# US 12,179,889 B2 · Boat maneuverability and stability control systems and methods > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,179,889 B2 - Document ID: US12179889B2 - Status: Granted - Kind: B2 - Application number: 17/368,538 - Filed: 2021-07-06 - Published: 2022-01-06 - Granted: 2024-12-31 - Earliest claimed: 2020-07-06 - Assignees: Polaris Industries Inc. - Applicants: Polaris Industries Inc. - Inventors: Brian D. Krosschell; Blair A. Donat; Louis J. Brady; Patrick D. Weldon; Bradley R. Fishburn; Chiao George Liu; Michael F. Donoughe; Aidan B. Shaughnessy - Web page: https://patentgrep.com/patent/US12179889B2 ## CPC - B63B 35/38: Rigidly-interconnected pontoons - B63H 21/21: Control means for engine or transmission, specially adapted for use on marine vessels - B63B 1/121: {comprising two hulls (B63B1/107 takes precedence)} - B63B 1/125: {comprising more than two hulls (B63B1/107 takes precedence)} - B63B 29/02: Cabins or other living spaces; Construction or arrangement thereof - B63B 49/00: Arrangements of nautical instruments or navigational aids (nautical measuring instruments G01C; radio navigation, analogous arrangements using other waves G01S) - B63B 79/10: using sensors, e.g. pressure sensors, strain gauges or accelerometers - B63H 20/10: Means enabling trim or tilt, or lifting of the propulsion element when an obstruction is hit; Control of trim or tilt - B63H 20/12: Means enabling steering - B63H 2020/003: {Arrangements of two, or more outboard propulsion units} - B63H 2021/216: {using electric control means} - 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) - 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) ## Abstract Boat handling and control systems and methods related to one or more of steering and propulsion of a pontoon boat. ## Claims ### Claim 1 A pontoon boat for navigation on water, comprising a plurality of water support members including at least a first water support member and a second water support member spaced apart from the first water support member; a frame supported by the plurality of water support members; a water propulsion system coupled to the frame to propel the boat through the water, the water propulsion system including a plurality of moveable motors, each of the plurality of moveable motors has an adjustable torque output and an adjustable thrust direction; an operator interface including an operator steering input, a thrust demand input; at least one sensor supported by the plurality water support members to monitor a movement characteristic of the pontoon boat through the water; and an electronic controller operatively coupled to the at least one sensor, the operator interface, and the water propulsion system, the electronic controller altering at least one of the adjustable torque and the adjustable thrust direction of at least one of the plurality of moveable motors based on a relationship between: at least one of the operator steering input and the thrust demand input; and the movement characteristic monitored by the at least one sensor. ### Claim 2 (depends on 1) The pontoon boat of claim 1, each of the plurality of moveable motors further has an adjustable trim level and the electronic controller further altering the adjustable trim level based on at least one of a trim input of the operator interface, the operator steering input and the thrust demand input, and the movement characteristic monitored by the at least one sensor, and an adjustable trim level. ### Claim 3 (depends on 1) The pontoon boat of claim 1, wherein the electronic controller alters the at least one of the adjustable torque output and the adjustable thrust direction of at least one of the plurality of moveable motors based on a predicted movement of the pontoon boat. ### Claim 4 (depends on 1) The pontoon boat of claim 1, wherein the movement characteristic is an acceleration characteristic of the pontoon boat. ### Claim 5 (depends on 4) The pontoon boat of claim 4, wherein the acceleration characteristic is an angular acceleration characteristic. ### Claim 6 (depends on 4) The pontoon boat of claim 4, wherein the acceleration characteristic is a linear acceleration characteristic. ### Claim 7 (depends on 1) The pontoon boat of claim 1, wherein the movement characteristic is a longitudinal speed of the pontoon boat and the electronic controller adjusts a steering ratio of a movement of the steering input of the operator interface to the resultant movement of a steering actuator of at least one of the plurality of moveable motors of the water propulsion system based on the longitudinal speed of the pontoon boat. ### Claim 8 (depends on 7) The pontoon boat of claim 7, wherein the electronic controller alters a torque output of at least one of the plurality of moveable engines based on a first steering value from the steering input. ### Claim 9 (depends on 8) The pontoon boat of claim 8, wherein the plurality of movable motors includes a port outboard motor positioned at a stem of the pontoon boat and a starboard outboard motor positioned at the stem of the pontoon boat and the electronic controller lowers a torque output of the port outboard motor when the first steering value from the steering input indicates a tum to port. ### Claim 10 (depends on 8) The pontoon boat of claim 8, further comprising at least one camera and the operator interface includes a display and the electronic controller in response to the first steering value from the steering input indicating the turn to port displays an output from the at least one camera showing a view including the water from a port side of the pontoon boat on the display. ### Claim 11 (depends on 1) The pontoon boat of claim 1, wherein the movement characteristic is a lateral acceleration of the pontoon boat and the electronic controller adjusts a steering ratio of a movement of the steering input of the operator interface to the resultant movement of a steering actuator of at least one of the plurality of moveable motors of the water propulsion system based on the lateral acceleration of the pontoon boat. ### Claim 12 (depends on 1) The pontoon boat of claim 1, wherein the movement characteristic is a magnitude of a roll angle about a longitudinal axis of the pontoon boat. ### Claim 13 (depends on 1) The pontoon boat of claim 1, wherein the movement characteristic is a magnitude of a pitch angle about a lateral axis of the pontoon boat. ### Claim 14 (depends on 1) The pontoon boat of claim 1, wherein in response to at least one input from the operator interface resulting in an unstable movement dynamic for the pontoon boat, the electronic controller provides feedback to the operator through the operator interface. ### Claim 15 (depends on 14) The pontoon boat of claim 14, wherein the feedback includes a visual representation on a display of the operator interface. ### Claim 16 (depends on 14) The pontoon boat of claim 14, wherein the feedback includes a tactile feedback. ### Claim 17 (depends on 14) The pontoon boat of claim 14, wherein the feedback includes an audio feedback. ### Claim 18 (depends on 14) The pontoon boat of claim 14, wherein the electronic controller alters the at least one of the adjustable torque output, the adjustable thrust direction, and an adjustable trim level of at least one of the plurality of moveable motors to provide a stable movement dynamic for the pontoon boat. ### Claim 19 (depends on 1) The pontoon boat of claim 1, wherein the operator interface further includes a mode input and the electronic controller alters the at least one of the adjustable torque output, the adjustable thrust direction, and the adjustable trim level of at least one of the plurality of moveable motors based on a selected operation mode of the pontoon boat. ### Claim 20 (depends on 1) The pontoon boat of claim 1, wherein the electronic controller determines an estimated center of gravity of the pontoon boat and alters the at least one of the adjustable torque output, the adjustable thrust direction, and an adjustable trim level of at least one of the plurality of moveable motors based on the estimated center of gravity of the pontoon boat. ### Claim 21 (depends on 1) The pontoon boat of claim 1, wherein the operator interface includes at least one input to receive a weight distribution characteristic of the pontoon boat and the electronic controller alters the at least one of the adjustable torque output, the adjustable thrust direction, and an adjustable trim level of at least one of the plurality of moveable motors based on the weight distribution characteristic. ### Claim 22 (depends on 1) The pontoon boat of claim 1, wherein the electronic controller alters the at least one of the adjustable torque output, the adjustable thrust direction, and an adjustable trim level of at least one of the plurality of moveable motors based on an orientation characteristic. ### Claim 23 (depends on 1) The pontoon boat of claim 1, wherein a width of the pontoon boat is up to 10 feet. ### Claim 24 A method of operating a pontoon boat for navigation on water, comprising the steps of: supporting an accelerometer on the pontoon boat; and altering an output of a propulsion system of the pontoon boat based on an output of the accelerometer supported by the pontoon boat, wherein the accelerometer provides at least one of: a lateral acceleration of the pontoon boat along an axis intersecting the port side of the pontoon boat and a starboard side of the pontoon boat; or a longitudinal acceleration of the pontoon boat along an axis intersecting a bow of the pontoon boat and a stern of the pontoon boat. ### Claim 25 (depends on 24) The method of claim 24, wherein the output of the propulsion system of the pontoon boat is altered based on the lateral acceleration indicated by the accelerometer supported by the pontoon boat. ### Claim 26 (depends on 25) The method of claim 25, wherein the output of the propulsion system of the pontoon boat is altered based on the longitudinal acceleration indicated by the accelerometer supported by the pontoon boat. ### Claim 27 (depends on 24) The method of claim 24, wherein the output of the propulsion system of the pontoon boat is altered based on the longitudinal acceleration indicated by the accelerometer supported by the pontoon boat. ### Claim 28 A method of operating a pontoon boat for navigation on water, comprising the steps of: powering movement of the pontoon boat simultaneously with a first number of motors, the first number being at least two; detecting at least one characteristic of a first one of the first number of motors; based on the detected at least one characteristic of the first one of the first number of motors, powering movement of the pontoon boat with a second number of motors; and controlling at least one of a trim, a steer angle, and a thrust demand for the second number of motors to maintain a desired course of the pontoon boat. ### Claim 29 A method of operating a pontoon boat for navigation on water, comprising the steps of: powering movement of the pontoon boat simultaneously with a first number of motors, the first number being at least two; detecting at least one characteristic a power source of the pontoon boat; based on the detected at least one characteristic of the power source, powering movement of the pontoon boat with a second number of motors, the second number being less than the first number; and controlling at least one of a trim, a steer angle, and a thrust demand for the second number of motors to maintain a desired course of the pontoon boat. ### Claim 30 A method of operating a pontoon boat for navigation on water, comprising the steps of: powering movement of the pontoon boat simultaneously with a first number of motors, the first number being at least two; detecting at least one characteristic a power source of the pontoon boat; determining a distance to a power supply location; determining with an electronic controller an estimated range of the boat when powered by the first number of motors; based on a comparison of the estimated range and the distance, powering movement of the pontoon boat with a second number of motors, the second number being less than the first number.