# US 12,006,015 B2 · Thrust system for steering marine vessels

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- Number: US 12,006,015 B2
- Document ID: US12006015B2
- Status: Granted
- Kind: B2
- Application number: 17/320,219
- Filed: 2021-05-14
- Published: 2021-11-18
- Granted: 2024-06-11
- Earliest claimed: 2020-05-13
- Assignees: Liquid Propulsion, LLC
- Applicants: Liquid Propulsion, LLC
- Inventors: Robert D. Christensen; Martin Johnson; Eric Nofsinger; K. Ryan Christensen
- Web page: https://patentgrep.com/patent/US12006015B2

## CPC

- B63H 20/007: {Trolling propulsion units (trolling plates for slowing down B63H25/50; dynamo-electric machines of trolling units H02K)}
- B63H 25/46: Steering or dynamic anchoring by jets {or by rudders carrying jets (steering or dynamic anchoring by deflecting or directing main propulsion jets B63H11/00)}
- B60L 15/20: for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L 50/60: using power supplied by batteries (in combination with fuel cells B60L50/75)
- B60L 53/20: characterised by converters located in the vehicle
- B60L 58/21: having the same nominal voltage
- B63B 34/75: Arrangements of wake plates
- B63H 1/14: Propellers (pitch changing B63H3/00)
- B63H 21/17: by electric motor
- B63H 25/02: Initiating means for steering {, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring}
- B63H 25/42: Steering or dynamic anchoring by propulsive elements (by jets B63H25/46); Steering or dynamic anchoring by propellers used therefor only; Steering or dynamic anchoring by rudders carrying propellers
- B60L 2200/32: Waterborne vessels
- B60L 2210/10: DC to DC converters
- B60L 2220/42: with use of more than one motor
- B60L 2240/421: Speed
- B63H 2025/425: {Propulsive elements, other than jets, substantially used for steering or dynamic anchoring only, with means for retracting, or otherwise moving to a rest position outside the water flow around the hull}
- B63H 2025/465: {Jets or thrusters substantially used for steering or dynamic anchoring only, with means for retracting, or otherwise moving to a rest position outside the water flow around the hull}
- Y02T 10/64: Electric machine technologies in electromobility
- Y02T 10/70: Energy storage systems for electromobility, e.g. batteries
- Y02T 10/7072: Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
- Y02T 10/72: Electric energy management in electromobility
- Y02T 90/14: Plug-in electric vehicles
- B63H: MARINE PROPULSION OR STEERING (propulsion of air-cushion vehicles B60V1/14; specially adapted for submarines, other than nuclear propulsion, B63G; specially adapted for torpedoes F42B19/00)
- B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B63B: SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING (arrangements of vessel ventilation, heating, cooling, or air-conditioning B63J2/00; floating substructures as supports of dredgers or soil-shifting machines E02F9/06)
- Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION

## Abstract

A thruster system for improved steering and maneuverability of a marine vessel when operating at relatively low, or wakeless speeds, such as in the vicinity of docks, swimmers or other obstacles, or when trailering, beaching or mooring. The thruster system has a modularized design adapted to independently control separate motor/propeller units located at various positions on the vessel's hull. Each propeller of the modular thruster motor system has its own relatively small, electric motor and mounting bracket, permitting each motor to be separately mounted to a location on the hull of the marine vessel apart from other thruster motors. The thruster system is further enhanced by an electrical control system for controlling each modular thruster motor system of the thruster system. In some embodiments, a charging system is provided that permits each electrical control system to be separately charged from the marine vessel's main battery.

## Claims

### Claim 1

A modular thruster system independently operable from a main propulsion system of a marine vessel for providing improved maneuverability of the marine vessel, comprising:
a plurality of modular thruster units, each independently mountable at a location on a hull of the marine vessel apart from other modular thruster units mounted to the hull, wherein at least one modular thruster unit is mounted at the stern on a port side of the marine vessel to provide directional thrust at the port side of the stern, and at least one other modular thruster unit is mounted at the stern on a starboard side of the marine vessel to provide directional thrust at the starboard side of the stern, each modular thruster unit comprising:
at least one mounting bracket adapted for direct or indirect attachment to the hull;
an electric motor attached to the at least one mounting bracket; and
a propeller attached to and driven by the electric motor;
an electrical control system adapted to independently control each of the modular thruster units, the electrical control system comprising electrical circuit components configured to independently control the electric motor of each thruster unit to apply a desired directional thrust to the hull of the marine vessel by each thruster unit, wherein the electrical control system comprises a modular battery pack electrically coupled to each modular thruster unit, wherein the modular battery pack is smaller relative to a primary battery of the marine vessel and outputs a higher discharge current relative to the modular battery pack's input charging current; and
a control mechanism electrically coupled to the electrical control system, the control mechanism providing operational commands used by the electrical control system to control the electric motor of each modular thruster unit.

### Claim 2 (depends on 1)

The modular thruster system of claim 1, wherein the at least one mounting bracket includes a curved bracket feature, wherein the mounting location of the electric motor is adjustable along a length of the curved bracket feature.

### Claim 3 (depends on 1)

The modular thruster system of claim 1, wherein a third modular thruster unit is mounted towards a fore portion of the hull relative to mounting locations of the first and second modular thruster units.

### Claim 4 (depends on 1)

The modular thruster system of claim 1, wherein one or more electric motors of the modular thruster units are retractable.

### Claim 5 (depends on 1)

The modular thruster system of claim 1, wherein the operational commands used to control the electric motor of each modular thruster unit provide either independent control in terms of directional thrust to be applied to the hull of the marine vessel by the electric motor of one or more of the modular thruster units, or control which coordinates the directional thrust applied to the hull of the marine vessel by each modular thruster unit working together.

### Claim 6 (depends on 1)

The modular thruster system of claim 1, wherein the control mechanism comprises a module configured to be removed from and separately replaceable apart from a module of the electrical control system.

### Claim 7 (depends on 1)

The modular thruster system of claim 1, wherein the electrical control system is a single module comprising:
at least one DC/DC converter electrically coupled to a plurality of electronic speed control units, each electronic speed control unit separately controlling one of the electric motors;
a processor electrically coupled to each electronic speed control unit; and
a central charging system electrically coupled to a main battery, and wherein the main battery is electrically coupled to the at least one DC/DC converter.

### Claim 8 (depends on 1)

The modular thruster system of claim 1, wherein the electrical control system is a single module comprising:
a plurality of electronic speed control units configured in pairs, each pair of electronic speed control units separately controlling one of the electric motors;
at least two DC/DC converters, each DC converter electrically coupled to a pair of electronic speed control units;
an on/off relay electrically connected to each of the at least two DC/DC converters;
a processor electrically connected to each pair of electronic speed control units; and
a central charging system electrically coupled to a main battery, and wherein the main battery is electrically coupled to the on/off relay.

### Claim 9 (depends on 1)

The modular thruster system of claim 1, wherein the electrical control system comprises three independent modules, each configured to be removed from and separately replaceable in the electrical control system apart from any other module of the electrical control system, and wherein:
a first module comprises at least one DC/DC converter electrically coupled to a first electronic speed control unit;
a second module comprising at least one DC/DC converter electrically coupled to a second electronic speed control unit;
wherein each electronic speed control unit is electrically coupled to a separate motor;
a third module comprising a processor electrically coupled to the first module and to the second module; and
a central charging system electrically coupled to a main battery, and wherein the main battery is electrically coupled to each DC/DC converter.

### Claim 10 (depends on 1)

The modular thruster system of claim 1, wherein at least a portion of the control mechanism is positioned at a throttle of the marine vessel.

### Claim 11 (depends on 10)

The modular thruster system of claim 10, wherein the control mechanism comprises a moveable knob positioned at an end of a throttle arm of the throttle.

### Claim 12 (depends on 11)

The modular thruster system of claim 11, wherein the control mechanism is adapted so that movement of the moveable knob in a first direction causes the modular thruster units to propel the marine vessel in a first direction and movement of the moveable knob in a second direction causes the modular thruster units to propel the marine vessel in a second direction.

### Claim 13 (depends on 11)

The modular thruster system of claim 11, wherein the moveable knob is rotatable relative to the throttle arm and wherein rotation of the moveable knob in a first direction causes the modular thruster units to propel the marine vessel in a first direction and rotation of the moveable knob in a second direction causes the modular thruster units to propel the marine vessel in a second direction.

### Claim 14 (depends on 10)

The modular thruster system of claim 10, wherein the control mechanism comprises a plurality of independently operable buttons positioned at a throttle arm or knob of the throttle.

### Claim 15 (depends on 10)

The modular thruster system of claim 10, wherein the control mechanism comprises a paddle switch positioned at a throttle arm or an actuating switch at or in a knob on the throttle arm.

### Claim 16 (depends on 1)

The modular thruster system of claim 1, wherein the control mechanism comprises a joystick that is positioned on a steering wheel or throttle of the marine vessel.

### Claim 17 (depends on 1)

The modular thruster system of claim 1, wherein at least a portion of the control mechanism is positioned at a steering wheel of the marine vessel and includes at least one switch, touchpad, or button that operates independent of turning the steering wheel.

### Claim 18 (depends on 1)

The modular thruster system of claim 1, wherein the at least one mounting bracket is adapted for attachment to or integration with a swim deck bracket attached to the hull.

### Claim 19 (depends on 18)

The modular thruster system of claim 18, wherein a first one of the modular thruster units is positioned below the swim deck on the port side of the marine vessel and a second one of the modular thruster units is positioned below the swim deck on the starboard side of the marine vessel.

### Claim 20

A modular thruster system independently operable from a main propulsion system of a marine vessel for providing improved maneuverability of the marine vessel, comprising:
a plurality of modular thruster units, each independently mountable at a location on a hull of the marine vessel apart from other thruster units mounted to the hull, each thruster unit comprising:
at least one mounting bracket adapted for direct or indirect attachment to the hull;
an electric motor attached to the at least one mounting bracket; and
a propeller attached to and driven by the electric motor;
an electrical control system adapted to independently control each of the modular thruster units, the electrical control system comprising electrical circuit components configured to independently control the electric motor of each thruster unit to apply a desired directional thrust to the hull of the marine vessel by each thruster unit, wherein the electrical control system comprises three independent modules each configured to be removed from and separately replaceable in the electrical control system apart from any other module of the electrical control system, and wherein:
a first module comprises a modular battery pack electrically coupled to a first electronic speed control unit;
a second module comprising a modular battery pack electrically coupled to a second electronic speed control unit;
wherein each electronic speed control unit is electrically coupled to a separate motor;
wherein the modular battery pack is smaller relative to a primary battery, and wherein the modular battery pack outputs a higher discharge current relative to the modular battery pack's input charging current; and
a third module comprising a processor electrically coupled to the first module and the second module; and
a control mechanism electrically coupled to the electrical control system, the control mechanism providing operational commands used by the electrical control system to control the electric motor of each modular thruster unit.

### Claim 21 (depends on 20)

The modular thruster system of claim 20, further comprising a central charging system electrically coupled to a main battery, and wherein the main battery is electrically coupled to each modular battery pack.

### Claim 22 (depends on 20)

The modular thruster system of claim 20, wherein each first and second module further comprises a charge controller electrically coupled the modular battery pack of the corresponding first and second module.

### Claim 23 (depends on 22)

The modular thruster system of claim 22, further comprising a central charging system electrically coupled to a main battery, and wherein the main battery is electrically coupled to each charge controller.

### Claim 24 (depends on 22)

The modular thruster system of claim 22, wherein the charge controller charges the modular battery pack at a time-dependent charge current and charge voltage calculated based on the chemistry of the modular battery pack, resulting in the modular battery pack becoming fully charged without overcharging and damaging the modular battery pack.

### Claim 25 (depends on 20)

The modular thruster system of claim 20, wherein the modular battery pack is smaller relative to a primary battery, and wherein the modular battery pack outputs a higher discharge current relative to the modular battery pack's input charging current.

### Claim 26

A thruster system independently operable from a main propulsion and steering system of a marine vessel for providing improved maneuverability of the marine vessel, comprising:
a plurality of thruster units, each independently mountable at a location on a hull of the marine vessel apart from other thruster units mounted to the hull, each thruster unit comprising:
at least one mounting bracket adapted for direct or indirect attachment to the hull;
an electric motor attached to the at least one mounting bracket; and
a propeller attached to and driven by the electric motor;
an electrical control system adapted to independently control each of the thruster units, the electrical control system comprising electrical circuit components configured to independently control the electric motor of each thruster unit to apply a desired directional thrust to the hull of the marine vessel by each thruster unit; and
a control mechanism electrically coupled to the electrical control system, the control mechanism providing operational commands used by the electrical control system to control the electric motor of each thruster unit, wherein the electrical control system comprises a modular battery pack electrically coupled to each modular thruster unit, wherein the modular battery pack is smaller than a primary batter of the marine vessel and outputs a higher discharge current relative to the modular battery pack's input charging current; and
a proximity sensing system comprised of GPS and one or more proximity sensors,
wherein the electrical control system, proximity sensing system, and/or control mechanism are adapted to cause the thruster units to move or urge the marine vessel in a predetermined manner.

### Claim 27 (depends on 26)

The thruster system of claim 26, wherein the control mechanism, upon receipt of one or more user-initiated commands, results in the electrical control system causing the thruster units to move or urge the boat in the predetermined manner.

### Claim 28 (depends on 27)

The thruster system of claim 27, wherein the predetermined manner is a dock-hold sequence that moves or urges the marine vessel toward and/or against a dock.

### Claim 29

A thruster system independently operable from a main propulsion and steering system of a marine vessel for providing improved maneuverability of the marine vessel, comprising:
a plurality of thruster units, each independently mountable at a location on a hull of the marine vessel apart from other thruster units mounted to the hull, each thruster unit comprising:
at least one mounting bracket adapted for direct or indirect attachment to the hull;
an electric motor attached to the at least one mounting bracket; and
a propeller attached to and driven by the electric motor;
an electrical control system adapted to independently control each of the thruster units, the electrical control system comprising electrical circuit components configured to independently control the electric motor of each thruster unit to apply a desired directional thrust to the hull of the marine vessel by each thruster unit, wherein the electrical control system comprises a modular battery pack electrically coupled to each modular thruster unit, wherein the modular battery pack is smaller than a primary batter of the marine vessel outputs a higher discharge current relative to the modular battery pack's input charging current;
a main propulsion and steering system comprised of a main engine, a propeller, a steering wheel, and a throttle for controlling the main engine; and
a control mechanism electrically coupled to the electrical control system, the control mechanism providing operational commands used by the electrical control system to control the electric motor of each thruster unit,
wherein the control mechanism is positioned at an end of a throttle arm of the throttle and operates independently of the main propulsion and steering system of the marine vessel in order to permit a driver to control the main engine and the electrical control system with one hand.

### Claim 30 (depends on 29)

The thruster system of claim 29, wherein the control mechanism comprises a moveable knob positioned at the end of the throttle arm of the throttle, wherein the control mechanism is adapted so that movement of the moveable knob in a first direction causes the thruster units to propel the marine vessel in a first direction and movement of the moveable knob in a second direction causes the thruster units to propel the marine vessel in a second direction.