Method for maneuvering a yacht

Abstract

A method and device for maneuvering a yacht via a control device which is designed as a joystick ( 7 ). The joystick ( 7 ) is tilted in the direction of a longitudinal axis (y) and a transversal axis (x) of the yacht, to initiate forward or backward movement and transverse movement, and the joystick ( 7 ) is rotated to initiate yaw movement of the yacht around its longitudinal axis (zj). The yacht ( 1 ) has a single drive which is designed as a pivotable drive ( 6 ) which has a pivotable thrust vector around a vertical axis. The steering movements of the joystick ( 7 ) are transferred to the pivotable drive ( 6 ) in a matched manner.

1 - 10 . (canceled) 
     
     
         11 . A method of maneuvering of a yacht ( 1 ) via a control device designed as a joystick ( 7 ), the joystick ( 7 ) being tiltable in a direction along a longitudinal axis (y) of the yacht for initiating forward and backward movement of the yacht and the joystick ( 7 ) being tiltable in a direction along a transverse axis (x) of the yacht for initiating transverse movement of the yacht, and the joystick ( 7 ) being rotatable for initiation yaw movement of the yacht at a desired rotational angle (+αzj, −αzj) around its longitudinal axis (zu), the method comprising the steps of:
 providing the yacht ( 1 ) with a single drive designed as a pivotable drive ( 6 ) with a pivotable thrust vector which can be pivoted around a vertical axis, 
 providing the yacht ( 1 ) with a bow thrust ( 4 ) having a thrust vector arranged parallel to the transverse axis (x) of the yacht ( 1 ), 
 transferring the steering movement of the joystick ( 7 ) in a matched manner to both the pivotable drive ( 6 ) and the bow thrust ( 4 ), 
 activating the bow thrust ( 4 ) and the pivotable drive ( 6 ), by tilting of the joystick ( 7 ) toward its transverse direction (+xj, −xj) so that thrust vectors, for both the bow thrust ( 4 ) and the pivotable drive ( 6 ), react in a same thrust direction and parallel to the transverse axis (x) of the yacht, and 
 adjusting forces of both of the thrust vectors, via an electronic control unit, depending on the rotation angle (+αzj, −αzj) of the joystick ( 7 ). 
 
     
     
         12 . The method according to  claim 11 , further comprising the step of, for a rotational angle (αzj) of the joystick ( 7 ) of zero, balancing both thrust vectors against one another, via the electronic control unit, so that a sum of the yaw moments of the thrust vector of the bow thrust ( 4 ) and the thrust vector of the pivotable drive ( 6 ) equals zero whereby a balance of moment exists and any yaw motion of the yacht ( 1 ) is avoided such that a true lateral movement (L) of the yacht occurs. 
     
     
         13 . The method according to  claim 11 , further comprising the step of, through rotation of the joystick ( 7 ) by a rotational angle (+αzj, −αzj) around its longitudinal axis (zu), before or after the tilting, cancelling the balance of the moment, and
 reducing the thrust of the pivotable drive ( 6 ) so that the yaw moment, due to the bow thrust ( 4 ), dominates and a lateral movement (L) of the yacht ( 1 ) is initiated, with an overlay of a yaw movement. 
 
     
     
         14 . The method according to  claim 11 , further comprising the step of, by rotation of the joystick ( 7 ) by a rotational angle (+αzj, −αzj) around its longitudinal axis (zu), before or after the tilting, cancelling the balance of the moment by increasing the thrust of the bow thrust ( 4 ) so that its yaw moment dominates, compared to a yaw moment from the pivotable drive ( 6 ), and a lateral movement (L) of the yacht ( 1 ) is initiated with an overlay of a yaw movement. 
     
     
         15 . The method according to  claim 11 , further comprising the step of, activating the bow thrust ( 4 ) and the pivotable drive ( 6 ) by rotation of the joystick ( 7 ) by a rotational angle (+αzj, −αzj), in its vertical position, so that a pair of forces, each parallel to the transverse axis of the yacht ( 1 ), but with opposite acting thrust vectors results and rotation of the yacht ( 1 ) occurs on the spot. 
     
     
         16 . The method according to  claim 11 , further comprising the step of activating the pivotable drive ( 6 ), with regard to its thrust force, by tilting of the joystick ( 7 ). 
     
     
         17 . The method according to  claim 16 , further comprising the step of increasing the thrust force of the pivotable drive ( 6 ) with an increase in the tilt angle of the joystick ( 7 ) and reducing the thrust force of the pivotable drive ( 6 ) by a reduction in the tilt angle. 
     
     
         18 . The method according to  claim 11 , further comprising the step of permitting a steering angle (α) of the pivotable drive ( 6 ) to be pivoted between zero degrees and +/−90 degrees, and
 activating the steering angle (α) by rotation of the joystick ( 7 ). 
 
     
     
         19 . The method according to  claim 11 , further comprising the step of permitting a steering angle (α) of the pivotable drive ( 6 ) to be pivoted between zero degrees and +/−180 degrees, and
 activating the steering angle (α) by rotation of the joystick ( 7 ). 
 
     
     
         20 . The method according to  claim 11 , further comprising the step of employing a sailing yacht as the yacht ( 1 ). 
     
     
         21 . A sailing yacht comprising a control device designed as a joystick ( 7 ), the joystick ( 7 ) being tiltable in a direction along a longitudinal axis (y) of the sailing yacht for initiating forward and backward movement of the sailing yacht and the joystick ( 7 ) being tiltable in a direction along a transverse axis (x) of the sailing yacht for initiating transverse movement of the sailing yacht, and the joystick ( 7 ) being rotatable for initiation yaw movement of the sailing yacht in a rotation angle (+αzj, −αzj) around its longitudinal axis (zu),
 wherein the sailing yacht comprises a single drive designed as a pivotable drive ( 6 ) with a pivotable thrust vector which can be pivoted around a vertical axis, 
 a bow thrust ( 4 ) having a thrust vector arranged parallel to the transverse axis (x) of the yacht ( 1 ), 
 the steering movement of the joystick ( 7 ) being transferred, in a matched manner, to both the pivotable drive ( 6 ) and the bow thrust ( 4 ), 
 tilting movement of the joystick ( 7 ), toward its transverse direction (+xj, −xj), induces thrust vectors of the bow thrust ( 4 ) and the pivotable drive ( 6 ) to react in a same thrust direction which is parallel to the transverse axis (x) of the sailing yacht, and 
 an electronic control unit adjusting the forces of both thrust vectors depending on the rotation angle (+αzj, −αzj) of the joystick ( 7 ).