SYSTEMS AND METHODS FOR CONTROLLING A WAKE BEHIND A WATERCRAFT

Description

FIELD OF THE INVENTION

Example embodiments of the present invention generally relate to watercraft and, more particularly to, systems and methods for controlling a wake behind a watercraft using, for example, a sensor for determining at least one of a pitch, roll, or yaw of the watercraft.

BACKGROUND

Watercraft sometimes include systems that attempt to control characteristics of a wake created behind the watercraft. For example, such systems are often used when a person is surfing in the wake behind the watercraft. Some current systems attempt to control systems to provide a desired wake, but current systems are limited, often unreliable, and are unable to provide repeatable wakes.

Improvements in the foregoing are desired.

BRIEF SUMMARY

Various systems used to control wakes may utilize a user interface to obtain information related to desired characteristics of an ideal wake and then use those desired characteristics, such as wave height, location, and/or speed, to estimate watercraft settings to achieve a wake that is similar to the ideal wake. However, some such systems fail to account for many variables that affect the wake that is created by the watercraft, such as weight distribution and water displacement, and as a result, wakes generated by current systems are not reproducible within a reasonable threshold. In this regard, merely repeating how the systems operated before when a “desirable” wake was produced is ineffective due to constantly changing variables, such as weather, passengers, weight distribution, among many other things.

The systems and methods disclosed herein are configured to control a wake created behind a watercraft within a reasonable threshold by accounting for variables such as weight distribution and water displacement. Such variables, and others, are accounted for via the use of a sensor that detects the pitch, roll, and/or yaw of the watercraft and using data from the sensor to determine and send instructions to, e.g., a ballast system on the watercraft and/or actuator(s) on the watercraft that are connected to mechanisms such as trim tabs, a surf gate, a wedge, and/or interceptors. The systems disclosed herein are beneficial because they provide a significant improvement in the repeatability of wakes created behind a watercraft. This, in turn, enables a user to more accurately create personalized wake settings that can be stored to memory and also increases safety.

Some example embodiments of the present invention include systems and methods that include a ballast system having at least one pump, actuator(s) that are connected to mechanism(s) such as a set of trim tabs, a wedge, one or more interceptors, or a surf gate, and a sensor for determining at least one of a pitch, roll, or yaw of the watercraft. The sensor may be an inertial measurement unit or any other type of sensor. Such systems and methods may also include a processor and a memory including computer executable instructions, and the computer executable instructions may be configured to, when executed by the processor, cause the processor to determine or receive a desired orientation of the watercraft based on producing a desired wake behind the watercraft, determine a current orientation of the watercraft relative to a water level of the body of water based on sensor data received from the sensor, determine instructions to send to at least one of the ballast system or the at least one actuator based on the current orientation of the watercraft and the desired orientation of the watercraft, and adjust at least one of the ballast system or the at least one actuator according to the instructions such that the watercraft achieves the desired orientation so that the desired wake is produced by the watercraft.

The systems and methods disclosed herein are designed to optimize the use of ballast tanks and mechanisms on a watercraft according to instructions dynamically determined by a processor that receives information from a sensor that detects the watercraft's pitch, roll, and/or yaw to create repeatable wakes behind the watercraft. For example, although adjustment of a ballast system on the watercraft may be the most effective method of orienting the watercraft to produce a desired wake, using the ballast system alone might take an amount of time that is not ideal and/or may not be effective based on the current conditions. Accordingly, various embodiments of the present invention monitor conditions and adjust the ballast system and other systems to enable reproduction of the desired wake (even if different conditions than when the desired wake was produced the previous time). Along these lines, various embodiments of the present invention may utilize the ballast system along with mechanisms such as a set of trim tabs, a wedge, one or more interceptors, or a surf gate may achieve the desired wake, such as may even cause the desired wake to be formed in a faster amount than if just the ballast system was used.

In an example embodiment, a system for controlling a wake behind a watercraft is provided. The system comprises a ballast system comprising at least one pump; at least one actuator; a sensor for determining at least one of a pitch, roll, or yaw of the watercraft; a processor; and a memory including computer executable instructions. The computer executable instructions are configured to, when executed by the processor, cause the processor to: determine or receive a desired orientation of the watercraft based on producing a desired wake behind the watercraft; determine a current orientation of the watercraft relative to a water level of the body of water based on sensor data received from the sensor; determine instructions to send to at least one of the ballast system or the at least one actuator based on the current orientation of the watercraft and the desired orientation of the watercraft; and cause adjustment of the at least one of the ballast system or the at least one actuator according to the instructions such that the watercraft achieves the desired orientation so that the desired wake is produced by the watercraft.

In some embodiments, the determination of the instructions is part of a feedback loop.

In some embodiments, the at least one actuator is configured to control positioning of at least one of a set of trim tabs, a wedge, one or more interceptors, or a surf gate on the watercraft.

In some embodiments, the ballast system comprises a first ballast tank with a at least one first pump and a second ballast tank with at least one second pump. In some embodiments, the ballast system comprises a third ballast tank with at least one third pump and a fourth ballast tank with at least one fourth pump. In some embodiments, the first ballast tank is positioned on or in a bow of the watercraft, wherein the second ballast tank is positioned on or in a stern of the watercraft, wherein the third ballast tank is positioned on a starboard side of the watercraft, and wherein the fourth ballast tank is positioned on a starboard side of the watercraft.

In some embodiments, the processor is further configured to determine the instructions based on at least one of the following: watercraft speed, hull displacement, design and position of an element connected to the at least one actuator, water depth, water speed, weather conditions, surfer weight, or tow rope fixing point.

In some embodiments, the processor determines the instructions based on information that indicates that the watercraft is turning.

In some embodiments, the processor is part of a marine electronics device.

In some embodiments, the processor is positioned at a remote location.

In some embodiments, the sensor is an inertial measurement unit.

In some embodiments, the sensor includes at least one of an accelerometer, a gyroscope, or a magnetometer.

In some embodiments, the processor is further configured to determine the instructions based on a time requirement.

In some embodiments, a height of the wake is within a predetermined threshold of a height of the desired wake. In some embodiments, the predetermined threshold is less than 10 percent.

In some embodiments, the processor is further configured to determine the instructions based on a number of passengers in the watercraft.

In some embodiments, the processor is further configured to determine the instructions based on one or more detected positions of one or more passengers in the watercraft.

In some embodiments, the processor is further configured to determine the instructions based on one or more of a fuel level, an equipment weight, or an equipment distribution.

In another example embodiment, a marine electronic device is provided. The marine electronic device comprising: a processor; and a memory including computer executable instructions. The computer executable instructions are configured to, when executed by the processor, cause the processor to: determine or receive a desired orientation of a watercraft based on producing a desired wake behind the watercraft; determine a current orientation of the watercraft relative to a water level of the body of water based on sensor data received from a sensor, the sensor being configured to determine at least one of a pitch, roll, or yaw of the watercraft; determine instructions to send to at least one of a ballast system or an actuator based on the current orientation of the watercraft and the desired orientation of the watercraft; and cause adjustment of the at least one of the ballast system or the actuator according to the instructions such that the watercraft achieves the desired orientation so that the desired wake is produced by the watercraft.

In another example embodiment, a method for controlling a wake behind a watercraft is provided. The method comprises determining or receiving a desired orientation of the watercraft based on producing a desired wake behind the watercraft. The method further comprises determining a current orientation of the watercraft relative to a water level of the body of water based on sensor data received from a sensor, the sensor being configured to determine at least one of a pitch, roll, or yaw of the watercraft. The method further comprises determining instructions to send to at least one of a ballast system or an actuator based on the current orientation of the watercraft and the desired orientation of the watercraft. The method further comprises causing adjustment of the at least one of the ballast system or the actuator according to the instructions such that the watercraft achieves the desired orientation so that the desired wake is produced by the watercraft.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWING(S)

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. 1 shows an example watercraft with a surfer surfing in a wake behind the watercraft, in accordance with some embodiments described herein;

FIG. 2A is an example user interface for determining settings to produce a desired wake behind a watercraft, in accordance with some embodiments discussed herein;

FIG. 2B is an example user interface for adjusting levels of ballast tanks on a watercraft, in accordance with some embodiments discussed herein;

FIG. 3A illustrates an example watercraft with a pair of ballast tanks and a sensor detecting a pitch of the watercraft, in accordance with some embodiments discussed herein;

FIG. 3B illustrates the watercraft of FIG. 3A with the sensor detecting a roll of the watercraft, in accordance with some embodiments discussed herein;

FIG. 3C illustrates the watercraft of FIGS. 3A-3B with the sensor detecting a yaw of the watercraft, in accordance with some embodiments discussed herein;

FIG. 4A illustrates the watercraft of FIGS. 3A-3C with one of the pair of ballast tanks partially drained and the sensor detecting an updated pitch of the watercraft, in accordance with some embodiments discussed herein;

FIG. 4B illustrates the watercraft of FIG. 4A with the sensor detecting an updated roll of the watercraft, in accordance with some embodiments discussed herein;

FIG. 4C illustrates the watercraft of FIGS. 4A-4B with the sensor detecting an updated yaw of the watercraft, and with a surf zone behind the watercraft being indicated, in accordance with some embodiments discussed herein;

FIG. 5 is a diagram showing various example mechanisms and other systems on an example watercraft, in accordance with some embodiments discussed herein;

FIG. 6 is an example feedback loop for controlling a wake behind a watercraft, in accordance with some embodiments discussed herein;

FIG. 7 is a diagram illustrating an example system, in accordance with some embodiments discussed herein;

FIG. 8 is a block diagram of another example system, in accordance with some embodiments discussed herein; and

FIG. 9 shows an example method for controlling a wake behind a watercraft, in accordance with some embodiments discussed herein.

DETAILED DESCRIPTION

Some example embodiments now will be described more fully hereinafter with reference to the accompanying drawings, in which some, but not all example embodiments are shown. Indeed, the examples described and pictured herein should not be construed as being limiting as to the scope, applicability or configuration of the present disclosure. Rather, these example embodiments are provided so that this disclosure will satisfy applicable legal requirements. Like reference numerals refer to like elements throughout.

As depicted in FIG. 1, a watercraft 100 (e.g., a vessel) configured to traverse a marine environment, e.g., body of water 101, may have one or more mechanisms, such as trim tabs 102 (additional example mechanisms are shown in other figures and described herein), disposed on and/or proximate to the watercraft 100. The watercraft may also have one or more ballast tanks (such as stern ballast tank 168, starboard ballast tank 170, and bow ballast tank 172) that are configured to help selectively maintain differently desired orientations of the watercraft 100 based on their fill levels. The watercraft 100 may be a surface watercraft, a submersible watercraft, or any other implementation known to those skilled in the art. The one or more mechanisms may each be configured to help, along with the one or more ballast tanks, orient the watercraft 100 in a manner that creates a repeatable and desired wake behind the watercraft 100.

The watercraft 100 may include one or more marine electronic devices 107, such as may be utilized by a user to interact with, view, or otherwise control various aspects of the watercraft and its various marine systems described herein. In the illustrated embodiment, the marine electronic device 107 is positioned proximate the helm (e.g., steering wheel) of the watercraft 100—although other places on the watercraft 100 are contemplated. Likewise, additionally or alternatively, a user's mobile device may include functionality of a marine electronic device.

Depending on the configuration, the watercraft 100 may include a main propulsion motor 105, 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. The motor 105 and/or the trolling motor 108 may be steerable using the steering wheel 109, or in some embodiments, the watercraft 100 may have an autopilot navigation assembly that is operable to steer the motor 105 and/or the trolling motor 108, when engaged. The autopilot navigation assembly may be connected to or within a marine electronic device 107, or it may be located anywhere else on the watercraft 100. Alternatively, it may be located remotely, or in other embodiments, the watercraft 100 may not have an autopilot navigation assembly at all.

The watercraft 100 is configured to create a wake 162 behind the watercraft 100. In the illustration shown in FIG. 1, the wake 162 includes a wave 166 on which a surfer 164 is surfing using surfboard 160. In certain situations, such as that depicted, it may be desirable to control characteristics of the wake 162 an/or wave 166 in order to optimize conditions. For example, it may be desirable to control an orientation of the watercraft 100 in order to achieve a desired shape (or other characteristic) of the wake 162. Disclosed herein are systems configured to control a wake in a way that is repeatable (e.g., despite changing and/or different conditions). Such systems may include a ballast system (e.g., including one or more of the stern ballast tank 168, the starboard ballast tank 170, and/or the bow ballast tank 172), actuator(s) connected to certain mechanisms, and a sensor for determining at least one of a pitch, roll, or yaw of the watercraft 100. As will be described in more detail herein, the actuator(s) may be, e.g., configured to control positioning of at least one of a set of trim tabs (e.g., trim tabs 102), a wedge, one or more interceptors, or a surf gate on the watercraft. Such systems may also include a processor (which may be located anywhere, such as within a marine electronic device or at a remote location, among other locations) configured to determine or receive a desired orientation of the watercraft 100 based on producing a desired wake behind the watercraft 100. The processor may also be configured to determine a current orientation of the watercraft 100 relative to a water level of the body of water 101 based on sensor data received from the sensor and then determine instructions to send to at least one of the ballast system or the at least one actuator based on the current orientation of the watercraft 100 and the desired orientation of the watercraft 100. The processor may then adjust at least one of the ballast system or the at least one actuator according to the instructions such that the watercraft 100 achieves the desired orientation so that the desired wake is produced by the watercraft 100.

As an example, the surfer 164 may indicate to a passenger on the watercraft 100 that he or she would like for the wave 166 to be different in some way (e.g., taller, deeper, differently shaped, etc.). The passenger on the watercraft 100 may then indicate to a processor, such as by using the marine electronic device 107, the desired change to the wave 166 and/or wake 162. The processor may then make a determination that the desired change may be achieved by increasing water in the stern ballast tank 168 and lowering the trim tabs 102. The processor may then cause such changes to occur such that the desired change to the wave 166 and/or wake 162 are achieved.

Still referring to FIG. 1, the watercraft 100 may include one or more mechanisms in addition to or as an alternative to trim tabs 102, which are mounted to the transom 106 of the watercraft 100. For example, in other embodiments, the watercraft 100 may additionally or alternatively include other mechanisms such as a surf gate, a wedge, an interceptor, and/or any other type of mechanism that aids in orienting the watercraft 100, as described in more detail herein. The one or more mechanisms on the watercraft 100 may be configured to provide forces to cause the watercraft 100 to maintain a relative orientation with the body of water 101. For example, in some embodiments, the mechanisms may be configured to maintain the watercraft 100 within a relative pitch, roll and/or yaw value with respect to a surface of the body of water 101.

The watercraft 100 also includes the stern ballast tank 168, the starboard ballast tank 170, and the bow ballast tank 172 (along with a port ballast tank, which is not pictured). Such ballast tanks may be connected to one or more pumps, and the processor may be connected to the pumps so that water can be pumped in and out of the ballast tanks to provide forces to cause the watercraft 100 to maintain a relative orientation with the body of water 101. In some embodiments, a ballast system may include a first ballast tank (e.g., the stern ballast tank 168), which is connected to a first set of pumps, and a second ballast tank (e.g., the bow ballast tank 172) which is connected to a second set of pumps. In some further embodiments, the ballast system may include a third ballast tank (e.g., the starboard ballast tank 170), which is connected to a third set of pumps, and a fourth ballast tank (e.g., the port ballast tank (not shown in FIG. 1)) which is connected to a fourth set of pumps. Other configurations are also contemplated within the scope of this disclosure. For example, more or less ballast tanks may be included on the watercraft 100, and the ballast tanks may be positioned at different locations on the watercraft 100. Further, in other embodiments, a substance other than water may be pumped in and out of the ballast tanks.

In some embodiments, an adjustment to a ballast system (e.g., which includes the stern ballast tank 168, the starboard ballast tank 170, and the bow ballast tank 172) may take more time to complete than an adjustment to an actuator (e.g., that is connected to trim tabs 102). However, in some embodiments, the ballast system may be more impactful when creating a desired wake. Therefore, the processor may be configured to determine instructions to send to one or both of the ballast system and/or the one or more actuators based on a time requirement. That is, the processor may be configured to optimize the determined instructions so that the ballast system is used as much as possible within the amount of time allotted (e.g., 3 seconds) and then adjust the trim tabs 102, which adjusts more quickly, to achieve the rest of the adjustment needed to achieve the desired wake.

The watercraft 100 in FIG. 1 includes a first passenger 174 near the helm and a second passenger 176, a third passenger 178, and a fourth passenger 180 in the bow area of the watercraft 100. Often, passengers on a watercraft 100 regularly change locations on the watercraft 100, and the watercraft 100 most likely has different numbers of passengers on different trips. The distribution of weight on the watercraft 100 that is produced by such passengers (e.g., first passenger 174, second passenger 176, third passenger 178, and fourth passenger 180) can cause unexpected changes to the orientation of the watercraft 100. The systems disclosed herein are configured to be able to detect and offset such changes using a sensor that can detect at least one of a pitch, roll, or yaw of the watercraft 100. That is, a processor can receive data from such sensor and determine and send instructions to a ballast system and/or one or more actuators, which may be connected to mechanisms such as trim tabs 102, to offset the forces caused by the distribution of weight on the watercraft 100 that is produced by passengers (e.g., first passenger 174, second passenger 176, third passenger 178, and fourth passenger 180) and maintain a desired wake (e.g., wake 162) behind the watercraft 100. The processor may be able to determine such instructions based on a number of passengers in the watercraft 100 and/or based on one or more detected positions of one or more passengers in the watercraft 100. Similarly, the processor may be further configured to determine such instructions based on other variables such as one or more of a fuel level, an equipment weight, or an equipment distribution in or on the watercraft 100.

Notably, the wake 162 that is produced by the watercraft 100 may be repeatable within a certain threshold (e.g., height, width, etc.) using the system disclosed herein. That is, in some embodiments, the wake 162 may be within a predetermined threshold height of a desired wake that is, e.g., inputted by a user (or otherwise selected). For example, the predetermined threshold may be 10 percent or lower—although other percentages are contemplated (e.g., within 25 percent, within 15 percent, within 5 percent, etc.). It should be appreciated, however, that in other embodiments, the predetermined threshold may be any other value and/or may be measured differently. This is an advancement to previous solutions, which are not able to achieve such repeatability. For example, many previous solutions adjust variables such as watercraft speed, trim tab height, and ballast systems in order to adjust certain characteristics of a wave, but such solutions are not able to achieve a repeatable wave because they are not able to quantify an accurate overall orientation of the watercraft as a whole (much less factor such quantification into a determination of instructions to adjust certain components on the watercraft). The systems disclosed herein are able to detect at least one of a pitch, roll, or yaw of the watercraft 100 and then use such values to cause a wake 162 behind the watercraft that is repeatable within a certain threshold.

It should be appreciated that the orientation of a watercraft with respect to a surface of a body of water is largely affected by weight distribution on and/or in the watercraft (although wave conditions may be considered as well), and such weight distribution is largely affected by the position(s) and fill level(s) of ballast tank(s) and/or bag(s) on the watercraft. Ballast tanks are typically installed when the watercraft is manufactured, and as such, their positions are fixed. Ballast bags, on the other hand, are typically installed after a watercraft is manufactured, and their positions can differ for every watercraft outing. While previous solutions rely on the fixed nature of ballast tanks to attempt to control a wake behind a watercraft, the systems disclosed herein are able to more accurately control a wake behind a watercraft even when ballast bags are used instead of ballast tanks. This is because the systems disclosed herein are able to account for the varying weight distribution that may differ for every watercraft outing (e.g., passenger count, passenger position, ballast bag position(s), ballast tank fill level, ballast bag fill level, fuel level, equipment weight distribution, etc.).

FIG. 2A shows a user interface 300 for determining settings to produce a desired wake behind a watercraft. The user interface 300 includes a mode setting 302, which is set to “SURF” mode in FIG. 2A. The mode setting may be any type of mode, such as the “SURF” mode, a fishing mode, an anchoring mode, a cruising mode, or any other type of mode. The user interface also includes a launch setting 304, which in FIG. 2A is set to a value of 1. The user interface 300 also includes a ballast setting 306, which in FIG. 2A has a “Fill All” button and an “Empty All” button. The ballast setting 306 may have a link to another user interface, such as the user interface 320 shown and described with respect to FIG. 2B, which includes more adjustment features. The user interface 300 may also include a target speed setting 308, which in FIG. 2A is set to 11.6 miles per hour. The target speed setting 308 may be used to receive user input indicating a desired watercraft speed. The user interface 300 may also include a wave location setting 310, which in FIG. 2A is set to “Surf Right” (rather than to “Surf Left”). The wave location setting 310 may be used to receive user input indicating where a surf zone should be created with respect to the watercraft (e.g., to the left, to the right, in the center, etc.). The user interface 300 also includes a wave height setting 312, which in FIG. 2A is set to a lowest preset wave height selection.

FIG. 2B shows a user interface 320 for adjusting levels of ballast tanks on a watercraft. For example, the user interface 320 may be linked to and/or an extension of the ballast setting 306 on user interface 300. The user interface 320 includes port ballast settings 322 (which may connect to, e.g., a port ballast tank and/or one or more pumps connected thereto), center ballast settings 324 (which may connect to, e.g., a port ballast tank and/or one or more pumps connected thereto), and starboard ballast settings 326 (which may connect to, e.g., a port ballast tank and/or one or more pumps connected thereto). Each of the port ballast settings 322, center ballast settings 324, and starboard ballast settings 326 include a “FILL” and an “EMPTY” button and display fullness levels indicating how much fluid is currently in the ballast tank. The user interface 320 also includes a fill all button 328, an empty all button 330, and a stop all button 332, which are each operable to control all three of the port, center, and starboard ballast systems at once.

FIGS. 2A-2B represent user interfaces that are often used to attempt to control wakes created by a watercraft. However, without the systems disclosed herein, such wakes are not reproducible. That is, the user interface 300 and the user interface 320 give the impression that a wake is repeatable within a predetermined threshold, but primary variables such as weight distribution and water displacement are not controlled enough to achieve this. For example, the following variables effect wake generation (at least): watercraft speed, watercraft pitch, watercraft roll, watercraft yaw, hull displacement, design and position of mechanisms (such as trim tabs, surf gates, and interceptors), water depth, water speed, weather conditions, surfer weight, and tow rope fixing point. Thus, because previous systems were not able to account for such variables, previous systems were unable to create reproducible wakes. The systems disclosed herein account for such variables by using a sensor such as an inertial measurement unit, which may include, e.g., at least one of an accelerometer, a gyroscope, or a magnetometer, and using data from that sensor to determine instructions to send to a ballast system and/or one or more actuators that are connected to mechanisms on the watercraft such as trim tabs, surf gates, wedges, and interceptors, among other mechanisms. This may be in addition to using information received via user interfaces such as the user interface 300 and the user interface 320. Therefore, processors used with the systems disclosed herein may be configured to determine instructions based on, e.g., at least one of the following: watercraft speed, hull displacement, design and position of an element connected to an actuator, water depth, water speed, weather conditions, surfer weight, or tow rope fixing point. Further, in some embodiments of the systems disclosed herein, a processor may be configured to determine instructions based on information that indicates that the watercraft is turning.

FIGS. 3A-3C illustrate a watercraft 340 with a starboard ballast tank 344, a port ballast tank 348, a starboard trim tab 346, a port trim tab 350, and a sensor 342 configured to detect a pitch P, a roll R, and/or a yaw Y of the watercraft 340. As shown in FIG. 3A, the sensor 342 is configured to detect the pitch P of the watercraft 340 by detecting movement of a horizontal axis HA of the watercraft 340 within a plane that is perpendicular to a surface of a body of water in which the watercraft 340 is traveling. Similarly, as shown in FIG. 3B, the sensor 342 is also configured to detect the roll R of the watercraft 340 by detecting movement of a vertical axis VA of the watercraft 340 within another plane that is perpendicular to the surface of the body of water in which the watercraft 340 is traveling. Similarly, as shown in FIG. 3C, the sensor 342 is also configured to detect the yaw Y of the watercraft 340 by detecting movement of the horizontal axis HA of the watercraft 340 within a plane that is parallel with the surface of the body of water in which the watercraft 340 is traveling. In some embodiments, the sensor 342 may be an inertial measurement unit that may, e.g., include an accelerometer, a gyroscope, and/or a magnetometer. In other embodiments, however, the sensor 342 may be configured differently. For example, in some other embodiments, the sensor 342 may be an inclinometer for a lower fidelity system. Other types of sensors are also contemplated within the scope of this disclosure.

FIGS. 4A-4C illustrate the watercraft 340 with the starboard ballast tank 344′ partially drained, with the port trim tab 350′ raised, and with the sensor 342 detecting an updated pitch P′, updated roll R′, and updated yaw Y′ of the watercraft 340. As shown, adjustment of the ballast system (consisting of starboard ballast tank 344, 344′ and port ballast tank 348 in FIGS. 3A-4C) and the trim tab system (consisting of the starboard trim tab 346 and the port trim tab 350, 350′ in FIGS. 3A-4C) can affect the pitch, roll, and/or yaw of the watercraft 340. For example, the pitch P, the roll R, and the yaw Y of the watercraft detected by the sensor 342 in FIGS. 3A-3C may be used by a processor, along with other information, to determine instructions to send to the ballast system and the trim tab system (or other mechanical actuating system) in order to achieve updated pitch P′, roll R′, and yaw Y′ values that correspond to a desired wake in a surf zone 352. This method may make the wake that is created in the surf zone 352 reproducible within a certain threshold.

As an example, for some surfers, an optimal surf wake is produced when the stern of the watercraft 340 is lower than the bow of the watercraft 340 and the watercraft 340 is rolled towards the side of the watercraft 340 on which the surfer desires to surf. As shown in FIGS. 4A-4C, the water in the starboard ballast tank 344′ and the port ballast tank 348 cause the stern of the watercraft 340 to be lower than the bow of the watercraft 340. The partial depletion of water from the starboard ballast tank 344′ contributes to causing the watercraft 340 to roll toward the port side of the watercraft 340, and the extension of the starboard trim tab 346 with the simultaneous non-extension of the port trim tab 350′ further contributes to this roll. As shown in FIG. 4C, the surf zone 352 is on the port side of the watercraft 340, which, in this example, is desirable. The amount of water depleted from the starboard ballast tank 344′ and the angular extension values of the starboard trim tab 346 and port trim tab 350′ may be determined by a processor based on many variables such as safety, watercraft limits, and time requirements, among others.

FIG. 5 is a diagram 110 that shows a watercraft 112 with callouts showing various elements (e.g., example mechanisms) that help create and/or control a wake behind the watercraft 112 in different ways. The marine electronic device 114 may be connected to one or all of the elements shown in FIG. 5, or the elements may be connected in another way, as will be described herein. Further, it should be appreciated that wake control may be achieved through means other than a marine electronic device. For example, methods such as remote control, voice control, and gesture control (among others) may be used. The autopilot controller 116 is usable to control the navigation assembly 122 and therefore the motor 119. Although the autopilot controller 116 and the navigation assembly 122 are separate in the embodiment shown, the autopilot controller 116 and the navigation assembly 122 may be integrated in one element, in other embodiments. Further, in some other embodiments, the watercraft 112 may not even have one or both of the autopilot controller 116 and the navigation assembly 122.

Still referring to FIG. 5, the controller 118 is usable to control trim tabs 128, wedge 120, surf gate 126, and/or interceptors 130 via at least one actuator. As will be described herein, the watercraft 112 may have one or more of the trim tabs 128, wedge 120, surf gate 126, and/or interceptors 130, and in embodiments in which the watercraft 112 has more than one, they may be controlled using the same or separate controllers. The trim tabs 128, wedge 120, surf gate 126, interceptors 130, and/or any other mechanisms may be in communication with the marine electronic device 114, or in some embodiments, they may be able to communicate directly with the navigation assembly 122.

FIG. 6 shows a feedback loop 360 for controlling a wake behind a watercraft. The feedback loop 360 may be, for example, part of a processor's determination of instructions to send to at least one of a ballast system or at least one actuator on a watercraft in order to control a wake behind a watercraft. At step 362 of the feedback loop 360, the surf control operation begins. This may be initiated by, e.g., a user indicating through user input that he or she desires to enter a “Surf Control” mode. This may also, in other embodiments, be initiated automatically in response to a command given by, e.g., a marine electronic device. Other ways to initiate step 362 of the feedback loop 360 are also contemplated within the scope of this disclosure. At step 364, the feedback loop 360 determines whether the watercraft pitch is correct. This may be according to user input and/or to system recommendations. For example, in many cases, it is desirable for the hull of the watercraft to be higher than the stern of the watercraft when creating a wake that is optimal for surfing. The pitch at step 364 may be assessed accordingly. If the watercraft pitch is not correct at step 364, the feedback loop 360 proceeds to step 366 and determines whether the stern of the watercraft needs to be lowered. If so, the feedback loop 360 proceeds to step 368 and turns on aft ballast tank pumps and then to step 370 to extend actuators on the watercraft to weigh down the stern of the watercraft to the appropriate height. It should be appreciated that steps 368 and 370 may be arranged in any order, and a processor may be configured to calculate how long and/or how much to turn on the aft ballast tank pumps and extend the actuators so that an optimal outcome is achieved. For example, because it takes longer to fill a ballast tank than it takes to extend an actuator, but a ballast tank is often more effective at changing an orientation of a watercraft than is a mechanism connected to an actuator, a processor may optimize instructions based on time and efficiency. Once steps 368 and 370 are complete, the feedback loop 360 proceeds back to step 362, which is the starting point. If the feedback loop 360 determines that the stern does not need to be lowered at step 366, the feedback loop 360 proceeds to step 372 and retracts actuators on the watercraft to the degree necessary to raise the stern to the appropriate height. The feedback loop 360 then proceeds back to step 362, which is the starting point.

If the watercraft pitch is correct at step 364, the feedback loop 360 proceeds to step 374, which assesses whether the watercraft roll is correct. If the watercraft roll is not correct at step 374, the feedback loop 360 proceeds to step 376 and determines whether the watercraft needs to be rolled to the port side. If so, the feedback loop 360 proceeds to step 378 and turns on port ballast tank pumps and then to step 380 to extend starboard actuators on the watercraft to roll the watercraft to the appropriate degree in the port direction. It should be appreciated that steps 378 and 380 may be arranged in any order, and a processor may be configured to calculate how long and/or how much to turn on the port ballast tank pumps and extend the starboard actuator so that an optimal outcome is achieved. For example, because it takes longer to fill a ballast tank than it takes to extend an actuator, but a ballast tank is often more effective at changing an orientation of a watercraft than is a mechanism connected to an actuator, a processor may optimize instructions based on time and efficiency. Once steps 378 and 380 are complete, the feedback loop 360 proceeds back to step 362, which is the starting point. If the feedback loop 360 determines that the watercraft does not need to be rolled in the port direction at step 376, the feedback loop 360 proceeds to step 382 and turns on starboard ballast tank pumps and then to step 384 to extend port actuators on the watercraft to roll the watercraft to the appropriate degree in the starboard direction. The feedback loop 360 then proceeds back to step 362, which is the starting point.

If the watercraft pitch is correct at step 364, and if the watercraft roll is correct at step 374, the feedback loop 360 proceeds to step 386, which is where the surf control operation ends.

It should be appreciated that steps 374, 376, 378, 380, 382, and 384 may occur before steps 364, 366, 368, 370, and 372 in some embodiments. Further, in some embodiments, additional steps may be added to account for watercraft yaw. It should also be appreciated that additional steps may be added to address watercraft pitch and/or watercraft roll, or to address any other functions.

Example System Architecture

FIG. 7 is a diagram illustrating an example system 400 for controlling a wake. As shown, the system 400 includes a first marine electronic device 402 and a second marine electronic device 404. The first marine electronic device 402 and the second marine electronic device 404 are connected to a vessel view device 410, a grouping of fill components 406, a grouping of drain components 408, a port actuator 444, a center actuator 446, and a starboard actuator 448.

The vessel view device 410 is connected to an engine 412, a GPS 414, an IMU 416, and a helm 418. This connection may serve to provide various information about the watercraft to the first marine electronic device 402 and the second marine electronic device 404. Such information may enable a processor within one of the first marine electronic device 402 and/or the second marine electronic device 404 (or located elsewhere) to make more accurate determinations related to orienting the watercraft in a way that creates a reproducible wake.

The grouping of fill components 406 includes a bow ballast tank pump 420, a mid ballast tank pump 422, a port ballast bag pump 424, an aft port ballast tank pump 426, an aft starboard ballast tank pump 428, and a starboard ballast bag pump 430. The first marine electronic device 402 and/or the second marine electronic device 404 may be connected to such pumps such that a processor, which may be located within the first marine electronic device 402 and/or the second marine electronic device 404 (or elsewhere) can increase the capacities of the bow ballast tank, mid ballast tank, port ballast bag, aft port ballast tank, aft starboard ballast tank, and starboard ballast bag according to a determined orientation of the watercraft at which the watercraft will produced a desired wake, as described herein.

The grouping of drain components 408 includes a bow ballast tank pump 432, a mid ballast tank pump 434, a port ballast bag pump 436, an aft port ballast tank pump 438, an aft starboard ballast tank pump 440, and a starboard ballast bag pump 442. The first marine electronic device 402 and/or the second marine electronic device 404 may be connected to such pumps such that a processor, which may be located within the first marine electronic device 402 and/or the second marine electronic device 404 (or elsewhere) can decrease the capacities of the bow ballast tank, mid ballast tank, port ballast bag, aft port ballast tank, aft starboard ballast tank, and starboard ballast bag according to a determined orientation of the watercraft at which the watercraft will produced a desired wake, as described herein.

It should be appreciated that, although the system 400 of FIG. 7 includes separate pumps for filling ballast tanks/bags and for draining ballast tanks/bags, in other embodiments, reversible pumps may be used. Other configurations are also contemplated within the scope of this disclosure (e.g., other mechanisms that increase and/or decrease fluid in a tank or bag other than pumps).

The port actuator 444, the center actuator 446, and the starboard actuator 448 may be connected to certain mechanisms on a watercraft such as trim tabs, interceptors, a wedge, a surf gate, or any other mechanism that can help control the orientation of the watercraft with respect to a surface of the body in which the watercraft sits. As described herein, a processor, which may be located within the first marine electronic device 402 and/or the second marine electronic device 404 (or elsewhere), may be configured to optimize instructions sent to the components within the system 400 such that time and efficiency variables are optimized while also making sure that the watercraft achieves an orientation that produces a desired wake within a surf zone behind the watercraft.

FIG. 8 shows a block diagram of an example system 244 capable for use with several embodiments of the present disclosure. As shown, the system 244 may include a number of different 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. For example, the system 244 may include a marine electronics device 246 (e.g., controller) and various sensors/system.

The marine electronics device 246, controller, remote control, MFD, and/or user interface display may include a processor 248, a memory 250, a communication interface 270, a user interface 254, and a display 252. The processor 248 may be in communication with one or more devices such as surf gate 256, interceptors 258, ballast tanks 260, trim tabs 262, sensors 266, and/or other mechanisms 264 to control a wake created in a surf zone behind the watercraft. For example, the user interface 254 may communicate to the processor 248 user input indicating a desired wake, and then one or more of the sensors 266 may communicate to the processor 248 the current pitch, roll, and/or yaw of the watercraft with respect to the surface of the body of water in which the watercraft is traveling. The processor 248 may then determine and send instructions to one or more of the surf gate 256, interceptors 258, ballast tanks 260, trim tabs 262, motor 261, trolling motor 263, and/or other mechanisms 264 in order to achieve the desired wake behind the watercraft.

In some embodiments, the system 244 may be configured to receive, process, and display various types of marine data. In some embodiments, the system 244 may include one or more processors 248 and a memory 250. Additionally, the system 244 may include one or more components that are configured to gather marine data or perform marine features. In such a regard, the processor 248 may be configured to process the marine data for various functionality described herein. Further, the system 244 may be configured to communicate with various internal or external components (e.g., through the communication interface 270), such as to provide instructions related to the marine data.

The processor 248 may be any means configured to execute various programmed operations or instructions stored in a memory, such as a device and/or circuitry operating in accordance with software or otherwise embodied in hardware or a combination thereof (e.g., a processor operating under software control, a 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 248 as described herein. In this regard, the processor 248 may be configured to analyze electrical signals communicated thereto to, e.g., determine instructions for one or more mechanisms on the watercraft such as for the surf gate 256, interceptors 258, ballast tanks 260, and/or trim tabs 262.

The memory 250 may be configured to store instructions, computer program code, marine data, and/or other data associated with the system 244 in a non-transitory computer readable medium for use by the processor, for example.

The system 244 may also include one or more communications modules configured to communicate via any of many known manners, such as via a network, for example. The processing circuitry and communication interface 270 may form a processing circuitry/communication interface. The communication interface 270 may be configured to enable connections to external systems (e.g., an external network 272 or one or more remote controls, such as a handheld remote control, marine electronics device, foot pedal, or other remote computing device). In this regard, the communication interface (e.g., 270) may include one or more of a plurality of different communication backbones or frameworks, such as Ethernet, USB, CAN, NMEA 2000, GPS, Sonar, cellular, WiFi, and/or other suitable networks, for example. In this manner, the processor 248 may retrieve stored data from a remote, external server via the external network 272 in addition to or as an alternative to the onboard memory 250. The network may also support other data sources, including GPS, autopilot, engine data, compass, radar, etc. Numerous other peripheral, remote devices such as one or more wired or wireless multi-function displays may be connected to the system 244.

The processor 248 may configure the device and/or circuitry to perform the corresponding functions of the processor 248 as described herein. In this regard, the processor 248 may be configured to analyze electrical signals communicated thereto to provide, for example, various features/functions described herein.

The display 252 may be configured to display images and may include or otherwise be in communication with a user interface 254 configured to receive input from a user. The display 252 may be, for example, a conventional liquid crystal display (LCD), LED/OLED display, touchscreen display, mobile media device, and/or any other suitable display known in the art, upon which images may be displayed. In some embodiments, the display 252 may be the MFD and/or the user's mobile media device. The display may be integrated into the marine electronic device 246. In some example embodiments, additional displays may also be included, such as a touch screen display, mobile media device, or any other suitable display known in the art upon which images may be displayed.

In some embodiments, the display 252 and/or user interface 254 may be a screen that is configured to merely present images and not receive user input. In other embodiments, the display and/or user interface may be a user interface such that it is configured to receive user input in some form. For example, the screen may be a touchscreen that enables touch input from a user. Additionally, or alternatively, the user interface may include one or more buttons (not shown) that enable user input. For example, the display 252 and/or user interface 254 may include buttons that allow the user to manually input characteristics of a desired wake.

The user interface 254 may include, for example, a keyboard, keypad, function keys, mouse, scrolling device, input/output ports, touch screen, or any other mechanism by which a user may interface with the system.

In some example embodiments, the marine electronic device 246 may not have a display 252 or user interface 254 at all. Instead, the processor 248 and the memory 250 may be configured to automatically communicate and respond to elements such as the surf gate 256, interceptors 258, ballast tanks 260, trim tabs 262, sensors 266, and other mechanisms 264.

In some embodiments, the system 244 may comprise an autopilot navigation 268 that is configured to operate a motor 261 and/or a trolling motor 263 to propel the watercraft in a direction and at a speed. In some embodiments, the autopilot navigation 268 may direct the watercraft to a waypoint (e.g., a latitude and longitude coordinate). Additionally, or alternatively, the autopilot navigation 268 may be configured to direct the watercraft along a route, such as in conjunction with the navigation system. The processor 248 may generate display data based on the autopilot operating mode and cause an indication of the autopilot operating mode to be displayed on the digital display in the first portion, such as an autopilot icon. Further, the autopilot navigation 268 may communicate to the processor 248 that a turn is being made or that a turn is about to be made. The processor 248 may then cause one or more of the surf gate 256, interceptors 258, ballast tanks 260, trim tabs 262, and/or other mechanisms 264 to be neutralized or adjusted for a duration of the turn in order to maintain the desired wake within the surf zone behind the watercraft.

In an example embodiment, the sensors 266 of the system 244 may include a steering wheel sensor, such as an orientation sensor, movement sensor, or the like. The steering wheel sensor may be configured to detect when a steering wheel of the watercraft has been turned or moved past a predetermined threshold amount. The processor 248 may receive data from the steering wheel sensor and determine that a turn is being made. The processor 248 may then cause one or more of the surf gate 256, interceptors 258, ballast tanks 260, trim tabs 262, and/or other mechanisms 264 to be neutralized or adjusted for a duration of the turn in order to maintain the desired wake within the surf zone behind the watercraft.

In some embodiments, the system 244 further includes a power source (e.g., battery) that is configured to provide power to the various components. In some embodiments, the power source is rechargeable. In some example embodiments, sensors 266 of the system 244 includes a battery sensor. The battery sensor may include a current sensor or voltage sensor configured to measure the current charge of a battery power supply of the system 244 (e.g., the power source). The battery sensor may be configured to measure individual battery cells or measure a battery bank. The processor 248 may receive battery data from the battery sensor and determine the remaining charge on the battery. In an example embodiment, the voltage or current measured by the battery sensor may be compared to a reference value or data table, stored in memory 250, to determine the remaining charge on the battery.

In some embodiments, the system 244 may include other sensors among sensors 266. For example, in some embodiments, as described herein, the system 244 may include a sensor for measuring detected angle(s) of the watercraft with respect to a surface of a body of water, which may be logged by the processor. Such sensor may be, for example, an inertial measurement unit. The detected angle(s) may be utilized, e.g., for determining an adjustment value for one or more of the surf gate 256, interceptors 258, ballast tanks 260, trim tabs 262, and/or other mechanisms 264.

Implementations of various technologies described herein may be operational with numerous general purpose or special purpose computing system environments or configurations. Examples of well-known computing systems, environments, and/or configurations that may be suitable for use with the various technologies described herein include, but are not limited to, personal computers, server computers, hand-held or laptop devices, multiprocessor systems, microprocessor-based systems, set top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, smart phones, tablets, wearable computers, cloud computing systems, virtual computers, marine electronics devices, and the like.

The various technologies described herein may be implemented in general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules may include routines, programs, objects, components, data structures, etc. that performs particular tasks or implement particular abstract data types. Further, each program module may be implemented in its own way, and all need not be implemented the same way. While program modules may all execute on a single computing system, it should be appreciated that, in some instances, program modules may be implemented on separate computing systems and/or devices adapted to communicate with one another. Further, a program module may be some combination of hardware and software where particular tasks performed by the program module may be done either through hardware, software, or both.

The various technologies described herein may be implemented in the context of marine electronics, such as devices found in watercrafts and/or navigation systems. Ship instruments and equipment may be connected to the computing systems described herein for executing one or more navigation technologies. As such, the computing systems may be configured to operate using sonar, radar, GPS and like technologies.

The various technologies described herein may also be implemented in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network (e.g., by hardwired links, wireless links, or combinations thereof). In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.

The system 244 may include a computing device or system (e.g., mobile media device) into which implementations of various technologies and techniques described herein may be implemented. Computing device 274 may be a conventional desktop, a handheld device, a wearable device, a controller, a personal digital assistant, a server computer, an electronic device/instrument, a laptop, a tablet, or part of a navigation system, marine electronics, or sonar system. It should be noted, however, that other computer system configurations may be used.

In various implementations, each marine electronic device 246 described herein may be referred to as a marine device or as an MFD. The marine electronic device 246 may include one or more components disposed at various locations on a watercraft. Such components may include one or more data modules, sensors, instrumentation, and/or any other devices known to those skilled in the art that may transmit various types of data to the marine electronic device 246 for processing and/or display. The various types of data transmitted to the marine electronic device 246 may include marine electronics data and/or other data types known to those skilled in the art. The marine data received via the marine electronic device 246 or other components of the system 244 may include chart data, sonar data, structure data, radar data, navigation data, position data, heading data, automatic identification system (AIS) data, Doppler data, speed data, course data, or any other type known to those skilled in the art.

The marine electronic device 246 may receive external data via a LAN or a WAN. In some implementations, external data may relate to information not available from various marine electronics systems. The external data may be retrieved from various sources, such as, e.g., the Internet or any other source. The external data may include atmospheric temperature, atmospheric pressure, tidal data, weather, temperature, moon phase, sunrise, sunset, water levels, historic fishing data, and/or various other fishing and/or trolling related data and information.

The marine electronic device 246 may be attached to various buses and/or networks, such as a National Marine Electronics Association (NMEA) bus or network, for example. The marine electronic device 246 may send or receive data to or from another device attached to the NMEA 2000 bus. For instance, the marine electronic device 246 may transmit commands and receive data from a motor or a sensor using an NMEA 2000 bus. In some implementations, the marine electronic device 246 may be capable of steering a watercraft and controlling the speed of the watercraft (e.g., autopilot). For instance, one or more waypoints may be input to the marine electronic device 246, and the marine electronic device 246 may be configured to steer the watercraft to the one or more waypoints. Further, the marine electronic device 246 may be configured to transmit and/or receive NMEA 2000 compliant messages, messages in a proprietary format that do not interfere with NMEA 2000 compliant messages or devices, and/or messages in any other format. In various other implementations, the marine electronic device 246 may be attached to various other communication buses and/or networks configured to use various other types of protocols that may be accessed via, e.g., NMEA 2000, NMEA 0183, Ethernet, Proprietary wired protocol, etc. In some implementations, the marine electronic device 246 may communicate with various other devices on the watercraft via wireless communication channels and/or protocols.

In some implementations, the marine electronic device 246 may be connected to a global positioning system (GPS) receiver and/or any other sensors 266 such as motion sensors, magnetometers, attitude sensors, etc. The marine electronic device 246 and/or the GPS receiver and other sensors 266 may be connected via a network interface. In this instance, the GPS receiver and other sensors 266 may be used to determine position and coordinate data for a watercraft on which the marine electronic device 246 is disposed. In some instances, the GPS receiver and other sensors 266 may transmit position coordinate data to the marine electronic device 246. In various other instances, any type of known positioning system may be used to determine and/or provide position coordinate data to/for the marine electronic device 246.

In some embodiments, the marine electronic device 246 may be configured as a computing system similar to computing device 274.

Example Flowchart

Embodiments of the present disclosure provide methods for controlling a wake behind a watercraft. Various examples of the operations performed in accordance with embodiments of the present disclosure will now be provided with reference to FIG. 9.

FIG. 9 illustrates a flowchart according to an example method 278 for controlling a wake behind a watercraft according to various example embodiments described herein. The operations illustrated in and described with respect to FIG. 9 may, for example, be performed by, with the assistance of, and/or under the control of one or more of the processor 248, memory 250, communication interface 270, user interface 254, display 252, surf gate 256, ballast tanks 260, interceptors, 258, trim tabs 262, other mechanisms 264, sensors 266, computing device 274, remote device 276, and/or other components described herein.

Operation 280 may include determining or receiving a desired orientation of the watercraft based on producing a desired wake behind the watercraft. For example, in some embodiments, operation 280 may include receiving user input indicating characteristics of the desired wake. In other embodiments, operation 280 may include receiving input from a processor indicating a mode or other signal that indicates the desired wake. The processor 248, marine electronic device 246, display 252, and/or computing device 274 may, for example, provide means for performing operation 280.

Operation 282 may include determining a current orientation of the watercraft relative to a water level of the body of water based on sensor data received from a sensor. The sensor may be configured to determine at least one of a pitch, roll, or yaw of the watercraft. In some embodiments, for example, operation 282 may include use of an inertial measurement unit, but in other embodiments, any other type of sensor may be used. The processor 248, marine electronic device 246, display 252, and/or computing device 274 may, for example, provide means for performing operation 282.

Operation 284 may include determining instructions to send to at least one of a ballast system or an actuator based on the current orientation of the watercraft and the desired orientation of the watercraft. For example, operation 284 may involve determining instructions to cause a starboard trim tab on a watercraft to be extended by 10 degrees and a port trim tab to be retracted by 5 degrees, while causing a starboard ballast tank to be emptied to 50 percent and a port ballast tank to be filled to 100 percent. The processor 248, marine electronic device 246, display 252, and/or computing device 274 may, for example, provide means for performing operation 284.

Operation 286 may include adjusting at least one of the ballast system or the actuator according to the instructions such that the watercraft achieves the desired orientation so that the desired wake is produced by the watercraft. In some embodiments, operation 286 may include determining more than one adjustment to be applied to each of the mechanisms, and the operation 286 may further comprise optimizing the adjustments to obtain an efficient combination of adjustments. The processor 248, marine electronic device 246, display 252, and/or computing device 274 may, for example, provide means for performing operation 286.

FIG. 9 illustrates a flowchart of a system, method, and/or computer program product according to an example embodiment. It will be understood that each block of the flowchart, and combinations of blocks in the flowchart, may be implemented by various means, such as hardware and/or a computer program product comprising one or more computer-readable mediums having computer readable program instructions stored thereon. For example, one or more of the procedures described herein may be embodied by computer program instructions of a computer program product. In this regard, the computer program product(s) which embody the procedures described herein may be stored by, for example, the memory 250 and executed by, for example, the processor 248 or controller. As will be appreciated, any such computer program product may be loaded onto a computer or other programmable apparatus to produce a machine, such that the computer program product including the instructions which execute on the computer or other programmable apparatus creates means for implementing the functions specified in the flowchart block(s). Further, the computer program product may comprise one or more non-transitory computer-readable mediums on which the computer program instructions may be stored such that the one or more computer-readable memories can direct a computer or other programmable device to cause a series of operations to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus implement the functions specified in the flowchart block(s).

In some embodiments, the method for operating various marine devices may include additional, optional operations, and/or the operations described above may be modified or augmented.

Conclusion

Many modifications and other embodiments of the inventions set forth herein may 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.