Marine propulsion systems and methods

Marine vessel propulsion systems and methods for controlling speed and direction of marine vessel propulsion systems. A processing device can receive, from a user device, a signal indicative of a desired direction and speed input to the user device; store the desired direction and speed signal in the memory; generate control signals indicative of a power input, wherein each of the control signals is associated with a particular motor of the marine vessel propulsion system; and transmit each of the control signals to a corresponding one of the motors to move the marine vessel in a desired direction and at a desired speed.

FIELD

The disclosure relates generally to the field of marine propulsion systems and methods, and more specifically, to a marine jet propulsion system for a marine vessel.

BACKGROUND

Marine jet drive propulsion motors offer advantages over traditional outboard propulsion motors because they are safe for swimmers and passengers of the marine vessel as no sharp or rotating components are exposed to cause possible injury. Additionally, they function effectively in very shallow water and are resistant to damage from collision with hard bottom obstacles in the body of water being navigated.

Directional control of known marine vessel propulsion systems is typically implemented with a steering wheel whereas navigation is accomplished via an integrated on-board global positioning system (“GPS”). However, traditional outboard propulsion systems, particularly those with such steering wheels and navigation systems, may be impossible or extremely difficult for a person with severe lower extremity injury or amputated limbs, for example, paraplegics and amputees.

There is a need for safe and improved marine vessel jet drive propulsion systems capable of operation (or assisted operation) and control (or assisted control) by persons, for example, those with severe injuries or conditions.

DETAILED DESCRIPTION

FIG. 1shows a marine vessel propulsion system100according to various example aspects of the disclosure. As shown inFIG. 1, a marine vessel105, for example, a boat, kayak, canoe, surfboard, stand up paddle board, etc., can be equipped with propulsion jet drives110,111. Each jet drive110,111is attached to a crossbar115and vertically positioned such that the jet drive110,111is submerged in water when the marine vessel105is in use. The jet drives110,111can be attached via mounting rods (seeFIG. 2) to opposite ends of a crossbar115, for example, a wood board, a metal rod or beam, etc., in a spaced apart relationship. The crossbar115can be affixed to the marine vessel105, for example, by brackets, bolts or other known affixing means120to mounting protrusions125of the marine vessel105. The crossbar115can be adjustable in length in order to accommodate different widths of marine vessels105. For example, the crossbar115can be equipped with a gliding mechanism such that the length can be expanded to fit the width of the marine vessel105and then attached thereto. In an alternative aspect, the crossbar115can have an accordion-type mechanism such that crossbar115can be lengthened or shortened to fit the width of a variety of marine vessels105. According to certain example aspects, the system100can accommodate a variety of fixed length crossbars115(e.g., having standard sizes ranging from about 20 inches to about 60 inches in about 5 to about 10 inch increments) that are removable such that, depending upon the width of the marine vessel105, the appropriate sized crossbar115is installed to ensure the jet drives110,111clear the sides of the marine vessel105.

It should be noted that the addition of the marine vessel propulsion system100to a marine vessel105, for example a kayak or canoe, helps to stabilize the marine vessel105against tipping and overturning. In certain example aspects, the jet drives110,111can each include a lily pad130flotation device as will be described further below, to help further stabilize the marine vessel105in the water and further reduce the possibility of tipping or overturning.

FIG. 2shows further example aspects of a marine vessel propulsion system according to the disclosure. As shown inFIG. 2, the marine vessel propulsion system200can further include a control unit240having a controller, for example, a programmable logic controller (“PLC”) and a power source (not shown), for example, a battery, a solar cell, a fuel cell, an internal combustion engine, and combinations thereof, some of which may be rechargeable, etc., which is electrically attached, for example, via cables, electrical wires, etc., to each jet drive210,211. The control unit240supplies power via the power source to the jet drives210,211to rotate the impellers (not shown). According to certain example aspects, the power source can supply about 200 watts (about 0.27 horsepower) to about 300 watts (about 0.40 horsepower) to each jet drive210,211. Depending on the size and type of the marine vessel, for example, a kayak or surfboard, the power source can be configured to supply about 800 to about 1,200 watts to each jet drive210,211to achieve a speed of the marine vessel of about 20 miles per hour. Each jet drive210,211is attached to a vertical mounting rod235,236to which each end of the crossbar215is attached, for example, by bolts, welds, etc., in a perpendicular relationship. Each mounting rod235,236can be adjusted up or down and secured in place, for example, by a clamp fitting as shown inFIG. 2. Each mounting rod235,236can be constructed of a suitable material such as stainless steel, plastic and all suitable rigid materials known to those of ordinary skill in the art. According to certain example aspects, each mounting rod235,236is hollow such that a suitable waterproof cable or wire is threaded there-through connecting the power supply and control unit240to the jet drives210,211. The cable or wire can be about 6 gauge to about 16 gauge depending upon the desired current for each jet drive210,211. The fittings at the end of each mounting rod235,236are also waterproof fittings as are well-known to those of ordinary skill in the art. As will be described in more detail below, a user device, such as a human machine interface (“HMI”) (not shown), for example, a joystick, a two-position switch, a foot switch, a dial, etc., can be connected, for example, via hardwire, Bluetooth®, WiFi, MiWi, USB and the like to a control unit240. A computing device (not shown) such as a cell phone can also be connected to the control unit240such that inputs from the computing device relating to speed or direction can be transmitted via software, for example an Android® or iOS application, to the control unit240. According to various example aspects of the disclosure, the computing device can be used without a separate HMI, for example, software can be downloaded onto the computing device and a user can access the software to input a desired speed and direction for transmission to the control unit240.

FIG. 3shows various example aspects of a propulsion jet drive310and lily pad330unit301for use in a marine vessel propulsion system according to the disclosure. The lily pad330has a hole through which the mounting rod335can be inserted. The lily pad330can be secured in place with a fastener345, for example, a clamp. As shown inFIG. 3, the mounting rod335can be attached to the jet drive310via a bracket360. The lily pad330can be constructed of a foam material, for example, any closed cell foam or flexible material having a density of less than water. In certain example aspects, the lily pad330is a solid piece of closed cell foam, e.g., polyethylene, polystyrene, neoprene that can be molded and/or precut. The lily pad330can be molded or cut into a variety of shapes. For example, the lily pad330can be shaped as shown inFIGS. 1 and 3taking into consideration the fluid mechanics of the lily pad350when floating in and/or moving through sea water (e.g., drag forces and buoyant forces based on Archimedes Principle). Such shape helps minimize drag when the marine vessel is in motion while still providing lateral stability to the marine vessel to minimize/prevent rocking or tipping. The mounting rod335and jet drive310components can be constructed of any suitable sea water resistant material, for example, stainless steel, polyvinyl chloride, other suitable plastics known to those of ordinary skill in the art, anodized aluminum, fiberglass, etc. During operation, liquid flows in through nozzles350located at a front end of the jet drive301and exits through the outlet355of the jet drive.

According to various example aspects of the disclosure as shown inFIG. 4, the jet drive410can be constructed without a lily pad. The remaining components and operational features can be the same as those shown and described with respect toFIG. 3. As more clearly shown inFIG. 4, the bracket460which attaches the mounting rod435to the jet drive410can form a clamp around an end of the mounting rod435, the components being secured to each other via screws, bolts and clamp fittings, for example.

FIG. 5shows various example aspects of a jet drive510for use in a marine vessel propulsion system according to the disclosure. The jet drive510shown inFIG. 5can be used for clear water applications where there is little or no fouling caused by algae, kelp, seaweed, driftwood or other types of debris that can be found in water. As shown inFIG. 5, the rear cover556of the jet drive can form an outlet555. Additionally, the front end of the jet drive510does not have a cover with orifices as compared to the jet drives shown inFIGS. 3 and 4. Such cover is often not needed in clear water applications. Without the cover, the jet drive510shown inFIG. 5can provide higher speeds of the marine vessel through the water because as the jet drive510propels through the water, the water gets “pushed into” the jet drive510and displaced more quickly as compared to the jet drives inFIGS. 3 and 4which must “pull in” the water. It should be noted that the jet drives depicted inFIGS. 3 and 4, however, may be more appropriate for applications where the water contains debris and/or other types of fouling. According to various example aspects of the disclosure, the jet drives shown inFIGS. 3 to 5can be modified to include or not include a front cover at the inlet350,450,550depending on the anticipated water application and/or desired speed. As shown inFIG. 5, instead of a front cover, a flange551surrounds the inlet550. It should be noted that having the motor inside the body513of the jet drive551simplifies the design and requires fewer parts than other known drives. Also, the water, which comes into contact with the motor, helps to cool the motor.

FIG. 6shows an exploded view of yet other example aspects of a jet drive610for use in a marine vessel propulsion system according to the disclosure. As shown inFIG. 6, the jet drive610includes a grate660on a front end thereof, the grate660having multiple orifices650for receiving sea water therethrough. Notably, the grate660differs from the front covers shown inFIGS. 3 and 4(see350,450). Those of ordinary skill in the art will recognize that a variety of grates can be implemented in the jet drives according to the present disclosure depending on the level of debris and/or fouling in a waterway. The jet drive610further includes a motor665having a mounting rod635attached thereto. At least a portion of the motor665is positioned within a housing670which attaches to the grate660. The jet drive610also includes an impeller675that is rotatable about a shaft680within a stator685. The impeller675can be rotatably attached to the shaft680using any suitable affixing means690such as a washer and bolt. The stator685can be attached to the housing670. An exit ring695which forms the outlet655can be attached to the stator680covering at least a portion thereof. The bracket660can include an outer clamp portion661and an inner claim portion662to clamp the mounting rod635therebetween. As shown inFIG. 6, the outer clamp portion662can be attached to the housing670by, for example, screws. The inner clamp portion661can be similarly attached to the grate660. The jet drive610further includes a lower bracket663, for example, a fin clamp, that attaches to the motor665on either side of a fin666. The lower bracket663also attaches to the grate660.

It should be noted that the jet drives can be designed in a variety of sizes. Generally, the larger the diameter of the jet drive, the more efficient the drive; however, the larger the diameter the more drag that is generated. According to certain example aspects, each jet drive can have a diameter of about 2 inches to about 10 inches. In certain aspects, each jet drive can have a diameter of about 4 inches or about 6 inches.

Control of the marine jet propulsion system of the present disclosure can be implemented in a variety of ways. Examples of such control are described U.S. Pat. No. 6,132,267, which is incorporated by reference herein in its entirety.

As discussed above, a marine vessel propulsion system according to various example aspects of the present disclosure can include a variety of HMIs (e.g., two-position switch, joystick, foot switch, dial, computing device such as a cell phone, etc.). As shown inFIG. 7, these HMIs702can be in direct communication with (i.e., directly associated with) the marine vessel propulsion system700, particularly with the control unit740, and/or with a processor741associated with the control unit740. The HMIs702can also communicate with the system700through a computing device such as a cell phone or laptop that is in communication with the control unit740and/or processor741. While a variety of HMIs702can be used, the HMI702should be capable of receiving inputs for both speed and direction from a user and transmitting such signals to the system700. The HMI702should have its own independent power source and a method of pairing the HMI702to a particular marine vessel propulsion system700. This can be accomplished with a universal serial bus (“USB”) connection to the HMI electronics. A USB interface provides a connection which allows a computing device with a corresponding USB interface to program the extended unique identifier (“EUI”) for the control unit740and/or processor741and pairs the HMI702with the control unit740and/or processor741. In certain example aspects, multiple ones of HMI702can be associated with the control unit740and/or processor741to control the same system700provided they are all associated with the same EUI address and are programmed to operate cooperatively.

In the case of a joystick according to the present disclosure, the full translational movement of the joystick handle can indicate a desired direction and speed by the user. For example, moving the joystick forward would transmit a signal for forward direction, while moving it backward would transmit a signal for reverse direction. Moving the joystick to the upper right would transmit a signal for a right forward motion and so on. The user can also have the ability to indicate a speed with the joystick. For example, a small forward movement of the joystick would send signals to the system700for a low speed forward movement of the marine vessel, while a relatively large forward movement would send signals to the system700for a relatively higher speed forward movement of the marine vessel.

Alternatively, the joystick can be configured as a gear shift and dial such that the handle moves forward and backward to indicate desired gear speed and is also a dial that rotates clockwise and counterclockwise to indicate desired rotation. Rotation in the clockwise direction could transmit signals to the system700to turn right while rotation in the counterclockwise direction could transmit signals to the system700to turn left. Similarly, movement of the joystick in a forward direction, for example, to first gear, could transmit a signal to the system700to increase speed. Further movement of the joystick in the forward direction, for example, to fourth gear, could transmit a signal to the system700to proportionately increase the speed.

The two signals relating to speed and direction (oor a single signal indicative of both) are processed by the control unit240,740and processor741of the marine vessel propulsion system to adjust the power to the jet drives. According to various example aspects of the disclosure, the jet drives are in a fixed position and do not rotate about the mounting rod. Therefore, a directional change of the marine vessel is accomplished by variable power control to each jet drive, independently. For example, to accomplish a right turn the jet drive on the right hand side of the vessel can operate in reverse, while the jet drive on the left hand side of the vessel operates in the forward direction. The ability to control and reverse each jet drive independently provides braking, steering and pivoting of the marine vessel.

According to certain example aspects, the control system described in column 4, line 19 to column 5, line 35 of U.S. Pat. No. 6,132,267 to Campbell, the entirety of which has been incorporated herein by reference, can be implemented for a joystick handle having forward and reverse motion only. In alternative example aspects of the disclosure, a joystick703,903having full translational motion via a handle703,903with the position layout800represented by the coordinate chart shown inFIG. 8can be used in a control system900as shown inFIG. 9. As shown inFIG. 9, the control system900can include one or more user devices, such as a human machine interface (HMI)902,903,920, a proprietary propulsion control system (PPC)941, the motor controller925and the motors910,911. The HMI is a device used by a user to generate a signal indicative of a desired direction and speed to be transmitted to the PPC and sub modules to control movement of the marine vessel. The PPC can be a computing device, such as a processor, configured to transmit and receive data from an HMI. The computing device can process received data for further use by the motor controller925and motors910,911. The computing device can also derive or generate data and send it to one or more of the HMI devices (e.g., a wireless device, such as a Wireless Android Ruggedized Device). The motor controller925can be a computing device, such as a processor, that sends specific electrical signals to each of the motors910,911independently. The right and left motors910,911generate motion at a specific power and in a particular direction depending upon the desired inputs from the HMI(s).

For example, a signal (i.e., an x and y joystick handle position coordinate represented inFIG. 8) can be generated at the joystick HMI902and transmitted to the PPC941via multiple wireless portals (MIWI, BTLE)910,915. The PPC can send a signal to the motor controller925where it is converted to independent power settings for each motor910,911. Each power setting ID is then delivered to the respective motor910,911. In the case of a wireless device (e.g., a WARD) in full duplex mode, the PPC941can generate data (e.g., power supply condition) and send it to the wireless device HMI (e.g., a WARD)920via a Bluetooth® Low Energy (BTLE) Portal915and the wireless device HMI920can display the power supply condition to the user.

Referring again toFIG. 9, the universal serial bus (USB) portal905allows for programming of the extended unique identifier (EUI) and can identify Device controlling data communications. In certain example aspects, the USB portal allows for programming of the Device Type. The MIWI Portal can be half duplex and can receive XY coordinate data from the joystick902interface, for example, XY data corresponding to the joystick position800as shown inFIG. 8. The Bluetooth® Low Energy (BTLE) Portal915can be full duplex and can receive XY coordinate data from the joystick902interface, for example XY data corresponding to the joystick position800as shown inFIG. 8. The BTLE Portal915can be configured to send complex data to a wireless device920for analysis or display. The wireless device920can be a wireless Android® ruggedized device (WARD) (e.g., a rugged Android® cell phone), a wireless iPhone or iPad device, or any other suitable wireless device known to those of ordinary skill in the art.

According to various example aspects, the data through the USB portal includes EUI and can include Device Type setting information. The data through the MIWI and BTLE portals can also include or incorporate EUI and XY Coordinate Data from the joystick902,903,703that is translated to motor proportioned signals including signals sent to both the left and right motor independently. The data through the BTLE portal can include power supply data and other complex data that can be derived or determined by the propriety propulsion control system (PPC)941and sent to the wireless device920.

During operation, the power levelfor each motor910,911is controlled by a processor of the PPC941by implementing an algorithm. More particularly, the power level for each motor is independently calculated using the following formulas. The power level for each motor is determined based on a signal received from the joystick902,903,703corresponding to an XY coordinate position800of the joystick902,903,703having a range of −128 through +128 for both axes as shown inFIG. 8. For the right motor911, the x coordinate is subtracted from the y coordinate and multiplied by a predetermined constant k as follows: R=(y−x)*k, where k=1.4. For the left motor, the x coordinate is added to the y coordinate and multiplied by the constant k as follows: L=(y+x)*k, where k=1.4. Thus, both the Left and Right motors910,911use the y coordinate, which provides a linear amount of thrust in the forward direction as the joystick moves in the y direction in the positive hemisphere shown inFIG. 8. The x coordinate value imparts the greatest amount of thrust difference as each motor to the other. For example, when the joystick is positioned such that x equals 60 and y equals 100, the joystick is in quadrant 2 as shown inFIG. 8. Using the above algorithm, the right motor911has a thrust value of 56 and he left motor910has a thrust value of 224. Although both motors are operating, the difference between the thrust value of the left motor910and right motor911is 168 where the left motor910has a thrust value that is higher than the right motor911by 168; accordingly, a gradual right turn motion of the watercraft will occur. Because both motors910,911have positive values, the system has a general forward motion that combined with the right motion yields an arcing turn to the right. It should he noted that as the joystick position moves further to the right in the positive x-direction, the arc or curve of the turn will be tighter; as the joystick position moves downward in the y-direction toward 0,0, the arc or curve of the turn will approach a direct pivot (e.g., a straight turn cross 360°).

According to further example aspects of the disclosure, if the position of the joystick moves downward in the negative y-direction (i.e., into the negative hemisphere), another algorithm is implemented by the PPC941, which sets the amount of thrust for each direction to be the same for each motor910,911but the direction is reversed. This negatively directed thrust can slow down or stop the watercraft and/or also move the watercraft in reverse.

According to other various example aspects of the disclosure, pertinent data can be located on a web server in the Cloud1005,1105,1205as shown inFIGS. 10-12. In certain example aspects of a commercial application of marine vessel systems according to the present disclosure, as shown inFIG. 10, data1010such as global positioning system (GPS) data, tracking data and asset management data can be transmitted from one or more marine vessels in a fleet1015of marine vessels each having an extended unique identifier (EUI). The data can then be stored in a data store, such as a database1020associated with a web server1025in the Cloud1005and/or processed for reports, billing, routing and other purposes. The data and/or processed information can then be transmitted to a vendor1035for further use. According to certain example aspects, the data store may be a memory (e.g., random access memory), a cache, a drive (e.g., a hard drive), a flash drive, a database system, or another type of component or device capable of storing data. The data store may also include multiple storage components (e.g., multiple drives or multiple databases) that may also span multiple computing devices (e.g., multiple server computers). In some aspects, the data store1120may be cloud-based. One or more of the devices of system may utilize their own storage and/or the data store to store public and/or private data. In some aspects, the data store can be utilized for data back-up or archival purposes.

FIG. 11shows an example system1100according to various example aspects of the disclosure that utilizes the Cloud1105various devices such as a cell phone service and applications, Bluetooth® devices, radio devices, etc.1110,1115,1120,1125that communicate with a Proprietary Propulsion Control (PPC) unit1141via a variety of bridge circuits1130to1135. The system1100can also utilize GPS communications to transmit and receive data from the various components.

FIG. 12is yet another example system1200according to aspects of the disclosure. For example, a vendor can utilize a computing device1210that receives and transmits data from the web server1215located in the Cloud1205. The vendor computing system1210can also generate reports, marketing materials, tracking information, billing information, etc. useful to its business (e.g., the rental of marine vessels equipped with marine vessel propulsion systems according to the disclosure).

According to certain example aspects, the disclosure further relates to a network having a Cloud web server, a data store accessible to the Cloud web server, a management computing device communicatively coupled to the Cloud web server, a propulsion control system attached to a vessel and communicatively coupled to the Cloud web server, and a user device communicatively coupled to the propulsion control system. The data store can contain global positioning data, tracking data, and/or asset management data for the vessel. A portion of the data store can be updateable by an update signal (e.g., a first signal) from the propulsion control system to the Cloud web server. The propulsion control system can be controllable by a control signal (e.g., a second signal) from the user device.