# US 9,751,607 B1 · Method and system for controlling rotatable device on marine vessel > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,751,607 B1 - Document ID: US9751607B1 - Status: Granted - Kind: B1 - Application number: 14/858,844 - Filed: 2015-09-18 - Granted: 2017-09-05 - Earliest claimed: 2015-09-18 - Assignees: Brunswick Corporation - Applicants: Brunswick Corporation - Inventors: Troy Kollmann; Mark W. Henker; Yana V. Foltice - Web page: https://patentgrep.com/patent/US9751607B1 ## CPC - B63H 25/02: Initiating means for steering {, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring} - B63H 5/125: movably mounted with respect to hull, e.g. adjustable in direction {, e.g. podded azimuthing thrusters}({outboard units or Z-drives B63H20/00; } movably mounted for steering purposes only, {rudders carrying propellers} B63H25/42) - G02B 27/0093: {with means for monitoring data relating to the user, e.g. head-tracking, eye-tracking} - G02B 27/017: {Head mounted} - G06F 3/002: {Specific input/output arrangements not covered by G06F3/01 - G06F3/16 (other optical apparatus G02B27/00)} - G06F 3/012: {Head tracking input arrangements} - G06F 3/0346: with detection of the device orientation or free movement in a three-dimensional [3D] space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors - G06F 3/041: Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means - B63B 79/10: using sensors, e.g. pressure sensors, strain gauges or accelerometers - B63H 2025/028: {using remote control means, e.g. wireless control; Equipment or accessories therefor} - G02B 2027/0141: {characterised by the informative content of the display} - G02B 2027/0187: {slaved to motion of at least a part of the body of the user, e.g. head, eye} - 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) - G02B: OPTICAL ELEMENTS, SYSTEMS OR APPARATUS - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) - 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) ## Abstract A control system of a marine vessel includes a vessel control unit that controls the rotational position of at least one rotatable device on the marine vessel, and a head-mounted display in data communication with the vessel control unit. The head-mounted display has a sensor system that detects a facing direction and a display positioned in the operator's field of view that displays an indicator of the facing direction. The head-mounted display also includes an interface element that allows the operator to select the facing direction. The control system operates such that the vessel control unit adjusts the rotational position of the rotatable device based on the facing direction. ## Claims ### Claim 1 A control system of a marine vessel, the system comprising: a vessel control unit that controls a rotational position of at least one propulsion device that propels a marine vessel toward a heading; a head-mounted display in data communication with the vessel control unit, the head-mounted display having: a sensor system that detects a facing direction based on an orientation of the head-mounted display; a display positioned in an operator's field of view that displays an indicator of the facing direction; and an interface element that receives input from the operator to select the facing direction; generates a selected facing direction based on the input; and wherein the vessel control unit adjusts the rotational position of the propulsion device based on the selected facing direction. ### Claim 2 (depends on 1) The system of claim 1, wherein the head-mounted display further determines a difference between the heading and the selected facing direction, and transmits the difference to the vessel control unit; and wherein the vessel control unit adjusts the heading of the marine vessel by the difference. ### Claim 3 (depends on 2) The system of claim 2, wherein the head-mounted display receives the heading from the vessel control unit. ### Claim 4 (depends on 2) The system of claim 2, wherein the sensor system of the head-mounted display determines the heading. ### Claim 5 (depends on 1) The system of claim 1, wherein the head-mounted display transmits the selected facing direction to the vessel control unit; and wherein the vessel control unit adjusts the heading of the marine vessel to the selected facing direction. ### Claim 6 (depends on 1) The system of claim 1, wherein the interface element is a touch input element on the head-mounted display. ### Claim 7 (depends on 6) The system of claim 6, wherein the head-mounted display displays a receipt acknowledgment of the selected facing direction. ### Claim 8 (depends on 1) The system of claim 1, wherein the interface element is a microphone on the head-mounted display to receive voice commands from the operator to select the facing direction. ### Claim 9 (depends on 1) The system of claim 1, wherein the interface element is a touch input element on a helm of a marine vessel. ### Claim 10 (depends on 1) The system of claim 1, wherein the facing direction is determined with respect to a designated horizon that correlates to the heading. ### Claim 11 (depends on 1) The system of claim 1, wherein the facing direction is determined with respect to a predefined location of the head mounted display on the marine vessel. ### Claim 12 A method of controlling heading of a marine vessel, the method comprising: automatically controlling the heading of the marine vessel with a vessel control unit; at a head-mounted display: detecting a facing direction using a sensor system; displaying a facing direction indicator based on the facing direction on a display of the head-mounted display; and receiving an input to select the facing direction; calculating a difference between the heading and the selected facing direction; and adjusting the heading of the marine vessel with the vessel control unit based on the selected facing direction. ### Claim 13 (depends on 12) The method of claim 12, further comprising calculating a heading based on motion data detected with the sensor system. ### Claim 14 (depends on 13) The method of claim 13, wherein the step of calculating a difference between the heading of the marine vessel and the selected facing direction is performed by the head-mounted display; and further comprising transmitting the difference from the head-mounted display to the vessel control unit. ### Claim 15 (depends on 13) The method of claim 13, wherein the vessel control unit adjusts the heading of the marine vessel by the difference. ### Claim 16 (depends on 14) The method of claim 14, further comprising displaying the heading and the facing direction on the display. ### Claim 17 (depends on 16) The method of claim 16, further comprising displaying a receipt confirmation of the selected facing direction. ### Claim 18 (depends on 12) The method of claim 12, further comprising transmitting the selected facing direction from the head-mounted display to the vessel control unit; and adjusting the heading of the marine vessel with the vessel control unit to the selected facing direction. ### Claim 19 (depends on 12) The method of claim 12, further comprising: determining a predefined location of the head-mounted display with respect to the marine vessel; and calibrating the head-mounted display to determine the facing direction based on the predefined location. ### Claim 20 (depends on 12) The method of claim 12, wherein the facing direction is determined with respect to a designated horizon that correlates to the heading.