This application claims the benefit of priority to Japanese Patent Application No. 2021-207063, filed on Dec. 21, 2021. The entire contents of this application are hereby incorporated herein by reference.
The present invention relates to a marine vessel and a marine vessel propulsion control system.
For the purpose of improving operability, marine vessels that are each provided with a joystick, which is a marine vessel maneuvering mechanism separate from a steering and a remote control unit, are known. In such a marine vessel, the marine vessel moves in a direction toward which a marine vessel user tilts the joystick, and a moving speed of the marine vessel at that time changes according to a tilting amount of the joystick (For example, see “Helm Master EX”, [online], Yamaha Motor Co., Ltd., [searched on Dec. 14, 2021], Internet <URL: https://www.yamaha-motor.co.jp/marine/lineup/outboard/helmmasterex/>).
For example, when the marine vessel user wants to move the marine vessel in a lateral direction perpendicular to a front-rear direction (a longitudinal direction) of a hull of the marine vessel, the marine vessel user tilts the joystick toward the lateral direction, and the marine vessel moves in the lateral direction according to the tilting of the joystick. However, external disturbances such as tidal currents and wind acting on the hull, and sometimes a momentum of the speed of the marine vessel itself, may cause the marine vessel to move in the front-rear direction during movement in the lateral direction, such that sometimes the marine vessel moves forward or backward while deviating from a tilting direction of the joystick. Therefore, a control is performed to reduce the moving speed of the marine vessel in the front-rear direction at a point in time when the marine vessel starts to move in the lateral direction.
However, since it takes some time for the moving speed of the marine vessel in the front-rear direction to sufficiently decrease, the marine vessel will move somewhat in the front-rear direction while moving in the lateral direction. Furthermore, since the marine vessel receives the external disturbances during movement in the lateral direction and rotates (turns) in a yaw direction, the marine vessel 100 rotates according to the turning of the marine vessel as shown in
Preferred embodiments of the present invention provide marine vessels and marine vessel propulsion control systems that are each able to cause a marine vessel to hold a course in a lateral direction desired by a marine vessel user.
According to a preferred embodiment of the present invention, a marine vessel includes a plurality of propulsion devices that are each able to individually control a magnitude and a direction of a thrust generated by the respective propulsion device, an operator to move the marine vessel in a tilting direction of the operator, and a controller configured or programmed to control the magnitude and the direction of the thrust generated by each of the plurality of propulsion devices so as to move the marine vessel in the tilting direction of the operator. When the operator is tilted toward a lateral direction perpendicular to a front-rear direction of the marine vessel, the controller is configured or programmed to execute a first control to move the marine vessel in the lateral direction, and to cause each of the plurality of propulsion devices to generate a thrust to eliminate a deviation of the marine vessel in the front-rear direction from a position of the marine vessel when the operator was tilted. When the operator is tilted in the front-rear direction while the marine vessel moves in the lateral direction, the controller is configured or programmed to interrupt the first control and execute a second control to cause each of the plurality of propulsion devices to generate a thrust corresponding to the tilting of the operator in the front-rear direction.
According to another preferred embodiment of the present invention, a marine vessel propulsion control system able to individually control magnitudes and directions of thrusts generated by a plurality of propulsion devices includes an operator to move the marine vessel in a tilting direction of the operator, and a controller configured or programmed to control the magnitude and the direction of the thrust generated by each of the plurality of propulsion devices to move the marine vessel in the tilting direction of the operator. When the operator is tilted toward a lateral direction perpendicular to a front-rear direction of the marine vessel, the controller is configured or programmed to execute a first control to move the marine vessel in the lateral direction, and to cause each of the plurality of propulsion devices to generate a thrust to eliminate a deviation of the marine vessel in the front-rear direction from a position of the marine vessel when the operator was tilted. When the operator is tilted in the front-rear direction while the marine vessel moves in the lateral direction, the controller is configured or programmed to interrupt the first control and execute a second control to cause each of the plurality of propulsion devices to generate a thrust corresponding to the tilting of the operator in the front-rear direction.
According to another preferred embodiment of the present invention, a marine vessel includes a plurality of propulsion devices that are each able to individually control a magnitude and a direction of a thrust generated by the respective propulsion device, an operator to move the marine vessel in a tilting direction of the operator, and a controller configured or programmed to control the magnitude and the direction of the thrust generated by each of the plurality of propulsion devices to move the marine vessel in the tilting direction of the operator. When the operator is tilted toward a lateral direction perpendicular to a front-rear direction of the marine vessel, the controller is configured or programmed to set a movement target line extending in the lateral direction, and to move the marine vessel along the movement target line.
According to a preferred embodiment of the present invention, the controller is configured or programmed to cause the marine vessel to move in the lateral direction, and to cause each of the plurality of propulsion devices to generate a thrust to eliminate the deviation of the marine vessel in the front-rear direction from the position of the marine vessel when the operator was tilted. Alternatively, the controller is configured or programmed to set the movement target line extending in the lateral direction according to the tilting of the operator toward the lateral direction, and to move the marine vessel along the movement target line. As a result, when the marine vessel moves in the lateral direction, it is possible to stop the marine vessel from deviating in the front-rear direction from the position of the marine vessel when the operator was tilted. Therefore, it is possible to cause the marine vessel to hold the course in the lateral direction desired by the marine vessel user.
The above and other elements, features, steps, characteristics and advantages of the present invention will become more apparent from the following detailed description of the preferred embodiments with reference to the attached drawings.
Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.
In addition, in the marine vessel 1, a maneuvering seat 4 is provided on the bow side, which is the front portion of the hull 2.
The steering mechanism 5 enables a marine vessel user to determine a course of the marine vessel 1. The steering mechanism 5 includes a steering wheel 11 which is rotatable. The marine vessel user is able to turn the marine vessel 1 to the left or the right by rotating the steering wheel 11 to the left or the right. The remote control unit 6 includes levers 12 corresponding to the outboard motors 3, respectively. By operating each lever 12, the marine vessel user is able to switch a direction of the thrust generated by the corresponding outboard motor 3 between a forward moving direction and a backward moving direction, and adjust the output of the corresponding outboard motor 3 so as to adjust a vessel speed of the marine vessel 1.
The joystick 7 is a control stick for the marine vessel user to navigate the marine vessel 1. In a normal mode, the outboard motor 3 works mainly according to an operation of the steering mechanism 5 and an operation of the remote control unit 6. On the other hand, in a joystick mode, the outboard motor 3 works mainly according to an operation of the joystick 7. It is possible to switch between the normal mode and the joystick mode by a change-over switch (not shown).
The main operation unit 8 includes a main switch 13 and an engine shutoff switch 14. The main switch 13 (one main switch 13) is provided in common for the outboard motors 3 (respective outboard motors 3). The main switch 13 is an operator to collectively start and collectively stop the engines of the outboard motors 3 (the respective outboard motors 3). The engine shutoff switch 14 is a switch for emergency-stopping the engines of the outboard motors 3 (the respective outboard motors 3).
The MFD 9 includes, for example, a color LCD display. The MFD 9 functions as a display to display various kinds of information, and also functions as a touch panel to accept inputs from the marine vessel user.
The GPS 17 obtains the current position of the marine vessel 1 and transmits the current position of the marine vessel 1 to the BCU 16. The compass 18 obtains a direction (a yaw angle) of the marine vessel 1 and transmits the direction of the marine vessel 1 to the BCU 16.
The stick 23 is able to swing freely with respect to the base 22 so that the marine vessel user is able to intuitively perform maneuvering of the marine vessel 1. In the joystick mode, for example, when the marine vessel user tilts the stick 23 forward or backward, the joystick 7 emits a signal to move the marine vessel 1 forward or backward, and when the marine vessel user tilts the stick 23 toward the left or the right, the joystick 7 emits a signal to move the marine vessel 1 to the left or the right. In addition, the stick 23 is able to be twisted (moved rotationally) with respect to the base 22 (see arrows in
In the joystick mode, by operating the stick 23, the marine vessel user is able to navigate the marine vessel 1 with a course corresponding to a tilting direction of the stick 23 and the thrust corresponding to the tilting amount of the stick 23.
Instructions to start/end various kinds of maneuvering modes are assigned to the plurality of buttons 24 of the joystick 7, and depending which of the plurality of buttons 24 is pressed, the joystick 7 transmits an instruction signal to start or end a maneuvering mode corresponding to which of the plurality of buttons 24 is pressed to each of the remote control ECUs 20 and the BCU 16. The maneuvering modes that are able to be selected by each of the plurality of buttons 24 include, for example, a fixed point holding mode.
In addition, by using the joystick 7, the marine vessel user is able to set the level of the thrust generated by the engine of each outboard motor 3 when the marine vessel user tilts the stick 23 in the joystick mode (hereinafter, referred to as “a thrust level”). Specifically, when the marine vessel user presses down the “+” side of a button 25 provided on the base 22, the thrust level increases, and when the marine vessel user presses down the “−” side of the button 25, the thrust level decreases. The joystick 7 transmits the content of an operation input to the button 25 to the BCU 16, and the BCU 16 changes the thrust level according to the content of the operation input to the button 25.
It should be noted that the maneuvering panel 10 also includes buttons similar to the plurality of buttons 24 and the button 25. By using the maneuvering panel 10, the marine vessel user is able to select various kinds of maneuvering modes and is also able to set the thrust level.
Returning to
The SCU 21 is provided corresponding to each outboard motor 3, and controls a steering unit (not shown) that horizontally turns the corresponding outboard motor 3 with respect to the hull 2 of the marine vessel 1 so as to change an acting direction of the thrust of each outboard motor 3.
The BCU 16 obtains the state of the marine vessel 1 based on the signals transmitted from the respective components of the marine vessel propulsion control system 15, determines the magnitude of a thrust that each outboard motor 3 should generate and an acting direction of the thrust that should be taken, and transmits the result of these determinations to each of the remote control ECUs 20. The remote control ECU 20 is provided for each outboard motor 3, and controls the engine of the corresponding outboard motor 3 and the steering unit in response to the signals transmitted from the BCU 16, the steering mechanism 5, the remote control unit 6, the joystick 7, etc. so as to adjust the thrust and the acting direction of the thrust of the corresponding outboard motor 3. Therefore, in the marine vessel propulsion control system 15, by the marine vessel user operating the steering wheel 11 of the steering mechanism 5, the joystick 7 or the levers of the remote control unit 6, it is possible to control the vessel speed and the yaw angle of the marine vessel 1.
When the marine vessel 1 avoids other marine vessels within a harbor or when the marine vessel 1 docks with a quay, the marine vessel 1 often moves in a lateral direction perpendicular to a front-rear direction (a keel direction) of the hull 2.
When the marine vessel 1 moves in the lateral direction, it is necessary to individually adjust the acting direction and the magnitude of the thrust of each outboard motor 3 so that a resultant force of the thrusts of the respective outboard motors 3 (hereinafter, referred to as “a resultant thrust”) becomes a lateral direction thrust with respect to the marine vessel 1. However, this adjustment is quite difficult for the marine vessel user because it is necessary to make the acting direction of the thrust of one outboard motor 3 different from that of the other outboard motors 3. Therefore, in general, when the BCU 16 detects tilting of the stick 23 of the joystick 7 toward the lateral direction by the marine vessel user, the BCU 16 individually adjusts the acting direction and the magnitude of the thrust of each outboard motor 3 so as to generate the thrust to move the marine vessel 1 in the lateral direction. Such adjustment of the acting direction and the magnitude of the thrust of each outboard motor 3 to move the marine vessel 1 in the lateral direction, which is performed by the BCU 16, is generally referred to as “lateral assist”.
On the other hand, during movement of the marine vessel 1 in the lateral direction, since the external disturbances such as tidal currents and wind act on the hull 2, sometimes the yaw angle of the marine vessel 1 changes and the lateral direction perpendicular to the front-rear direction of the hull 2 rotates, and as a result, the lateral direction perpendicular to the front-rear direction of the hull 2 becomes deviated from a lateral direction when the marine vessel user first starts to tilt the stick 23 toward the lateral direction. In addition, of the lateral assist, the BCU 16 continues to generate the resultant thrust to move the marine vessel 1 in the lateral direction perpendicular to the front-rear direction of the hull 2, which sometimes results in the marine vessel 1 moving in a direction which is different from a lateral direction initially desired by the marine vessel user.
According to a preferred embodiment of the present invention, in order to compensate for this issue, a line along the lateral direction when the marine vessel user starts to tilt the stick 23 toward the lateral direction is set as a movement target line, and of the lateral assist, the BCU 16 controls the acting direction and the magnitude of the thrust of each outboard motor 3 so that the marine vessel 1 does not move away from the movement target line when the marine vessel 1 moves in the lateral direction.
As shown in
After that, while the marine vessel user continues to tilt the stick 23 toward the lateral direction, although the BCU 16 continues to generate the resultant thrust to move the marine vessel 1 in the lateral direction, at this time, the orientation of each outboard motor 3 is changed so that the three outboard motors 3 form an inverted V shape in a plan view. Also, when it is desired to move the marine vessel 1 to the right in
Then, when the marine vessel 1 deviates in the front-rear direction from the movement target line 26 while moving in the lateral direction, the BCU 16 performs a correction control in the front-rear direction (first control) that changes the resultant thrust so as to eliminate a deviation in the front-rear direction of the marine vessel 1 from the movement target line 26.
The forward and backward output ratio=the forward moving output/the backward moving output Expression 1
Furthermore, an initial correction ratio in
As shown in
It should be noted that in order to avoid that the marine vessel 1 suddenly moves forward or backward, the forward and backward output ratio is not changed sharply, but is changed gradually as shown in
It should be noted that in order to reliably return the marine vessel 1 toward the movement target line 26, even in the case that the marine vessel 1 stops deviating from the movement target line 26 and begins to move toward the movement target line 26, the change in the forward and backward output ratio is not immediately changed. Specifically, the BCU 16 starts to lower the forward and backward output ratio after a predetermined time (see t1 in
According to a preferred embodiment of the present invention, the BCU 16 calculates the deviation of the marine vessel 1 from the movement target line 26 based on a comparison between the current position of the marine vessel 1 in the earth coordinate system obtained by the GPS 17 and the movement target line 26 in the earth coordinate system.
Also, in order for the BCU 16 to execute the lateral assist of
Furthermore, when the tilting amount toward the lateral direction of the stick 23 is less than a predetermined tilting amount, the correction control in the front-rear direction in the lateral assist is terminated, and when the tilting of the stick 23 toward the lateral direction performed by the marine vessel user is released and the stick 23 returns to a neutral position with respect to the lateral direction, the lateral assist itself is terminated.
Since the higher the thrust level in the joystick mode, the larger the thrust generated by the engine of each outboard motor 3, when the thrust level is high, the marine vessel user is able to easily feel movement in the lateral direction of the marine vessel 1 even if the stick 23 is not tilted very much. Furthermore, in the case that the marine vessel user feels movement in the lateral direction of the marine vessel 1, when the marine vessel user recognizes that the marine vessel 1 is moving in the lateral direction aimed by the marine vessel user, that is, when the marine vessel user recognizes that the marine vessel 1 will not move away from the movement target line 26, the marine vessel user will feel a sense of security. That is, it is preferable that the correction control in the front-rear direction in the lateral assist is performed in the case that the marine vessel user feels movement in the lateral direction of the marine vessel 1.
Accordingly, according to a preferred embodiment of the present invention, the tilting amount for judgment is changed according to the thrust level. Specifically, the tilting amount for judgment is set lower as the thrust level is higher and the marine vessel user is able to more easily feel movement in the lateral direction of the marine vessel 1 even if the stick 23 is not tilted very much. For example, as shown in
As a result, in the case that the thrust level is low and the marine vessel user is not able to feel movement in the lateral direction of the marine vessel 1 unless the stick 23 is largely tilted, if the stick 23 is not largely tilted, the correction control in the front-rear direction will not be executed in the lateral assist. On the other hand, in the case that the thrust level is high and the marine vessel user is able to feel movement in the lateral direction of the marine vessel 1 even if the stick 23 is not largely tilted, the correction control in the front-rear direction will be executed in the lateral assist even if the stick 23 is not largely tilted. Conversely, in the case that the thrust level is low and the marine vessel user is not able to feel movement in the lateral direction of the marine vessel 1 when the stick 23 is slightly returned from the tilted state, the correction control in the front-rear direction will be terminated in the lateral assist just by returning the stick 23 slightly from the tilted state. On the other hand, in the case that the thrust level is high and the marine vessel user is not able to feel movement in the lateral direction of the marine vessel 1 unless the stick 23 is largely returned from the tilted state, if the stick 23 is not largely returned from the tilted state, the correction control in the front-rear direction will not be terminated in the lateral assist.
Further, when the lateral assist of
After that, when the marine vessel user further tilts the stick 23 toward the front-rear direction of the marine vessel 1 while tilting the stick 23 toward the lateral direction, for example, when the marine vessel user further tilts the stick 23 forward (see the hollow arrow pointing up in
Next, when the marine vessel user releases the tilting forward of the stick 23 and returns the stick 23 to the neutral position in the front-rear direction, the BCU 16 ends the midway movement control and terminates generating the forward component of the resultant thrust. Then, the BCU 16 sets a line along a lateral direction perpendicular to the front-rear direction of the hull 2 when the stick 23 is returned to the neutral position in the front-rear direction as a new movement target line 28, and resumes the correction control in the front-rear direction so that the marine vessel 1 does not deviate from the new movement target line 28 in the front-rear direction while continuing to move the marine vessel 1 in the lateral direction. After that, the BCU 16 generates a front-rear direction component 29 in the resultant thrust so as to eliminate a deviation in the front-rear direction from the new movement target line 28. In addition, when the BCU 16 resumes the correction control in the front-rear direction, first, the BCU 16 adjusts the output of each outboard motor 3 according to the stored forward and backward output ratio, and generates the same resultant thrust as the resultant thrust when the correction control in the front-rear direction is interrupted. It should be noted that when returning the stick 23 to the neutral position in the front-rear direction, the marine vessel user also continues to tilt the stick 23 toward the lateral direction.
Although
Further, as described above, during movement of the marine vessel 1 in the lateral direction, since the external disturbances such as tidal currents and wind act on the hull 2, sometimes the yaw angle of the marine vessel 1 changes (the marine vessel 1 turns). In this case, sometimes the marine vessel user's line of sight deviates from the movement target line 26, and the marine vessel user may lose sight of the target position existing on the movement target line 26.
According to a preferred embodiment of the present invention, in order to compensate for this issue, a yaw angle of the marine vessel 1 when the marine vessel user tilts the stick 23 toward the lateral direction is set as a reference yaw angle, and in the lateral assist, the BCU 16 controls the acting direction and the magnitude of the thrust of each outboard motor 3 so that the marine vessel 1 does not deviate from the reference yaw angle when the marine vessel 1 moves in the lateral direction.
As shown in
After that, when the yaw angle of the marine vessel 1 deviates from the reference yaw angle while the lateral assist is being executed and the marine vessel 1 is moving in the lateral direction, the BCU 16 performs a correction control in a yaw direction (third control) that changes the resultant thrust so as to eliminate a deviation in the yaw direction from the reference yaw angle. Specifically, by changing the forward and backward output ratio described above and the acting direction of the thrust of each outboard motor 3, generating a turning direction component 30 (a turning force) in the resultant thrust, and turning the marine vessel 1, the deviation in the yaw direction from the reference yaw angle is eliminated.
Further, while the marine vessel 1 is moving in the lateral direction, when not only the correction control in the yaw direction is executed, but also the correction control in the front-rear direction described above is executed, and the marine vessel 1 deviates from the movement target line 26 in the front-rear direction, the BCU 16 generates the front-rear direction component 27 in the resultant thrust so as to eliminate the deviation in the front-rear direction of the marine vessel 1.
According to a preferred embodiment of the present invention, the BCU 16 calculates the deviation of the marine vessel 1 from the reference yaw angle based on a comparison between the current yaw angle of the marine vessel 1 obtained by the compass 18 and the reference yaw angle.
Further, when the lateral assist of
As shown in
Next, when the marine vessel user releases the rotation of the stick 23 and returns the stick 23 to the neutral position with respect to the yaw direction, the BCU 16 ends the midway turning control and terminates generating the turning direction component of the resultant thrust. Then, the BCU 16 sets a line along a lateral direction perpendicular to the front-rear direction of the hull 2 when the stick 23 is returned to the neutral position with respect to the yaw direction as a new movement target line 28, and sets the yaw angle of the marine vessel 1 at this time as a new reference yaw angle.
As shown in
After that, the BCU 16 resumes the correction control in the yaw direction and the correction control in the front-rear direction (fifth control), generates a front-rear direction component 29 in the resultant thrust so as to eliminate a deviation in the front-rear direction from the new movement target line 28, and further generates a turning direction component 31 in the resultant thrust so as to eliminate a deviation in the yaw direction from the new reference yaw angle.
Although
As described above, since moving in the lateral direction of the marine vessel 1 is continued while the midway turning control is being performed, the marine vessel 1 does not turn on the spot, but turns while moving in the lateral direction. As a result, while the marine vessel user is rotating the stick 23, the marine vessel 1 moves in a circle.
Furthermore, in the case that the tilting amount toward the lateral direction of the stick 23 is equal to or more than a tilting amount for judgment, in the lateral assist, not only the correction control in the front-rear direction is executed, but also the correction control in the yaw direction is executed. On the other hand, in the case that the tilting amount toward the lateral direction of the stick 23 is less than the tilting amount for judgment, in the lateral assist, not only the correction control in the front-rear direction is terminated, but also the correction control in the yaw direction is terminated.
The tilting amount for judgment at this time is the same as the tilting amount for judgment shown in
As shown in
The precondition in step S1102 includes, for example, whether or not the execution of the lateral assist is permitted by the MFD 9, whether or not the compass 18 is calibrated with respect to a traveling direction of the marine vessel 1, whether or not the marine vessel 1 includes two or more outboard motors 3, whether or not an error occurs in the GPS 17 or the compass 18, whether or not to shift to the joystick mode, and/or whether or not a forward speed component of the marine vessel 1 is lower than a predetermined speed.
In the case that the precondition is not satisfied, the process returns to step S1102. On the other hand, in the case that the precondition is satisfied (YES in step S1102), the BCU 16 stores (latches) the current position of the marine vessel 1 and the current direction (the current yaw angle) of the marine vessel 1 (step S1103), sets the current yaw angle as the reference yaw angle, and sets the movement target line 26 based on the current position and the current yaw angle (step S1104).
Next, the BCU 16 causes the respective outboard motors 3 to generate the resultant thrust and move the marine vessel 1 in the lateral direction (step S1105), and performs the correction control in the front-rear direction and the correction control in the yaw direction while the marine vessel 1 is moving in the lateral direction (step S1106).
After that, the BCU 16 judges whether or not the stick 23 is tilted in the front-rear direction (whether or not the stick 23 is tilted forward or backward) (step S1107). In the case that the stick 23 is tilted in the front-rear direction (YES in step S1107), the BCU 16 temporarily interrupts the correction control in the front-rear direction and the correction control in the yaw direction (step S1108), stores the forward and backward output ratio at this time, and then performs the midway movement control (step S1109).
Next, the BCU 16 judges whether or not tilting in the front-rear direction of the stick 23 is released (whether or not the stick 23 is returned to the neutral position in the front-rear direction) (step S1110). In the case that the tilting in the front-rear direction of the stick 23 is not released, the process returns to step S1110. On the other hand, in the case that the stick 23 is returned to the neutral position in the front-rear direction, the process proceeds to step S1103.
In step S1107, in the case that the stick 23 is not tilted in the front-rear direction, the BCU 16 judges whether or not the stick 23 is rotated (twisted) (step S1111). In the case that the stick 23 is rotated (twisted) (YES in step S1111), the BCU 16 temporarily interrupts the correction control in the front-rear direction and the correction control in the yaw direction (step S1112), and performs the midway turning control (step S1113).
Next, the BCU 16 judges whether or not rotating of the stick 23 is released (whether or not the stick 23 is returned to the neutral position with respect to the yaw direction) (step S1114). In the case that the rotating of the stick 23 is not released, the process returns to step S1114. On the other hand, in the case that the stick 23 is returned to the neutral position with respect to the yaw direction, the process proceeds to step S1103.
In step S1111, in the case that the stick 23 is not rotated, the BCU 16 judges whether or not tilting toward the lateral direction of the stick 23 is released (step S1115).
In the case that the tilting toward the lateral direction of the stick 23 is not released (NO in step S1115), more specifically, in the case that the tilting amount toward the lateral direction of the stick 23 is equal to or more than the tilting amount for judgment, the process returns to step S1106. On the other hand, in the case that the tilting toward the lateral direction of the stick 23 is released (YES in step S1115), the BCU 16 stops movement of the marine vessel 1 in the lateral direction and ends the lateral assist.
According to a preferred embodiment of the present invention, in the lateral assist, the BCU 16 sets the line along the lateral direction perpendicular to the front-rear direction of the hull 2 when the stick 23 is tilted toward the lateral direction as the movement target line 26, and when the marine vessel 1 moves in the lateral direction, the BCU 16 generates the front-rear direction component in the resultant thrust, which is the resultant force of the thrusts of the respective outboard motors 3, so as to stop the marine vessel 1 from moving away from the movement target line 26. As a result, when the marine vessel 1 moves in the lateral direction, it is possible to stop the marine vessel 1 from deviating in the front-rear direction from the position of the marine vessel 1 when the stick 23 was first tilted. Therefore, it is possible to cause the marine vessel 1 to hold the course in the lateral direction desired by the marine vessel user.
In addition, in the lateral assist, the BCU 16 sets the yaw angle of the marine vessel 1 when the stick 23 is tilted toward the lateral direction as the reference yaw angle, and when the marine vessel 1 moves in the lateral direction, the BCU 16 generates the turning direction component in the resultant thrust, which is the resultant force of the thrusts of the respective outboard motors 3, so that the marine vessel 1 does not deviate from the reference yaw angle. As a result, when the marine vessel 1 moves in the lateral direction, it is possible to stop the marine vessel user from losing sight of the target position existing on the movement target line 26.
Moreover, in a preferred embodiment of the present invention, in the case that the marine vessel 1 moves in the lateral direction in the lateral assist, when the stick 23 is tilted toward the front-rear direction (forward or backward), the BCU 16 generates a front-rear direction component (a forward component or a backward component) having a magnitude corresponding to a tilting amount toward the front-rear direction of the stick 23 (an amount of tilting forward of the stick 23 or an amount of tilting backward of the stick 23) in the resultant thrust. Further, when the stick 23 is rotated, the BCU 16 generates the turning direction component having the magnitude corresponding to the amount of rotation of the stick 23 in the resultant thrust. As a result, it is possible to correct the moving direction of the marine vessel 1 even during the execution of the lateral assist, and it is possible to minimize that the marine vessel user feels difficulty in maneuvering the marine vessel. In particular, since the marine vessel user is able to easily change the direction of the movement target line by rotating the stick 23, the marine vessel user is able to intuitively change the course of the marine vessel 1, and it is possible to reduce the burden of the course change operation on the marine vessel user.
Moreover, in a preferred embodiment of the present invention, since the allowable range is provided for tilting the stick 23 toward the lateral direction to execute the lateral assist, the marine vessel user is able to easily instruct the execution of the lateral assist with the stick 23.
Moreover, in a preferred embodiment of the present invention, in the lateral assist, when the midway movement control ends and the correction control in the front-rear direction is resumed, the BCU 16 generates the front-rear direction component 29 when the midway movement control is started in the resultant thrust. As a result, even in the case that similar external disturbances act on the marine vessel 1 before and after the midway movement control, it is possible to minimize that immediately after the correction control in the front-rear direction is resumed, the marine vessel 1 moves far away from the new movement target line 28.
Although preferred embodiments of the present invention have been described above, the present invention is not limited to the above-described preferred embodiments, and various modifications and changes can be made within the scope of the gist thereof.
For example, although the marine vessel propulsion control system 15 according to a preferred embodiment of the present invention is applied to the marine vessel 1 including the outboard motors 3, there is no limitation on the type of the marine vessel to which the marine vessel propulsion control system 15 is applied, and it may be applied to a marine vessel equipped with inboard/outboard motors or inboard motors.
Preferred embodiments of the present invention may be realized by reading out a program to perform the functions of the above-described preferred embodiments from a memory or the like included in the BCU 16 and executing the program by the BCU 16. Alternatively, preferred embodiments of the present invention may be realized by supplying the program to perform the functions of the above-described preferred embodiments to the marine vessel propulsion control system 15 via a network or a storage medium, and executing the supplied program by the BCU 16. Furthermore, preferred embodiments of the present invention may also be realized by a circuit (for example, an ASIC) that achieves one or more functions of the BCU 16.
While preferred embodiments of the present invention have been described above, it is to be understood that variations and modifications will be apparent to those skilled in the art without departing from the scope and spirit of the present invention. The scope of the present invention, therefore, is to be determined solely by the following claims.
Number | Date | Country | Kind |
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2021-207063 | Dec 2021 | JP | national |