METHOD FOR MANEUVERING A YACHT
A method and device for maneuvering a yacht via a control device which is designed as a joystick (7). The joystick (7) is tilted in the direction of a longitudinal axis (y) and a transversal axis (x) of the yacht, to initiate forward or backward movement and transverse movement, and the joystick (7) is rotated to initiate yaw movement of the yacht around its longitudinal axis (zj). The yacht (1) has a single drive which is designed as a pivotable drive (6) which has a pivotable thrust vector around a vertical axis. The steering movements of the joystick (7) are transferred to the pivotable drive (6) in a matched manner.
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This application is a National Stage completion of PCT/EP2011/050661 filed Jan. 19, 2011, which claims priority from German patent application serial no. 10 2010 001 707.8 filed Feb. 9, 2010.
FIELD OF THE INVENTIONThe invention concerns a method for maneuvering a yacht as well as a device for executing the method.
BACKGROUND OF THE INVENTIONKnown through WO 02/085702 A1 is a motor yacht with a propulsion device which has two drive aggregates, each driving a ship propeller. In addition to the propulsion device, the motor yacht has a bow thrust and a stern thrust, meaning thrust devices which are effectively transverse to the longitudinal direction of the yacht. The ship propellers and the thrusters are controlled together through a steering lever which is designed as a joystick. The joystick can be tilted within a full circle of 360° in eight different directions, which are each different by 45°. Depending on what maneuver is required to be performed by the yacht, either the forward propulsion or the thrusters, or the forward propulsion and thrusters are activated.
A motor yacht is known through U.S. Pat. No. 7,234,983 B2 which has two propeller drives which can be rotated around a vertical axis, called rotary actuator in short. By turning of the thrust vector which is generated by the propellers, yaw moments are injected into the ship hull and they determine the course of the boat. A lateral movement, meaning a maneuvering of the yacht transverse to the longitudinal axis, is not possible with this drive.
Known through U.S. Pat. No. 7,267,068 B2 is a motor yacht with two pivotable drives which allow, depending of the direction of the two thrust vectors, any maneuvering movement such as forward, backward, sideways or rotating. A true lateral movement, meaning a sideway move of the yacht is, however, not possible due to the fact that both pivotable drives are positioned in the stern area. The steering of the motor yacht takes place through a steering device which is designed as a joystick, whereby the joystick can be tilted into any direction within a full circle and can be rotated around its longitudinal axis. By tilting or rotating of the joystick, meaningful maneuvering movements of the boat are initiated. This maneuvering method has the disadvantage that two pivotable drives are required to generate a pair of forces through thrust vectors. Such a double drive system is not suitable for smaller yachts, especially sailing yachts, due to cost, weight and the required installation space.
A pivotable propeller drive for a boat is known through WO 2005/005249 A1, in the following called pivotable drive for short. The known pivotable drive is used as a single drive for boats, whereby a rudder blade can be omitted, due to the ability to pivot the thrust vector which is created by the propeller.
SUMMARY OF THE INVENTIONIt is an object of the present invention to provide a method for maneuvering a yacht, which can also be used for small yachts and, in addition, to create a suitable device for execution of the method.
In accordance with the invention, the known maneuvering method is transferred by means of a joystick which can be manually tilted and which can be transferred to a yacht which has just one pivotable drive and also has preferably a bow thrust. An advantage is hereby created which also allows, for yachts with a less sophisticated drive system, steering by means of the joystick.
The pivotable drive, also called rudder propeller, comprises of a drive device, especially with a ship propeller, which is pivotable around a vertical axis or a steering axis, thus achieving a different trust direction as compared to the ship hull. An optional bow thrust, fixedly positioned in the very frontal area of the hull, creates a thrust perpendicular to the longitudinal direction of the ship and hereby accelerates the rotational movement. By means of the pivotable drive and the bow thrust, and when, the maneuvering method can be advantageously executed, meaning that a sensitive, intuitive, fast responding maneuverability of the yacht can be accomplished. For instance, perpendicular or lateral movements of the yacht can be accomplished by a transverse positioning of the pivotable drive and the application of the bow thrust. This represents a significant advantage in maneuvering, especially for sailing yachts.
In accordance with a preferred embodiment, the pivotable drive can be controlled by tilting and/or rotation of the joystick. Through the tilt direction, which preferably takes place in the midship direction or transverse to the midship direction, the direction of the thrust vector is determined, meaning the steering angle of the pivotable drive. The amount of the thrust is determined by a tilt angle of 0° up to approximately 45°.
By turning of the joystick around its longitudinal axis, a yaw motion of the yacht is initiated, whereby the thrust vector is pivoted in such a way that the yaw motion affects the underwater bottom section of the yacht.
In another advantageous embodiment, by tilting of the joystick in the transverse direction, the pivotable drive and the bow thrust can be simultaneously controlled. Thus, a true lateral movement of the yacht, meaning a transverse shift while maintaining the same course, is achieved. The thrust of the bow thrust and the pivotable drive are hereby acting in the same direction, whereby the thrust is controlled in such a way that no turn motion for the ship's hull is created.
In an additional advantageous embodiment, the bow thrust and the pivotable drive can be triggered by rotation of the joystick in the vertical position, meaning not tilted. By this rotation, an on the spot turn of the yacht can be accomplished, meaning that minimal maneuvering space is required for turning the ship.
In accordance with an additional aspect of the invention, a sailing yacht is provided for the execution of the method which is generally equipped with just a motor drive. Thus, the application of the invented method on a sailing yacht means a greater increase in comfort and safety during maneuvering.
An example embodiment of the invention is presented in the drawing and as further described as follows, whereby the additional characteristics and/or advantages can result from the description and/or drawing. It shows:
On the right-hand side in FIG. 2(1), a ground plan of the yacht 1 (the reference number 1 is used for the hull as well as for the yacht) is presented with three axes x, y, z, whereby y is the longitudinal axis of the yacht 1, x is its transverse axis, and z represents the vertical axis. The axes xj, yj, and zj are positioned parallel to the stationary ship axes x, y, z.
Based on the following drawings 4 to 9, the different positions which can be achieved by the joystick 7, and their influence on the movement of the yacht, are explained in detail.
When the yacht 1 is equipped with a pivotable drive 6, also called rudder propeller, a stern thruster and a conventional rudder with a rudder blade can be omitted.
REFERENCE CHARACTERS
- 1 Hull
- 2 Keel
- 3 Drive Engine
- 4 Bow thrust
- 5 Rudder blade
- 6 Pivotable Drive
- 7 Joystick
- 7a Handle
- 7b Hinge point
- 8 Steering system
- 9 Steering Unit
- 9a-9d Control Lines
- xj; yjj zj Axes of Joystick
- x; y; z Axes of Yacht
- n Rotation Speed (swivel drive)
- nb Rotation Speed (bow thrust)
- α Steering angle (Pivotable drive)
- αzj Rotation angle (Joystick)
- M Center point Joystick
- O Coordinate Source
- k Circle
- BB Larboard
- StB Starboard
- V Forward
- R Backward
- L Lateral Movement
D Rotating
Claims
1-10. (canceled)
11. A method of maneuvering of a yacht (1) via a control device designed as a joystick (7), the joystick (7) being tiltable in a direction along a longitudinal axis (y) of the yacht for initiating forward and backward movement of the yacht and the joystick (7) being tiltable in a direction along a transverse axis (x) of the yacht for initiating transverse movement of the yacht, and the joystick (7) being rotatable for initiation yaw movement of the yacht at a desired rotational angle (+αzj, −αzj) around its longitudinal axis (zu), the method comprising the steps of:
- providing the yacht (1) with a single drive designed as a pivotable drive (6) with a pivotable thrust vector which can be pivoted around a vertical axis,
- providing the yacht (1) with a bow thrust (4) having a thrust vector arranged parallel to the transverse axis (x) of the yacht (1),
- transferring the steering movement of the joystick (7) in a matched manner to both the pivotable drive (6) and the bow thrust (4),
- activating the bow thrust (4) and the pivotable drive (6), by tilting of the joystick (7) toward its transverse direction (+xj, −xj) so that thrust vectors, for both the bow thrust (4) and the pivotable drive (6), react in a same thrust direction and parallel to the transverse axis (x) of the yacht, and
- adjusting forces of both of the thrust vectors, via an electronic control unit, depending on the rotation angle (+αzj, −αzj) of the joystick (7).
12. The method according to claim 11, further comprising the step of, for a rotational angle (αzj) of the joystick (7) of zero, balancing both thrust vectors against one another, via the electronic control unit, so that a sum of the yaw moments of the thrust vector of the bow thrust (4) and the thrust vector of the pivotable drive (6) equals zero whereby a balance of moment exists and any yaw motion of the yacht (1) is avoided such that a true lateral movement (L) of the yacht occurs.
13. The method according to claim 11, further comprising the step of, through rotation of the joystick (7) by a rotational angle (+αzj, −αzj) around its longitudinal axis (zu), before or after the tilting, cancelling the balance of the moment, and
- reducing the thrust of the pivotable drive (6) so that the yaw moment, due to the bow thrust (4), dominates and a lateral movement (L) of the yacht (1) is initiated, with an overlay of a yaw movement.
14. The method according to claim 11, further comprising the step of, by rotation of the joystick (7) by a rotational angle (+αzj, −αzj) around its longitudinal axis (zu), before or after the tilting, cancelling the balance of the moment by increasing the thrust of the bow thrust (4) so that its yaw moment dominates, compared to a yaw moment from the pivotable drive (6), and a lateral movement (L) of the yacht (1) is initiated with an overlay of a yaw movement.
15. The method according to claim 11, further comprising the step of, activating the bow thrust (4) and the pivotable drive (6) by rotation of the joystick (7) by a rotational angle (+αzj, −αzj), in its vertical position, so that a pair of forces, each parallel to the transverse axis of the yacht (1), but with opposite acting thrust vectors results and rotation of the yacht (1) occurs on the spot.
16. The method according to claim 11, further comprising the step of activating the pivotable drive (6), with regard to its thrust force, by tilting of the joystick (7).
17. The method according to claim 16, further comprising the step of increasing the thrust force of the pivotable drive (6) with an increase in the tilt angle of the joystick (7) and reducing the thrust force of the pivotable drive (6) by a reduction in the tilt angle.
18. The method according to claim 11, further comprising the step of permitting a steering angle (α) of the pivotable drive (6) to be pivoted between zero degrees and +/−90 degrees, and
- activating the steering angle (α) by rotation of the joystick (7).
19. The method according to claim 11, further comprising the step of permitting a steering angle (α) of the pivotable drive (6) to be pivoted between zero degrees and +/−180 degrees, and
- activating the steering angle (α) by rotation of the joystick (7).
20. The method according to claim 11, further comprising the step of employing a sailing yacht as the yacht (1).
21. A sailing yacht comprising a control device designed as a joystick (7), the joystick (7) being tiltable in a direction along a longitudinal axis (y) of the sailing yacht for initiating forward and backward movement of the sailing yacht and the joystick (7) being tiltable in a direction along a transverse axis (x) of the sailing yacht for initiating transverse movement of the sailing yacht, and the joystick (7) being rotatable for initiation yaw movement of the sailing yacht in a rotation angle (+αzj, −αzj) around its longitudinal axis (zu),
- wherein the sailing yacht comprises a single drive designed as a pivotable drive (6) with a pivotable thrust vector which can be pivoted around a vertical axis,
- a bow thrust (4) having a thrust vector arranged parallel to the transverse axis (x) of the yacht (1),
- the steering movement of the joystick (7) being transferred, in a matched manner, to both the pivotable drive (6) and the bow thrust (4),
- tilting movement of the joystick (7), toward its transverse direction (+xj, −xj), induces thrust vectors of the bow thrust (4) and the pivotable drive (6) to react in a same thrust direction which is parallel to the transverse axis (x) of the sailing yacht, and
- an electronic control unit adjusting the forces of both thrust vectors depending on the rotation angle (+αzj, −αzj) of the joystick (7).
Type: Application
Filed: Jan 19, 2011
Publication Date: Mar 21, 2013
Applicant: ZF FRIEDRICHSHAFEN AG (Friedrichshafen)
Inventors: Andrea Pellegrinetti (Trento), Adriano Zanfei (Valaugana (TN))
Application Number: 13/577,722
International Classification: B63H 21/21 (20060101);