordance with some embodiments of modes of operation, by continuing to operate the outboard motors 1a, 1b, 11a, 11b in the forward gear 14a or forward drive motor current supply to motor 112a and at idle speed and with diametrically opposed rudder angles for zero propulsion, then only increasing the power output from one outboard motor to induce rotation of the watercraft, the initiation of rotation is significantly smoother than the conventional technique noted above. In accordance with various embodiments, certain disadvantages associated with conventional systems can be eliminated or reduced the system for controlling a watercraft disclosed herein.
Further, no adjustment of the rudder angles of the outboard motors 1a, 1b is necessary in this mode of operation. Further, because watercraft are generally elongated, the distance between the center of pressure and the net thrust vector is much larger, thereby providing an opportunity to generate much larger torques on the watercraft 100 for rotation of the watercraft 100 than when the thrust vector were located closer to the center of pressure. As such, the rotation of the watercraft 100 can be more responsive to rotational inputs to the joystick 23.
In some embodiments, the controller 10 can be configured to proportionally increase the power output of the engine 2b and/or motor 112b between idle and a maximum output based on the proportional twisting of the joystick 23 between its default position and a maximum twisted position.
For example, in the embodiment of
The composite mode of operation illustrated in
Additionally, the controller 10 can be configured to, when operating in super idle speed mode, further limit the maximum steering angles used during super idle operation. For example, with reference to
With continued reference to
While the explanation of an embodiment based on
For example, with respect to the zero propulsion mode described above with
In operation block 304, the controller 10 can adjust the rudder angles of the peripheral motors 11a, 11b to be in direct opposition, to thereby cancel all thrust or substantially all thrust generated by the peripheral motors 11a, 11b. The motors 112a, 112b can be maintained at an idle speed operation (operation block 306).
After the operation bock 306, the routine 300 can return to start (the operation block 301). On the other hand, when in the decision block 310, it has been determined that the peripheral motors 11a, 11b have not been operating in the zero propulsion mode for the predetermined amount of time, the routine 300 can return to the start (the operation block 301).
Further, when in the decision block 302 it is determined that there has not been a request for a zero propulsion, the operation 300 can move to decision block 320.
In the decision block 320, it can be determined whether there has been a request for sub idle speed propulsion. For example, the controller 10 can determine whether the joystick 23 has been moved to any position within a first range of movement RL associated with sub idle speed movement. When it is determined that there has been a request received for sub idle speed movement, the rudder angles of the peripheral motors 11a, 11b can be adjusted to provide some net thrust (forward or rearward) and also to partially cancel thrust (operation block 322). For example, the rudder angles of the peripheral motors 11a, 11b can be adjusted as described above with reference to
When, at the decision block 320, it is determined that a request for sub idle speed propulsion has not been received, the routine 300 can move to decision block 330. In the decision block 330 whether there has been a request for super idle speed propulsion can be determined. For example, the controller 10 can detect whether the joystick 23 has been moved to super idle speed range FH or RH, as described above with reference to FIGSs. 5C, 5D, 6B, and 6C. When it has been determined that the joystick 23 has been moved into the super idle speed propulsion range FH or Rh, the routine can continue to adjust the rudder angles of the peripheral motors 11a, 11b to parallel, for example, parallel with the longitudinal axis L of the watercraft 100 (operation block 332). After the operation block 336, the routine 300 can return to the start (the operation block 301).
When, in the decision block 330, it is determined that there has not been a request for super idle speed propulsion, the operation 300 can move to decision block 340. In the decision block 340, it can be determined whether there has been a request for counterclockwise rotation. For example, the controller 10 can read an output of the sensor 230 to determine if the joystick 23 has been twisted about the z axis. When it is determined that there has been a request for counterclockwise rotation, the operation 300 can continue to operation block 342 in which the rudder angles of the peripheral motors 11a, 11b are adjusted to be directly opposed, for example, in the orientation illustrated in
When, in the decision block 340, it is determined that counterclockwise rotation has not been requested, the routine 300 moves on to decision block 350. In the decision block 350, it can be determined whether a request for clockwise rotation has been requested. When a request for clockwise rotation has been requested, the rudder angles of the left and right peripheral motors 11a, 11b can be adjusted to be in direct opposition (operation block 352), and the output of the right peripheral motor 11b can be increased to an output greater than that of the left peripheral motor 11a, to thereby create a clockwise torque on the watercraft 100, as described above with reference to
In the decision block 360, it can be determined whether a request for a reverse sub idle speed and clockwise rotation has been requested. when a request for a reverse sub idle speed and clockwise rotation has been requested, the routine 300 can move on to operation block 362 and adjust the right rudder angle to approximately 270°, including variances of +/−5° (operation block 366), and adjust the left rudder angle to the range of 90° to 180° (operation block 368), in the manner described above with reference to
When, in the decision block 360, it has been determined that there has been no request for reverse sub idle speed and clockwise rotation, the routine 300 can move to decision block 370. In the decision block 370, it can be determined whether a reverse sub idle speed and counterclockwise rotation has been requested. When a reverse sub idle speed and counterclockwise rotation has been requested, the routine 300 can move on to operation block 372 and maintain both peripheral motors 11a, 11b in idle operation. Additionally, the left rudder angle can be adjusted to approximately 90°, such as 90+/−5° (operation block 376), and the right rudder angle can be adjusted in a range of 180° to 270°, as described above with reference to
When, in the decision block 370, it is determined that a request for reverse sub idle and counterclockwise rotation has not been requested, the routine 300 can move to decision block 380. In the decision block 380, it can be determined whether a request for forward sub idle speed and clockwise rotation has been requested. When a request for forward sub idle speed and clockwise rotation has been requested, the peripheral motors 11a, 11b can be maintained in an idle operation (operation block 382). The right rudder angle can be adjusted to approximately 270°, such as 270+/−5° (operation block 386) and the left rudder angle can be adjusted to an angle within the range of 0° to 90° (operation block 388). As such, forward sub idle speed and clockwise rotation of the watercraft 100 would result. After the operation block 388, the routine 300 can be returned to start the (operation block 301).
When, in the decision block 380, it is determined that a request for forward sub idle speed and clockwise rotation has not been requested, the routine 300 can move to decision block 390. In the decision block 390, it can be determined whether a forward sub idle speed and counterclockwise rotation has been requested. When a forward sub idle speed and counter-clockwise has been requested, the peripheral motors 11a, 11b can be maintained at idle (operation block 392), the left rudder angle can be adjust to approximately 90°, such as 90+/−5° (operation block 396), and the right rudder angle can be adjust to an angle within the range of 270°-360° (operation block 398), as described above with reference to
When, in the decision block 390, a forward sub idle speed and counterclockwise rotation has not been requested, the routine 300 can move onto decision block 420 (
In decision block 420 it can be determined whether there has been a request for starboard lateral propulsion with no rotation and if so the routine 300 moves to operation block 424. In operation block 424, the left rudder angle can be adjusted in the 0° to 90° range to be directed at the center of pressure CP of the watercraft 100 and in operation block 426, the right rudder angle can be adjusted to the range of 90° to 180° and directed substantially away from the center of pressure CP, as described above with reference to
When, in the decision block 420, it is determined that a request for starboard lateral propulsion has not been received, the routine can move to the decision block 430. In the decision block 430, it can be determined whether there has been a request for port lateral movement with no rotation. When it has been determined that a request has been received for port lateral propulsion with no rotation, and the left rudder angle can be adjusted to 180° to 270° substantially away from the center of pressure CP of the watercraft 100 (operation block 434) and the right rudder angle can be adjusted to a range of 270° to 360°, and substantially directly at the center of pressure CP (operation block 436), such as that described above with reference to
When, in the decision block 430, it is determined that a request for port-side lateral movement with no rotation has not been received, the routine 300 can move on to decision block 440. In the decision block 440 it can be determined whether a request has been received for starboard lateral propulsion with clockwise rotation. When such a request has been received, the left rudder angle can be adjusted to the 0° to 90° range so as to pass on the left side of the center of pressure CP of the watercraft 100 (operation block 444) and the right rudder angle can be adjust to the 90° to 100° range along the direction passing to the right of the center of pressure CP of the watercraft 100 (operation block 446). This would result in a net clockwise torque on the watercraft 100, as well as a net starboard lateral thrust on the watercraft 100, causing both lateral movement towards the starboard-side plus clockwise rotation, as described above with reference to
When, in the decision block 440, it is determined that a request for starboard lateral propulsion with clockwise rotation has not been received, the routine 300 can move to the decision block 450. In the decision block 450, it can be determined whether a request for starboard lateral propulsion with counterclockwise rotation has been received. When such a request has been received, the left rudder angle can be adjusted to the 0° to 90° range along an angle that passes to the right of the center of pressure CP of the watercraft (operation block 454) and the right rudder angle can be adjust to the 90° to 180° range along a direction that passes to the left of the center of pressure CP of the watercraft 100 (operation block 456). These orientations would generate a net starboard lateral thrust and a net counterclockwise torque on the watercraft as described above with reference to
When, in the decision block 450, a starboard lateral propulsion with counterclockwise rotation has not been requested, the routine 300 can move onto decision block 460.
In the decision block 460 it can be determined whether there has been a request for starboard lateral and forward propulsion has been received, and when so, the routine 300 moves to operation block 464. In the operation block 464, the left rudder angle can be adjusted in the 0° to 90° range to be directed at the center of pressure CP of the watercraft 100 and in operation block 466, the right rudder angle can be adjusted to the range of 90° to 180° and directed substantially away from the center of pressure CP, as described above with reference to
In the operation block 504, the throttle opening and gear position of the peripheral motors 11a, 11b are controlled in accordance with the position of the throttle levers 22a, 22b. Additionally, the rudder angles of the peripheral motors 11a, 11b are controlled in accordance with the position of the steering wheel 21. Optionally, in some embodiments, the maximum rudder angles of the peripheral motors 11a, 11b can be limited to approximately 30° or less when the controller 10 is adjusting the rudder angles according to the position of the steering wheel 21. In other embodiments, the controller 10 can be configured to limit maximum rudder angle of the peripheral motors 11a, 11b in accordance with the curves 200-208 of
The routine 500 can move to decision block 508 in which it is determined whether or not propulsion control has been switched to joystick mode. For example, the housing for mounting the throttle levers 22a, 22b, or the housing for mounting the joystick 23 can include a button for signaling the controller 10 to switch modes, or other techniques can be used to switch to joystick mode. When it is determined that the joystick mode has not been activated, the routine can return to start block 502. On the other hand, when it is determined that the joystick mode has been initiated, the routine 500 moves to operation block 509.
In the operation block 509, the controller 10 extend the control to the peripheral motors 11a, 11b that is electric outboard motors (the operation block 509a). In the case that the propellers 116a, 116b are in retract position, then extend the supporting rod and move the propellers 116a, 116b in deployment position. After that, controller 10 can send a control signal to tilt up the central motors 1a, 1b stopping their propeller rotation so as not to touch any portion thereof to the water to avoid unwanted drag. This is another example of automatic change of an operating mode. In another operating condition, when, prior to the time operation block 509 is initiated, the controller 10 can continue operating the left and right peripheral motors 11a, 11b at idle, adjust the rudder angles to be directly opposed. After the operation block 509, the routine 500 can continue to the routine 300 (
FIG.15 illustrates the control routine 600 that can be used in a joystick-operated, cruise control mode. For example, the controller 10 can be configured to operate the peripheral motors 11a, 11b in a cruise control mode for operation at various watercraft speeds, based at least in part on inputs to the joystick 23 in which propulsion is maintained even after the joystick 23 has been returned to its default position 23a. Accordingly, control routine 600 illustratively may be implemented for use in controlling at least the central motors and peripheral motors depending on a determined operating mode For example, the routine 600, can be considered a sub routine, can begin operation block 602.
In this embodiment, a navigation operation is included (the operation blocks 603). There are three places to see the operation blocks 603 in
Immediately after starting the sub routine, the heading hold operation is executed, if activated, at operation block 607 then followed by course hold operation, if any, at operation block 619. The heading hold operation is an operation performed when a head hold mode is engaged, which means to operate the output and steering of the outboard motors to maintain a target heading by utilizing geomagnetic or GPS. And the course hold operation means manipulating the output and steering to trace a predetermined target course when a course hold mode is engaged. Both of the heading hold mode and the course hold mode are another type of sub routines and use of the watercraft selects the target heading and/or the predetermined target course beforehand and input the corresponding data to the memory connected to the controller 10.
The controller 10 can determine if the joystick 23 has been tilted in a forward position (decision block 604), and when so increase forward thrust or reduce rearward thrust (operation block 606). For example, in this mode of operation, the controller 10 can provide for a smooth and/or continuous increase in thrust depending on the tilting of the joystick 23 in the forward direction. In some operating conditions, prior to the execution of operation block 606, the controller 10 might be currently operating the peripheral motors 11a, 11b to produce a net forward thrust and thus forward propulsion of the watercraft 100. As such, the controller 10 would increase forward thrust in operation block 606. In other scenarios, for example, when the controller 10 was currently operating the peripheral motors 11a, 11b to produce a net rearward thrust and thus rearward propulsion of the watercraft 100, the controller 10 would then decrease rearward thrust in operation block 606.
In some embodiments, to increase forward thrust, the controller 10 can be configured to increase the power output from the outboard motors 1a, 1b, 11a, 11b, for example by opening the throttle valves of the engines 2a, 2b and/or increase the electric current input to the motor 116a, 116b to a degree proportional to the deflection or tilting of the joystick 23. Optionally, the controller 10 can incorporate an integrator unit, to increase the power output of the outboard motors 1a, 1b, 11a, 11b, for example, by opening the throttle valves and/or decrease the electric current input to the motor 116a, 116b more gradually than the detected movement of the joystick 23, based at least in part on an integration of the detected position of the joystick 23. As described above with reference to
After the operation block 603 and 606, the routine 600 can move to decision block 608 in which it is determined whether the joystick 23 has been returned to the default position 23a. When it is determined that the joystick 23 has not been returned to the default position 23a, the routine 600 can return to operation block 606 and continue to increase forward thrust. On the other hand, when it is determined in decision block 608 that the joystick 23 has not been returned to the default position 23a, the routine 600 can move to operation block 610.
In the operation block 610, the then-current thrust generated by the outboard motors 1a, 1b, 11a, 11b can be maintained. For example, the controller 10 can maintain the power output of the outboard motors 1a, 1b, 11a, 11b by maintaining the position of the throttle valves in the engines 2a, 2b and/or the electric current input to the motor 116a, 116b at their then-current position. As such, the watercraft 100 will continue under the thrust generated by the outboard motors 1a, 1b, 11a, 11b, despite the joystick 23 having returned to the default position 23a. Alternatively, in the operation block 610, the controller 10 can incorporate a speed control function to maintain a detected watercraft speed.
The routine 600 can then move to decision block 612 in which it is determine whether the throttle levers 22a, 22b have been operated. For example, the controller 10 can detect the output of sensors 221, 222 to determine that the throttle levers 22a, 22b have been moved. When it is determined that the throttle levers 22a, 22b have been moved, the routine 600 can move to operation block 614 and end the cruise control mode and control the output of the outboard motors 1a, 1b, 11a, 11b based on the throttle levers 22a, 22b and/or the electric current input to the motor 116a, 116b, and the rudder angles according to the steering wheel 21, effectively terminating the cruise control mode.
On the other hand, when it is determined that the throttle levers 22a, 22b have not been operated, the routine 600 can move to optional decision block 624 to determine whether the current thrust request has been zero for a predetermined amount of time. For example, a zero thrust request could occur in this mode when the watercraft was under rearward propulsion and the user had pushed the joystick 23 forward sufficiently to result in the controller 10 determining that a zero thrust has been requested. When a zero thrust has been requested for a particular time frame (e.g., a predetermined amount of time), the routine 600 can move to operation block 626 and shift the outboard motors 1a, 1b, 11a, 11b to neutral. The routine 600 can then return to start (the operation block 602). On the other hand, if it is determined that a zero thrust has not been requested for a predetermined amount of time, the routine 600 can move from the decision block 624 to start (the operation block 602).
When, in the decision block 604, it is determined that the joystick 23 has not been tilted forward, the routine 600 can move to decision block 616. In the decision block 616, it can be determined whether the joystick 23 has been tilted rearwardly. When it is determined that the joystick 23 has not been tilted rearwardly, the routine 600 can return to start 602.
On the other hand, when, after finishing the operation block 603 in the decision block 616, it is determined that the joystick 23 has been tilted rearwardly, the routine 600 moves to operation block 618.
In the operation block 618, controller 10 decreases forward thrust or increase rearward thrust of the outboard motors 1a, 1b, 11a, 11b. As described above with regard to the operation block 606, in the operation block 618, the controller 10 can decrease the forward thrust being generated by the outboard motors 1a, 1b, 11a, 11b by an amount proportional to the movement or the tilt angle of the joystick 23 in the rearward direction. In some embodiments, when the outboard motors 1a, 1b, 11a, 11b were then providing a current forward thrust, then the controller 10 could reduce the amount of forward thrust in proportion to the movement of the joystick 23 in the rearward direction. Alternatively, when the thrust then existing was zero, the controller 10 can then generate a rearward thrust. On the other hand, when the thrust from the outboard motors 1a, 1b, 11a, 11b was already a rearward thrust, the rearward thrust can be increased. Additionally, the decrease of forward thrust can be considered as an increase of negative (−) forward thrust, or in other words, an increase of rearward thrust.
After the operation block 618, the routine 600 can move to decision block 620. In the decision block 620, it can be determined whether the joystick 23 has been returned to the default position 23a. When it determined that the joystick 23 has not been returned to the default position 23a, the routine 600 can return to operation block 618 and continue to decrease forward thrust. On the hand, when it is determined in the decision block 620 that the joystick 23 has been returned to the default position 23a, the routine 600 moves to operation block 622 and maintains the then-current thrust whether it is a positive forward thrust or a negative forward thrust (e.g., a rearward thrust). After the operation block 622, the routine 600 can move to decision block 612 and repeat as described above.
Optionally, during operation of the routine 600, the controller 10 can be configured to control the rudder angles of the outboard motors 1a, 1b, 11a, 11b in accordance with a twisting movement of the joystick 23, rightward or leftward. In some embodiments, the controller 10 can be configured to control the rudder angles of the outboard motors 1a, 1b, 11a, 11b in accordance with a lateral, leftward and rightward tilting of the joystick 23, in this mode of operation. Further, optionally, the maximum steering angles of the outboard motors 1a, 1b can be limited in accordance with the above description of
When it is determined, in decision block 704, that the joystick 23 has been “tapped” in the forward direction, the routine 700 moves to operation block 706 and increases forward thrust one step, or by one amount (e.g., a predetermined amount). In some situations, the then-current thrust generated by the outboard motors 1a, 1b, 11a, 11b could be in the net rearward direction. Thus, in operation block 706 in which the forward thrust in increased by one step, the then-current rearward thrust would be reduced by one step. Additionally, the then existing thrust produced by the outboard motors 1a, 1b, 11a, 11b could be zero. In that situation, in operation block 706, the net thrust generated by the outboard motors 1a, 1b, 11a, 11b would be increased from zero to a net forward thrust. Similarly, when the net thrust generated by the outboard motors 1a, 1b, 11a, 11b already was a positive forward thrust, the thrust, in operation block 706, would be increased by a step. As described above, any number of steps can be used over any range of propulsion modes, including sub idle and super idle ranges of propulsion. After the operation block 706, the routine 700 can move to operation block 708.
In the operation block 708, the then-current thrust generated by the outboard motors 1a, 1b, 11a, 11b is maintained, despite the joystick 23 having returned to its default position 23a after having been “tapped” as described above. After operation block 708, the routine 700 moves to decision block 710 in which it can be determined whether either of the throttle levers 22a or 22b have been operated. When it is determined that either of the throttle levers 22a or 22b have been operated, the routine 700 moves to operation block 712 and terminates the joystick cruise control mode and thus control of the output of the outboard motors 1a, 1b, 11a, 11b is controlled in accordance with the throttle levers 22a, 22b and the rudder angles are controlled based on signals from the steering wheel sensor 210.
On the other hand, when it is determined in decision block 710 that the throttle levers 22a or 22b have not been operated, the routine 700 can move to operation block 720 to determine whether zero thrust has been requested for a particular time frame (e.g., a predetermined amount of time). As described above with reference to the decision block 612, the controller 10 can determine whether the outboard motors 1a, 1b, 11a, 11b have been operated at a zero-thrust mode for a predetermined amount of time. when it is determined that the then-current thrust has not been zero for a predetermined amount of time, the routine 700 can return to start (operation block 702). On the other hand, when it is been determined that the then-current thrust has been zero for a predetermined amount of time, the routine moves to operation block 722 and shifts the outboard motors 1a, 1b, 11a, 11b to neutral and returns to start (the operation block 702).
When it is determined in the decision block 714 that the joystick 23 has not been tapped in a rearward direction, the routine 700 can return to start (operation block 702). On the other hand, when it is determined in decision block 714 that the joystick has been tapped rearwardly, the routine can move to operation block 714 and decrease forward thrust by one step. For example, as described above with reference to
When the then-existing thrust generated by the outboard motors 1a, 1b, 11a, 11b was a sub idle rearward thrust, the controller 10 can adjust the rudder angles of the outboard motors 1a, 1b, 11a, 11b to be more rearward and less opposed, thereby increasing the rearward thrust. When the then existing thrust the outboard motors 1a, 1b, 11a, 11b was idle speed operation with the rudder angles being parallel and pointing rearwardly, the controller 10 could increase the throttle opening of the engines 2a, 2b to thereby increase thrust in the rearward direction.
After the stepwise decrease for forward thrust in the operation block 716, the routine 700 can move to operation block 718. In the operation block 718, the controller 10 can maintain the then current thrust generated by the peripheral motors 1a, 1b, 11a, 11b despite the joystick 23 having been returned to its default position 23a. After the operation block 718, the routine 700 can move to decision block 710 and repeat as described above.
The controller 10 can also be configured to present an optional parameter adjustment interface for a user. For example, the controller can present on a display an interface for allowing a user to adjust parameters such as throttle dead zone, max throttle percent, a max differential angle.
In some embodiments, a thrust of a motor may mean force applied to fluid (e.g., water) by the motor, thrust of a watercraft may mean force that propels the watercraft, speed of the watercraft may mean a speed of the movement of the watercraft and include a velocity, velocity of the watercraft may mean the speed of the watercraft in a particular direction, propulsion of the watercraft may mean a propulsive power of the watercraft and be determined as the product of the thrust of the watercraft and the velocity of the watercraft, and torque of the watercraft may mean rotational force about a center of pressure of the watercraft that can change an orientation of the watercraft. It should be noted that any motor type (such as an internal combustion engine or an electric motor) can be used for the central motor(s) or the peripheral motor(s).
Unless the context clearly requires otherwise, throughout the description and the claims, the words “comprise,” “comprising,” “include,” “including” and the like are to be construed in an inclusive sense, as opposed to an exclusive or exhaustive sense; that is to say, in the sense of “including, but not limited to.” The word “connected” as generally used herein, refers to two or more elements that may be either directly connected, or connected by way of one or more intermediate elements. Additionally, the words “herein,” “above,” “below,” and words of similar import, when used in this application, shall refer to this application as a whole and not to any particular portions of this application. Where the context permits, words in the above Detailed Description using the singular or plural number may also include the plural or singular number respectively. The word “or” in reference to a list of two or more items, that word covers all of the following interpretations of the word: any of the items in the list, all of the items in the list, and any combination of the items in the list.
Moreover, conditional language used herein, such as, among others, “can,” “could,” “might,” “may,” “e.g.,” “for example,” “such as” and the like, unless specifically stated otherwise, or otherwise understood within the context as used, is generally intended to convey that certain embodiments include, while other embodiments do not include, certain features, elements and/or states. Thus, such conditional language is not generally intended to imply that features, elements and/or states are in any way required for one or more embodiments.
Furthermore, language such as “up to,” “at least,” “greater than,” “less than,” “between,” and the like includes the number recited. Numbers preceded by a term such as “approximately”, “about”, and “substantially” as used herein include the recited numbers (e.g., about 10%=10%), and also represent an amount close to the stated amount that still performs a desired function or achieves a desired result. For example, the terms “approximately”, “about”, and “substantially” may refer to an amount that is within less than 10% of, within less than 5% of, within less than 1% of, within less than 0.1% of, and within less than 0.01% of the stated amount.
While preferred embodiments of the present invention have been described above, it is to be understood that variations and modifications will be apparent to those skilled in the art without departing from the scope and spirit of the present invention. The scope of the present invention, therefore, is to be determined solely by the following claims.
This application is a continuation-in-part of U.S. Non-provisional patent application Ser. No. 17/655,962, filed Mar. 22, 2022, U.S. Provisional Patent Application No. 63/165,025, filed Mar. 23, 2021, and U.S. Provisional Patent Application No. 63/210,878, filed Jun. 15, 2021, the entire contents of which are hereby incorporated by reference herein in their entirety and for all purposes.
Number | Date | Country | |
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63165025 | Mar 2021 | US | |
63210878 | Jun 2021 | US |
Number | Date | Country | |
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Parent | 17655962 | Mar 2022 | US |
Child | 18155678 | US |