TROLLING MOTOR AND KICKER MOTOR MODE CONTROL

FIELD OF THE INVENTION

Embodiments of the present invention relate generally to systems, methods, and computer program products for operating a watercraft, such as in various modes using control of a trolling motor and a kicker motor.

BACKGROUND OF THE INVENTION

Fishermen often use watercraft with various motors thereon, including a primary motor, a trolling motor, and a kicker motor. However, the fishermen are typically required to control each of these motors independently. This presents various issues for the user. The user must devote a significant amount of time to controlling the motors, and this reduces the amount of time that the fishermen may devote to other tasks such as fishing. Additionally, because each of the motors must be controlled independently, the watercraft may only be moved with limited precision, and it may be difficult or impossible for the watercraft to move with complex movement properties at a high degree of precision. Fishermen may use motors that result in increased drain on the battery, limiting the amount of time that the fishermen may remain on the water.

BRIEF SUMMARY OF THE INVENTION

Systems, methods, and computer program products are provided for controlling a trolling motor, a kicker motor, and/or additional motors, such as to operate a watercraft according to one or more modes. Each of the motors may be connected to one or more processors so that the operation of the motors may be adjusted in a coordinated manner to accomplish a user's desired movement properties for a watercraft.

A user may select a desired mode of operation and/or certain parameters, and processor(s) may work to accomplish the desired movement properties associated with the mode of operation with a high degree of precision. For example, the desired mode of operation may be a drift mode, an economical mode, a bait mode, a cruise mode, a rough conditions mode, or a drift sock mode. In the drift mode, the watercraft may be pointed in an attitude direction, and the travel direction for the watercraft may be different from the attitude direction. In the economical mode, the power distribution between the motors may be adjusted to conserve battery so that the watercraft may remain on the water for longer periods of time. In the bait mode, the motors may be adjusted to cause the watercraft to accelerate and decelerate at regular intervals so that fish will be more attracted to bait, increasing catch rates. In the cruise mode, the speed and power distribution between motors may be maintained about constant. In the rough conditions mode, the amount of power at each of the motors may be adjusted based on the position of the motor relative to the surface of the body of water so that motors at elevated positions have reduced power and so that other motors have increased power. In the drift sock mode, the motors may be adjusted so that they reduce or prevent movement of the watercraft due to various circumstances, such as wind, water current, etc. Other modes are also possible.

Various embodiments described herein provide improvements to technology, allowing a user to maintain the desired movement properties for a watercraft at a high degree of precision and with limited input required from the user. By controlling the operation of the motor(s) together, tasks may be performed that cannot practically be performed within the human mind. For example, the settings for motors may be adjusted simultaneously and in real time to maintain the desired movement properties for the watercraft. Where users attempt to control the operation of these motor(s) individually, the users are not capable of making adjustments in real-time and are not able to maintain the high degree of precision that may be accomplished using various embodiments described herein. Embodiments described herein provide improvements to the consumer experience to deliver the desired movement properties that the user desires with a high degree of precision. Adjustments may be made automatically to achieve the user's desired movement properties. Furthermore, adjustments may be made in real-time based on changing environmental conditions (e.g., wind, current, etc.) to maintain the desired movement properties. Embodiments described herein may also reduce the cognitive load for the user, allowing the user to focus on other tasks such as fishing.

In an example embodiment, a system for controlling operations of at least two motors on a watercraft on a body of water is provided. The system comprises the motors, with the motors including a kicker motor and a trolling motor. The system also comprises one or more processors and a memory including computer program code. The computer program code is configured to, when executed, cause the one or more processors to receive an indication regarding a current mode of operation for the watercraft, determine, based on the current mode, a first setting for the kicker motor, and determine, based on the current mode, a second setting for the trolling motor. The computer program code is configured to, when executed, cause the one or more processors to cause (i) the kicker motor to operate according to the first setting, and (ii) the trolling motor to operate according to the second setting so as to cause the watercraft to operate according to the current mode.

In some embodiments, the first setting may include at least one of a power level of the kicker motor, an amount of thrust generated by the kicker motor, a speed of the kicker motor, an angle relative to a forward direction for the kicker motor, an angle relative to a horizontal for the kicker motor, or a position of the kicker motor. In some embodiments, the second setting may include at least one of a power level of the trolling motor, an amount of thrust generated by the trolling motor, a speed of the trolling motor, an angle relative to a forward direction for the trolling motor, an angle relative to a horizontal for the trolling motor, or a position of the trolling motor.

In some embodiments, the at least two motors may comprise a third motor that is a primary motor, a second trolling motor, or a second kicker motor. The computer program code may be configured to, when executed, cause the one or more processors to determine, based on the current mode, a third setting for the third motor and may also be configured to cause the third motor to operate at the third setting.

In some embodiments, the current mode of operation may be a drift mode, and the first setting and the second setting may be maintained so that a direction of travel for the watercraft and an attitude of the watercraft remain approximately constant while the watercraft travels along the body of water. Furthermore, in some embodiments, the first setting and the second setting may be maintained so that a direction of travel for the watercraft remains within three degrees of a target direction and so that an attitude of the watercraft remains within three degrees of a target attitude while the watercraft travels along the body of water.

In some embodiments, the current mode of operation may be an economical mode, and the first setting and the second setting may be maintained so that the trolling motor generates about 30 percent or less of the total thrust while the watercraft travels along the body of water. In some embodiments, the current mode of operation may be a bait mode, and the first setting and the second setting may be maintained so that the watercraft repeatedly accelerates and decelerates while the watercraft travels along the body of water.

In some embodiments, the system may comprise a first water level sensor positioned proximate to the kicker motor and a second water level sensor positioned proximate to the trolling motor. The computer program code may be configured to, when executed, cause the one or more processors to receive a first level signal from the first water level sensor and to receive a second level signal from the second water level sensor. The first level signal from the first water level sensor and the second level signal from the second water level sensor may be considered in making the determination of the first setting for the kicker motor and the second setting for the trolling motor.

In some embodiments, the computer program code may be configured to, when executed, cause the one or more processors to receive additional data. The additional data may be considered in making the determination of the first setting for the kicker motor and the second setting for the trolling motor. Furthermore, in some embodiments, the additional data may include at least one of map data, sonar data, radar data, temperature data, water level data, position data, directional data, wind speed data, water current speed, or water depth data.

In some embodiments, the one or more processors may be connected to the at least two motors via a wired connection. In some embodiments, the kicker motor may be positioned proximate to a stern of the watercraft, the trolling motor may be positioned proximate to the bow of the watercraft, the kicker motor may be larger than the trolling motor, and a maximum amount of thrust that the kicker motor is capable of generating may be greater than a maximum amount of thrust that the trolling motor is capable of generating.

In another example embodiments, a non-transitory computer readable medium is provided having stored thereon software instructions that, when executed by a processor, cause the processor to control operations of at least two motors on a watercraft on a body of water. This is accomplished by receiving an indication regarding a current mode of operation for the watercraft, determining, based on the current mode, a first setting for a first motor that is a kicker motor, determining, based on the current mode, a second setting for a second motor that is a trolling motor. This is also accomplished by causing (i) the first motor to operate at the first setting, and (ii) the second motor to operate at the second setting so as to cause the watercraft to operate according to the current mode.

In some embodiments, the first setting may include at least one of a power level of the first motor, an amount of thrust generated by the first motor, a speed of the first motor, an angle relative to a forward direction for the first motor, an angle relative to a horizontal for the first motor, or a position of the first motor. In some embodiments, the current mode of operation may be a drift mode, the first setting and the second setting may be maintained so that a direction of travel for the watercraft and an attitude of the watercraft remain approximately constant while the watercraft travels along the body of water.

In some embodiments, the current mode of operation may be an economical mode, and the first setting and the second setting may be maintained so that the trolling motor generates about 30 percent or less of the total thrust while the watercraft travels along the body of water. In some embodiments, the current mode of operation may be a bait mode, the first setting and the second setting may be maintained so that the watercraft repeatedly accelerates and decelerates.

In some embodiments, the computer program code is configured to, when executed, cause the one or more processors to receive a first level signal from a first water level sensor positioned proximate to the kicker motor and to receive a second level signal from a second water level sensor positioned proximate to the trolling motor. The first level signal from the first water level sensor and the second level signal from the second water level sensor may be considered in making the determination of the first setting for the kicker motor and the second setting for the trolling motor.

In another example embodiment, a method for controlling operations of at least two motors on a watercraft is provided. The method comprises receiving an indication regarding a current mode of operation for the watercraft. The method also comprises determining, based on the current mode, a first setting for a first motor of the at least two motors, with the first motor being a kicker motor. The method also comprises determining, based on the current mode, a second setting for a second motor of the at least two motors, with the second motor being a trolling motor. The method also comprises causing (i) the first motor to operate at the first setting, and (ii) the second motor to operate at the second setting so as to cause the watercraft to operate according to the current mode.

BRIEF DESCRIPTION OF THE DRAWINGS

Having thus described the invention in general terms, reference will now be made to the accompanying drawings, which are not necessarily drawn to scale, and wherein:

FIG. 1A is a schematic view illustrating an example watercraft including various marine devices, in accordance with some embodiments discussed herein;

FIG. 1B is a top view of another example watercraft including various marine devices, in accordance with some embodiments discussed herein;

FIG. 2 is a schematic view illustrating example map data where a watercraft is operating in a drift mode, in accordance with some embodiments discussed herein;

FIG. 3 is a schematic view illustrating example map data and a travel path for the watercraft that positions the watercraft at locations within a specific depth range, in accordance with some embodiments discussed herein;

FIG. 4 is a schematic view illustrating an example display with selection buttons that enable a user to select a desired mode of operation, in accordance with some embodiments discussed herein;

FIG. 5A is a block diagram illustrating an example system with a kicker motor, a trolling motor, and a primary motor connected to one or more processors so that the motors may work in concert together to control the movement properties of a watercraft, in accordance with some embodiments discussed herein;

FIG. 5B is a block diagram illustrating an example system with various electronic devices, marine devices, and secondary devices shown, in accordance with some embodiments discussed herein; and

FIG. 6 is a flow chart illustrating an example method for controlling the operation of motors on a watercraft, in accordance with some embodiments discussed herein.

DETAILED DESCRIPTION

Example embodiments of the present invention now will be described more fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the invention are shown. Indeed, the invention may be embodied in many different forms and should not be construed as limited to the example embodiments set forth herein; rather, these embodiments are provided so that this disclosure will satisfy applicable legal requirements. Like reference numerals generally refer to like elements throughout. For example, reference numerals 340A, 340B, 440A, 440B, and 440C are each associated with a display. Additionally, any connections or attachments may be direct or indirect connections or attachments unless specifically noted otherwise. As used herein, a “configuration” of a motor may include a specific orientation and/or position of the motor.

FIG. 1A illustrates an example watercraft 100 including various marine devices, in accordance with some embodiments discussed herein. As depicted in FIG. 1A, the watercraft 100 (e.g., a vessel) is configured to traverse a marine environment (e.g., body of water 101) and may use one or more sonar transducer assemblies 102A, 102B, and 102C disposed on and/or proximate to the watercraft 100. Notably, example watercraft 100 contemplated herein may be surface watercraft, submersible watercraft, or any other implementation known to those skilled in the art. The sonar transducer assemblies 102A, 102B, and 102C may each include one or more transducer elements (such as in the form of the example assemblies described herein) configured to transmit sound waves into a body of water, receive sonar returns from the body of water, and convert the sonar returns into sonar return data. Various types of sonar transducers may be provided—for example, a linear downscan sonar transducer, a conical downscan sonar transducer, a sonar transducer array, or a sidescan sonar transducer may be used. Each of the sonar transducer assemblies 102A, 102B, 102C are configured to provide sonar data that may be stored and that may undergo further processing to form sonar images. The sonar data may include information representative of an underwater environment around a watercraft.

Depending on the configuration, the watercraft 100 may include a primary motor 105, which may be a main propulsion motor such as an outboard or inboard motor. Additionally, the watercraft 100 may include a trolling motor 108 configured to propel the watercraft 100 or maintain a position. As illustrated in FIG. 1B, a watercraft may also be provided with a kicker motor 128. The one or more sonar transducer assemblies (e.g., 102A, 102B, and/or 102C) may be mounted in various positions and to various portions of the watercraft 100 and/or equipment associated with the watercraft 100. For example, the transducer assembly may be mounted proximate to the transom 106 of the watercraft 100, such as depicted by sonar transducer assembly 102A. The transducer assembly may be mounted to the bottom or side of the hull 104 of the watercraft 100, such as depicted by sonar transducer assembly 102B. The transducer assembly may also be mounted to the trolling motor 108, such as depicted by sonar transducer assembly 102C. Transducer assemblies may also be attached to other locations such as on a kicker motor 128.

The watercraft 100 may also include one or more marine electronic devices 160, such as may be utilized by a user to interact with, view, or otherwise control various aspects of the various sonar systems described herein. In the illustrated embodiment, the marine electronic device 160 is positioned proximate the helm (e.g., steering wheel) of the watercraft 100—although other locations on the watercraft 100 are contemplated. Likewise, additionally or alternatively, a remote device (such as a user's mobile device) may include functionality of a marine electronic device.

The watercraft 100 may also comprise other components within the one or more marine electronic devices 160 or at the helm. In FIG. 1A, the watercraft 100 comprises a radar 116, which is mounted at an elevated position (although other positions relative to the watercraft are also contemplated). The watercraft 100 also comprises an AIS transceiver 118, a direction sensor 120, and a camera 122, and these components are each positioned at or near the helm (although other positions relative to the watercraft 100 are also contemplated). Additionally, the watercraft 100 comprises a rudder 110 at the stern of the watercraft 100, and the rudder 110 may be positioned on the watercraft 100 so that the rudder 110 will rest in the body of water 101. In other embodiments, these components may be integrated into the one or more marine electronic devices 160 or other devices. Another example device on the watercraft 100 includes a temperature sensor 112 that may be positioned so that it will rest either within or outside of the body of water 101. Other example devices include a wind sensor, one or more speakers, and various vessel devices/features (e.g., doors, bilge pump, fuel tank, etc.), among other things. Additionally, one or more sensors may be associated with marine devices; for example, a sensor may be provided to detect the position of the primary motor 105, the trolling motor 108, the kicker motor 128, or the rudder 110. The watercraft 100 includes a bow 103 at the front end of the watercraft 100, and the watercraft 100 includes a keel 107, which may extend along a centerline of the watercraft 100 and generally along the forward direction of the watercraft 100.

Other example features that may be present on a watercraft are illustrated in FIG. 1B. In FIG. 1B, a top view of a watercraft 100A is illustrated. The watercraft 100A includes a kicker motor 128, a primary motor 105A, and a trolling motor 108A (shown in a stowed configuration). The kicker motor 128 is positioned proximate to the stern 124 of the watercraft 100A. The watercraft 100A also includes a trolling motor 108A positioned proximate to the bow 126 of the watercraft 100A. The kicker motor 128 and other kicker motors described herein may be positioned proximate to a stern of the watercraft. Additionally, the maximum amount of thrust that the kicker motor 128 is capable of generating may be greater than the maximum amount of thrust that the trolling motor 108A is capable of generating and lower than the maximum amount of thrust that the primary motor 105A is capable of generating. However, in some embodiments, the trolling motor 108A and the kicker motor 128 may be positioned at different locations. The trolling motor 108A and other trolling motors described herein may be positioned proximate to the bow of the watercraft. The maximum amount of thrust that the trolling motor 108A is capable of generating may be less than the maximum amount of thrust that each of the kicker motor 128 and the primary motor 105A are capable of generating. The kicker motor 128 may also be larger than the trolling motor in some embodiments. Furthermore, some types of motors may be easier to use in certain applications than others. For example, the kicker motor 128 may have a faster thrust response than a trolling motor 108A in some embodiments, so the kicker motor 128 may be more suitable to make quick changes to maintain the position or speed of a watercraft. As another example, the trolling motor 108A may have better steering control over the kicker motor 128, so the trolling motor 108A may be more suitable where rotation of a watercraft is necessary.

FIG. 2 is a schematic view illustrating example map data 234, a direction of travel 251 of the watercraft 244, and an attitude direction 246 of the watercraft 244 as the watercraft 244 moves along the direction of travel 251 on the body of water. Within the map data 234, the large depth areas 236, medium depth areas 238, and shallow depth areas 248 are represented. The shallow depth areas 248 may be sandbars or other locations proximate to shorelines. Within the map data 234, land 240 is also represented. An indication of the wind speed 241 is also illustrated in the map data 234. Various factors such as the wind speed, the water current speed, the temperature, the water depth, and other factors may be considered in determining the appropriate settings for motors.

In the embodiment illustrated in FIG. 2, the watercraft is operating in a drift mode. In the drift mode, the direction of travel 251 for the watercraft 244 and the attitude direction 246 of the watercraft 244 may be different so that the watercraft 244 faces in one direction but “drifts” in a different direction. In the drift mode, a first setting of a kicker motor and a second setting of a trolling motor may be maintained so that the direction of travel 251 for the watercraft 244 and an attitude direction 246 of the watercraft 244 remain approximately constant. Thus, the kicker motor and the trolling motor work in concert to cause the desired movement properties for the watercraft. For example, the first setting and the second setting may be maintained so that the direction of travel 251 of the watercraft 244 remains within three degrees of a target direction and so that an attitude direction 246 of the watercraft remains within three degrees of a target attitude. The attitude direction 246 may be offset about 90 degrees from the direction of travel 251 in some embodiments, but these directions 246, 251 may be offset at different amounts in other embodiments. When operating in the drift mode, environmental conditions such as wind speed, water current speed, etc. may be considered.

With the drift mode, the watercraft may be oriented for controlled drifting to, for example, provide slower bait presentation and precise control. In some embodiments, the kicker motor may be responsible for maintaining the attitude of the watercraft and the trolling motor may be responsible for generating movement of the watercraft along a travel path, or the trolling motor may be responsible for maintaining the attitude of the watercraft and the kicker motor may be responsible for generating movement of the watercraft along a travel path. However, in other embodiments, the kicker motor and the trolling motor may both contribute to the generation of movement of the watercraft or attitude control of the watercraft. Where a third motor is used, the third motor may also be controlled in drift mode alongside the trolling motor and the kicker motor. The settings of the motors may include a power level of the motors, an amount of thrust generated by the motors, a speed of the motors, an angle relative to a forward direction of the watercraft for the motors, an angle relative to a horizontal for the motors, or a position of the motors. With the drift mode, the amount of thrust generated at the trolling motor and the amount of thrust generated at the kicker motor may be variable.

While the watercraft 244 is illustrated as operating in a drift mode in FIG. 2, the watercraft 244 may operate in other modes as well. For example, the watercraft may be configured to operate in an economical mode in some embodiments. In the economical mode, the settings for the trolling motor and the kicker motor may be maintained so that the trolling motor generates about 30 percent or less of the total thrust. The kicker motor may generate the remainder of the total thrust in some embodiments. However, where a third motor and/or any additional motors are used, the kicker motor, the third motor, and any additional motors may together generate the remainder of the total thrust. By having the trolling motor generate about 30 percent or less of the total thrust and by having more of the thrust being generated by the kicker motor, the battery life for a battery on a watercraft may be increased, allowing the watercraft to remain on the water for a longer period of time. The kicker motor may be powered by another energy source such as fuel or a different battery. With the economical mode, the amount of thrust generated at the trolling motor and the amount of thrust generated at the kicker motor may be variable in some embodiments.

In some embodiments, the watercraft 244 may operate in a bait mode. In the bait mode, the first setting and the second setting may be maintained so that the watercraft 244 repeatedly accelerates and decelerates within the body of water. For example, the amount of thrust may be reduced by about 30 percent for fifteen seconds, the amount of thrust may then be increased back to the original level and maintained at that level for about thirty seconds, and the amount of thrust may repeatedly be adjusted in similar cycles. However, the amount of thrust reduction and the time duration for operating with low thrust or high thrust may be different in other embodiments. For example, the time durations for low thrust intervals and high thrust intervals may be randomized. The bait mode may be beneficial when a user is fishing, with the bait mode causing any bait used for fishing to move in desired patterns within the body of water, increasing the likelihood that fish will be drawn to the bait so that fishing catch rates may be increased. Where a third motor is used, the third motor may also be controlled in bait mode alongside the trolling motor and the kicker motor. In the bait mode, the amount of thrust generated at the trolling motor may be fixed and the amount of thrust generated at the kicker motor may be variable, with the trolling motor having a forward heading direction. However, other approaches may also be used.

The watercraft 244 may also operate in a cruise mode. In the cruise mode, the user may select a desired watercraft speed, and the motors may work in conjunction to maintain the watercraft at that desired speed. Additionally, in some embodiments, the user may select a desired power distribution between the motors, and the motors may operate in conformance with the desired power distribution when the watercraft is operating in the cruise mode. For example, the user may indicate that about 35 percent of the power should be generated at a trolling motor and about 65 percent of the power should be generated at the kicker motor, and the motors may be maintained at these power levels relative to each other as the watercraft operates in the cruise mode.

In some embodiments, the watercraft 244 may operate in a rough conditions mode. In the rough conditions mode, water level signals may be obtained to determine the position of motors relative to a surface of a body of water. A first water level signal may be obtained from a water level sensor positioned proximate to the kicker motor, and a second water level signal may be obtained from a water level sensor positioned proximate to the trolling motor. These water levels may be considered in making the determination of settings for the motors. For example, when the first water level signal indicates that the kicker motor is positioned at an elevated position relative to the surface of the body of water and the second water level signal indicates that the trolling motor is positioned within the body of water, the setting for the kicker motor may be adjusted to reduce the power level at the kicker motor and/or the thrust generated by the kicker motor and the setting for the trolling motor may be adjusted to increase the power level at the trolling motor and/or the thrust generated by the trolling motor. As another example, when the first water level signal indicates that the kicker motor is positioned within the body of water and the second water level signal indicates that the trolling motor is at an elevated position relative to the surface of the body of water, the setting for the kicker motor may be adjusted to increase the power level at the kicker motor and/or the thrust generated by the kicker motor and the setting for the trolling motor may be adjusted to decrease the power level at the trolling motor and/or the thrust generated by the trolling motor. By considering water levels for the motors, power may be used more efficiently in the motors. Consideration of the water levels may be beneficial where the watercraft has an uneven weight distribution or where the watercraft is in choppy water. In the rough conditions mode, the amount of thrust generated at the trolling motor and at the kicker motor may be variable.

The watercraft 244 may also operate in a drift sock mode. In the drift sock mode, one or more of the motors may work together to reduce the amount of movement of the watercraft that is caused by wind and or current within the body of water. Motor(s) may be configured to generate thrust in directions to counteract forces caused by wind or water current on the watercraft. However, motor(s) may be configured to generate thrust in different directions—for example, where multiple motors are used, two of the motors may be configured to generate thrust in opposing directions, and one of the motors can be activated to generate thrust at any given time to allow the watercraft to better maintain a specific position. In some embodiments, the motor(s) may be positioned so that the motor(s) generate thrust in a direction opposite to the forces caused by wind or water current. In some embodiments, the watercraft 244 may still drift in reduced amounts within the drift sock mode. However, in other embodiments, the amount of thrust generated at the motor(s) may be sufficient to retain the watercraft at approximately the same position in the drift sock mode. In the drift sock mode, the motor(s) may generate thrust in variable amounts.

The watercraft 244 may also operate in other modes. For example, the one motor (e.g., a kicker motor or trolling motor) may be operated at an increased power level relative to a noisier motor (e.g., a primary motor) to cause the watercraft to operate at a lower noise level. This may be beneficial in areas where noise level regulations are present. Furthermore, the amount of power for one motor may be reduced relative to other motors to reduce the amount of wear on the motor. Alternatively, one motor may be operated at greater power levels to allow for greater control on the power or thrust generated. For example, it may be beneficial to use a higher power level for a smaller motor (e.g., a trolling motor or a kicker motor) and a lower power level for a primary motor where higher precision is required for movement properties.

FIG. 3 is a schematic view illustrating example map data 334 and a travel path 351 of the watercraft 344. Within the map data 334, the large depth areas 336, medium depth areas 338, and shallow depth areas 348 are represented. The shallow depth areas 348 may be sandbars or other locations proximate to shorelines. Within the map data 334, land 340 is also represented. An indication of the wind speed 341 is also illustrated in the map data 334. Various factors such as the wind speed, the water current speed, the temperature, the water depth, and other factors may be considered in determining the appropriate settings for motors.

In FIG. 3, the watercraft 344 moves along the travel path 351, which is curved. Processor(s) may be configured to control the settings of motors on the watercraft to cause the watercraft 344 to travel along the travel path 351. The travel path may be adjusted to maintain the watercraft proximate to areas that are ideal for fishing. For example, the travel path 351 extends through medium depth areas 338 rather than extending through large depth areas 336. The watercraft 344 may also travel at about the same speed as the watercraft 344 moves along the travel path 351. As the watercraft moves along the travel path 351, the watercraft 344 may be maintained at about the same attitude in some embodiments. Travel path 351 is merely exemplary, and the watercraft may travel in different paths or at locations having different depths.

FIG. 4 is a schematic view illustrating an example display 454 with selection buttons that enable a user to select a desired mode of operation. The display 454 includes a screen 434 that is configured to present map data similar to the map data presented in FIGS. 2 and 3. The display 454 also includes selection buttons 456A-456D. Selection button 456A may be selected to cause the watercraft to operate in the drift mode, selection button 456B may be selected to cause the watercraft to operate in the economical mode, selection button 456C may be selected to cause the watercraft to operate in bait mode, and selection button 456D may be selected to cause the watercraft to operate in the cruise mode. The display 454 may be a touchscreen display in some embodiments, with the selection buttons 456A-456D being positioned on the screen 434 and with touch input from the user at the selection buttons 456A-456D causing a change in the mode of operation. However, the mode of operation may be changed in other ways. For example, the mode of operation may be selected using other input buttons, other user interfaces, etc. Other modes of operation may also be used.

FIG. 5A is a block diagram illustrating an example system 500A with a kicker motor 542A, a trolling motor 508A, and a primary motor 505A connected to one or more processors 510A so that the motors may work in concert together to control the movement properties of a watercraft. In the embodiment illustrated in FIG. 5A, each of the motors 505A, 508A, 542A have one or more actuators to control the positioning of the motors. For example, actuator 575A is positioned proximate to or within the kicker motor 542A and controls the positioning of the kicker motor 542A, actuator 575B is positioned proximate to or within the primary motor 505A and controls the positioning of the primary motor 505A, and actuator 575C is positioned proximate to or within the trolling motor 508A and controls the positioning of the trolling motor 508A.

The processor(s) 510A are connected to a marine electronic device 560A and the remote 573. In some embodiments, the connections shown between components of the system 500A may be physical, wired connections. However, some or all of the connections may be wireless connections. For example, the connection between the remote 573 and the processor(s) 510A may be a wireless connection.

Actuators 575A-575C may be controlled to adjust the settings for the motors 505A, 508A, 542A. For example, actuator 575A may be configured to adjust an angle relative to a forward direction for the kicker motor, an angle relative to a horizontal for the kicker motor, or a position of the kicker motor. Actuators 575B, 575C may be configured to make similar adjustments to the primary motor 505A and the trolling motor 508A respectively. Actuators 575A-575C may be provided in the form of gears, belts, or servomotors, but other types of actuators 575A-575C may also be used.

In previous systems, each of the motors would be controlled independently. The independent control of the motors makes it extremely difficult to effectively control the movement properties of the watercraft at a great precision. By contrast, the processor(s) 510A of the system 500A are configured to control each of the motors 505A, 508A, 542A together in a coordinated matter so that the desired movement properties for a watercraft may be accomplished with greater precision. This may be beneficial as well to reduce the workload for the user-rather than forcing the user to determine the appropriate adjustments for each motor and then make the appropriate adjustments at each motor, the user may instead select a desired mode of operation and/or movement properties, and the processor(s) may work to determine and implement the appropriate adjustments at each motor. Thus, the user may focus their attention on fishing, navigation of the watercraft, or other tasks.

The watercraft may have systems thereon including various electrical components, and FIG. 5B is a block diagram illustrating electrical components that may be provided in one example system 500B. The system 500B may comprise numerous marine devices. As shown in FIG. 5B, a sonar transducer assembly 562, a radar 556A, a rudder 557, a primary motor 505, a trolling motor 508, and additional sensors/devices 564 may be provided as marine devices, but other marine devices may also be provided. One or more marine devices may be implemented on the marine electronic device 560 as well. For example, a position sensor 545, a direction sensor 548, an autopilot 550, and other sensors/devices 552 may be provided within the marine electronic device 560. These marine devices can be integrated within the marine electronic device 560, integrated on a watercraft at another location and connected to the marine electronic device 560, and/or the marine devices may be implemented at a remote device 554 in some embodiments. The system 500B may include any number of different systems, modules, or components, each of which may comprise any device or means embodied in either hardware, software, or a combination of hardware and software configured to perform one or more corresponding functions described herein.

The marine electronic device 560 may include processor(s) 510, a memory 520, a communication interface 578, a user interface 535, a display 540, autopilot 550, and one or more sensors (e.g. position sensor 545, direction sensor 548, other sensors/devices 552). One or more of the components of the marine electronic device 560 may be located within a housing or could be separated into multiple different housings (e.g., be remotely located).

The processor(s) 510 may be any means configured to execute various programmed operations or instructions stored in a memory device (e.g., memory 520) such as a device or circuitry operating in accordance with software or otherwise embodied in hardware or a combination of hardware and software (e.g. a processor operating under software control or the processor embodied as an application specific integrated circuit (ASIC) or field programmable gate array (FPGA) specifically configured to perform the operations described herein, or a combination thereof) thereby configuring the device or circuitry to perform the corresponding functions of the processor(s) 510 as described herein.

In an example embodiment, the memory 520 may include one or more non-transitory storage or memory devices such as, for example, volatile and/or non-volatile memory that may be either fixed or removable. The memory 520 may be configured to store instructions, computer program code, sonar data, position data, water level data, orientation data, and additional data such as chart data, location/position data in a non-transitory computer readable medium for use, such as by the processor(s) 510 for enabling the marine electronic device 560 to carry out various functions in accordance with example embodiments of the present invention. For example, the memory 520 could be configured to buffer input data for processing by the processor(s) 510. Additionally or alternatively, the memory 520 could be configured to store instructions for execution by the processor(s) 510. The memory 520 may include computer program code that is configured to, when executed, cause the processor(s) 510 to perform various methods described herein. The memory 520 may serve as a non-transitory computer readable medium having stored thereon software instructions that, when executed by a processor, cause methods described herein to be performed.

The communication interface 578 may be configured to enable communication to external systems (e.g. an external network 502). In this manner, the marine electronic device 560 may retrieve stored data from a remote device 554 via the external network 502 in addition to or as an alternative to the onboard memory 520. Additionally or alternatively, the marine electronic device 560 may transmit or receive data to or from a sonar transducer assembly 562. In some embodiments, the marine electronic device 560 may also be configured to communicate with other devices or systems (such as through the external network 502 or through other communication networks, such as described herein). For example, the marine electronic device 560 may communicate with a propulsion system of the watercraft 100 (e.g., for autopilot control); a remote device (e.g., a user's mobile device, a handheld remote, etc.); or another system.

The communication interface 578 of the marine electronic device 560 may also include one or more communications modules configured to communicate with one another in any of a number of different manners including, for example, via a network. In this regard, the communication interface 578 may include any of a number of different communication backbones or frameworks including, for example, Ethernet, the NMEA 2000 framework, GPS, cellular, Wi-Fi, or other suitable networks. The network may also support other data sources, including GPS, autopilot, engine data, compass, radar, etc. In this regard, numerous other peripheral devices (including other marine electronic devices or transducer assemblies) may be included in the system 500B.

The position sensor 545 may be configured to determine the current position and/or location of the marine electronic device 560 (and/or the watercraft 100). For example, the position sensor 545 may comprise a GPS, bottom contour, inertial navigation system, such as machined electromagnetic sensor (MEMS), a ring laser gyroscope, or other location detection system. Alternatively or in addition to determining the location of the marine electronic device 560 or the watercraft 100, the position sensor 545 may also be configured to determine the position and/or orientation of an object outside of the watercraft 100.

The display 540 (e.g., one or more screens) may be configured to present images and may include or otherwise be in communication with a user interface 535 configured to receive input from a user. The display 540 may be, for example, a conventional LCD (liquid crystal display), a touch screen display, mobile device, or any other suitable display known in the art upon which images may be displayed.

In some embodiments, the display 540 may present one or more sets of data (or images generated from the one or more sets of data). Such data includes chart data, radar data, sonar data, weather data, location data, position data, orientation data, sonar data, or any other type of information relevant to the watercraft. Radar data may be received from radar 556A located outside of a marine electronic device 560, radar 556B located in a marine electronic device 560, or from radar devices positioned at other locations, such as remote from the watercraft. Additional data may be received from marine devices such as a sonar transducer assembly 562, a primary motor 505 or an associated sensor, a trolling motor 508 or an associated sensor, a kicker motor 542 or an associated sensor, an autopilot 550, a rudder 557 or an associated sensor, a position sensor 545, a direction sensor 548, other sensors/devices 552, a remote device 554, onboard memory 520 (e.g., stored chart data, historical data, etc.), or other devices.

In some embodiments, the trolling motor 508, the kicker motor 542, and any other motors may be connected to the processor(s) 510 using one or more wired connections. These wired connections may be made through the communication interface 578 in some embodiments, but the wired connections may direction connect the trolling motor 508, the kicker motor 542 and/or other motors to the processor(s) 510 in other embodiments. However, in other embodiments, the trolling motor 508, the kicker motor 542, and/or other motors may be wirelessly connected to the processor(s) 510. For example, the kicker motor 542 may be wirelessly connected to the communication interface 578 and the communication interface 578 may be connected to the processor(s) 510 via a wired connection in some embodiments.

The user interface 535 may include, for example, a keyboard, keypad, function keys, buttons, a mouse, a scrolling device, input/output ports, a touch screen, or any other mechanism by which a user may interface with the system.

Although the display 540 of FIG. 5B is shown as being directly connected to the processor(s) 510 and within the marine electronic device 560, the display 540 may alternatively be remote from the processor(s) 510 and/or marine electronic device 560. Likewise, in some embodiments, the position sensor 545 and/or user interface 535 may be remote from the marine electronic device 560.

The marine electronic device 560 may include one or more other sensors/devices 552, such as configured to measure or sense various other conditions. The other sensors/devices 552 may include, for example, an air temperature sensor, a water temperature sensor, a current sensor, a light sensor, a wind sensor, a speed sensor, or the like.

A sonar transducer assembly 562 is also provided in the system 500B. The sonar transducer assembly 562 illustrated in FIG. 5B may include one or more sonar transducer elements 567, such as may be arranged to operate alone or in one or more sonar transducer arrays. In some embodiments, additional separate sonar transducer elements (arranged to operate alone, in an array, or otherwise) may be included. As indicated herein, the sonar transducer assembly 562 may also include a sonar signal processor or other processor (although not shown) configured to perform various sonar processing. In some embodiments, the processor (e.g., processor(s) 510 in the marine electronic device 560, a controller (or processor portion) in the sonar transducer assembly 562, or a remote controller—or combinations thereof) may be configured to filter sonar return data and/or selectively control sonar transducer element(s) 567. For example, various processing devices (e.g., a multiplexer, a spectrum analyzer, A-to-D converter, etc.) may be utilized in controlling or filtering sonar return data and/or transmission of sonar signals from the sonar transducer element(s) 567. The processor(s) 510 may also be configured to filter data regarding certain objects out of map data.

The sonar transducer assembly 562 may also include one or more other systems, such as various sensor(s) 566. For example, the sonar transducer assembly 562 may include an orientation sensor, such as gyroscope or other orientation sensor (e.g., accelerometer, MEMS, etc.) that may be configured to determine the relative orientation of the sonar transducer assembly 562 and/or the one or more sonar transducer element(s) 567—such as with respect to a keel direction of the watercraft. In some embodiments, additionally or alternatively, other types of sensor(s) are contemplated, such as, for example, a water temperature sensor, a current sensor, a light sensor, a wind sensor, a speed sensor, or the like. While only one sonar transducer assembly 562 is illustrated in FIG. 5B, additional sonar transducer assemblies may be provided in other embodiments.

The components presented in FIG. 5B may be rearranged to alter the connections between components. For example, in some embodiments, a marine device outside of the marine electronic device 560, such as the radar 556A, may be directly connected to the processor(s) 510 rather than being connected to the communication interface 578. Additionally, sensors and devices implemented within the marine electronic device 560 may be directly connected to the communication interface 578 in some embodiments rather than being directly connected to the processor(s) 510.

FIG. 6 is a flow chart illustrating an example method 600 for controlling operations of motors on a watercraft, in accordance with some embodiments discussed herein. Various types of information may be received. At operation 602, an indication regarding a current mode of operation for a watercraft is received. At operation 604, additional data is received. The additional data may include map data, sonar data, radar data, temperature data, water level data, position data, directional data, wind speed data, water current speed, and/or water depth data. However, additional data may also comprise other types of data. At operation 606, signals are received from water level sensors. For example, a first level signal is received from a first water level sensor positioned proximate to the kicker motor, and a second level signal is received from a second water level sensor positioned proximate to the trolling motor.

Settings for the kicker motor, the trolling motor, and the third motor may also be determined. At operation 608, a first setting for a kicker motor is determined. The first setting may include a power level of the kicker motor, an amount of thrust generated by the kicker motor, a speed of the kicker motor, an angle relative to a forward direction for the kicker motor, an angle relative to a horizontal for the kicker motor, and/or a position of the kicker motor. At operation 610, a second setting for a trolling motor is determined. The second setting may include a power level of the trolling motor, an amount of thrust generated by the trolling motor, a speed of the trolling motor, an angle relative to a forward direction for the trolling motor, an angle relative to a horizontal for the trolling motor, and/or a position of the trolling motor. At operation 612, a third setting for a third motor is determined. The third motor may be a primary motor, a trolling motor, or a kicker motor. The third setting may include a power level of the third motor, an amount of thrust generated by the third motor, a speed of the third motor, an angle relative to a forward direction for the third motor, an angle relative to a horizontal for the third motor, and/or a position of the third motor.

In some embodiments, the additional data is considered in making the determination of the first setting, the second setting, and/or the third setting. However, in other embodiments, this additional data is not considered in making any of these determinations.

The first setting, the second setting, and the third setting may be impacted by the current mode of operation for a watercraft. In some embodiments, the current mode of operation may be adjusted by the user at a marine electronic device. Various modes of operation may be utilized such as a drift mode, an economical mode, a bait mode, a rough conditions mode, a cruise mode, a drift sock mode, and/or other modes.

Once the settings are determined, the kicker motor, the trolling motor, and/or the third motor may be caused to operate at their respective settings. At operation 614, the kicker motor is caused to operate at the first setting. At operation 616, the trolling motor is caused to operate at the second setting. At operation 618, the third motor is caused to operate at the third setting.

Method 600 of FIG. 6 is merely exemplary, and the method 600 may be modified in various ways. For example, the order of operations of the method 600 may differ in other embodiments, and some of the operations of method 600 may be performed simultaneously in some embodiments. Furthermore, additional operations may be added to method 600 and certain operations may be omitted from method 600 in some embodiments.

CONCLUSION

Many modifications and other embodiments of the inventions set forth herein will come to mind to one skilled in the art to which these inventions pertain having the benefit of the teachings presented in the foregoing descriptions and the associated drawings. Therefore, it is to be understood that the embodiments of the invention are not to be limited to the specific embodiments disclosed and that modifications and other embodiments are intended to be included within the scope of the invention. Moreover, although the foregoing descriptions and the associated drawings describe example embodiments in the context of certain example combinations of elements and/or functions, it should be appreciated that different combinations of elements and/or functions may be provided by alternative embodiments without departing from the scope of the invention. In this regard, for example, different combinations of elements and/or functions than those explicitly described above are also contemplated within the scope of the invention. Although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

TROLLING MOTOR AND KICKER MOTOR MODE CONTROL

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