Patent Application
20080085640
Hereinafter, one embodiment of the invention will be described with reference to the drawings.
The boat shown in
At the main steering seat 10a on the first floor of the hull 40 are mounted a control lever 11a to control a shift change and propulsion of the outboard motors 20a and 20b, a power supply SW 18, an engine start SW 15a and an engine stop SW 16a of the outboard motor, a driving SW 17a, such as a selection switch SW to choose the main steering seat 10a, and a steering device 12a, such as a steering, to control the propelling direction of the boat.
A main operation quantity computation portion (hereinafter, referred to as main BCM) 14a that processes an operation state of the boat driver detected in the steering device 12a to compute control command values for the outboard motors 20a and 20b and constantly monitors the driving state of the outboard motors, is also mounted thereon. In addition, the main BCM 14a includes a warning device 19, such as a buzzer and a lamp, to give a warning to the boat driver upon detection of an abnormal state in the system. The main BCM 14a drives the warning device 19.
At the sub steering seat 10b on the second floor of the hull 40 are mounted a control lever 11b to control a shift change and propulsion of the outboard motors 20a and 20b, an engine start SW 15b and an engine stop SW 16b of the outboard motors 20a and 20b, a driving SW 17b, such as a selection SW to choose the sub steering seat 10b, and a steering device 12b, such as a steering, to control the propelling direction of the boat.
A sub operation quantity calculation portion (hereinafter, referred to as sub BCM) 14b that detects an operation state of the boat driver detected in the steering device 12b and transmits the detected values to the main BCM 14a at the main steering seat 10a, is also mounted thereon.
The outboard motor 20a is provided to the right aft (starboard) of the hull 40 and the outboard motor 20b is provided to the left aft (port) of the hull 40. The outboard motor 20a on the starboard includes an engine 22a, a throttle actuator 23a that controls the throttle opening to control an engine output by adjusting a quantity of intake air to the engine 22a, and a shift actuator 24a that changes the shift position into neutral, drive and reverse. The outboard motor 20a also includes an engine control unit (hereinafter, abbreviated to ECU) 21a that controls the engine 22a, the throttle actuator 23a, and the shift actuator 24a.
The outboard motor 20b on the port includes an engine 22b, a throttle actuator 23b that controls an engine output by adjusting a quantity of intake air to the engine 22b, and a shift actuator 24b that changes the shift position into neutral, drive and reverse. The outboard motor 20b also includes an ECU 21b that controls the engine 22b, the throttle actuator 23b, and the shift actuator 24b.
The outboard motors 20a and 20b are connected to the hull 40 with the brackets 41a and 41b, respectively, and control the propelling direction of the hull 40 by controlling the angles of the outboard motors 20a and 20b from side to side using steering devices 42a and 42b, respectively. Steering quantities of the outboard motors 20a and 20b by the steering devices 42a and 42b, respectively, are controlled according to control command values from the main BCM 14a at the main steering seat 10a.
It is configured in such a manner that the main BCM 14a, the sub BCM 14b, the ECU's 21a and 21b, the steering devices 42a and 42b are interconnected via a CAN communication line 30 to enable mutual data receptions and transmissions. It is also configured in such manner that a tester connection connector 51 is provided to the CAN communication line 30 for a tester 50 to be connected thereto when a need arises to enable settings and a diagnosis of the system.
As has been described, the respective devices are interconnected via the electrical signal line alone, and;.no mechanical cable is present in this configuration.
A procedure of computing the control command values for the outboard motors 20a and 20b in the main BCM 14a of the sailing control unit according to this embodiment of the invention will now be described with reference to the flowchart of
In Step S10, the respective SW states mounted at the main steering seat 10a at the first floor are read, and the SW operation state values (ON/OFF) by the boat driver are stored in an internal memory. The state of the control lever 11a and the state of the steering device 12a are read and stored in the internal memory in Step S11 and Step S12, respectively. In Step S13, the state detected in the sub BCM 14a mounted on the sub steering seat 10b at the second floor is received through a CAN communication and stored in the internal memory.
The content of processing by the sub BCM 14b mounted on the sub steering seat 10b is shown in
In Step S14, the states of the selection SW's 17a and 17b mounted, respectively, on the main steering seat 10a at the first floor and the sub steering seat 10b at the second floor are confirmed. The main BCM 14a determines the steering seat data from the one whose SW state comes ON from OFF as being valid. The switching of the steering seats in this instance is allowed only when the engines in all the outboard motors are rotating at the rotating speed as high as or slower than the idling speed and the shift is put into the neutral state before the switching and immediately after the switching, and the switching of the steering seats is inhibited in any other state.
For example, in a case a switching is to be made to the sub steering seat 10b while the boat is driven at the main steering seat 10a, the switching is not allowed unless the control command values for the outboard motors at the main steering seat 10a and the sub steering seat 10b indicate that the shift position is put into neutral and the throttle opening command values for the both engines indicate a fully closed state. The ON operation for the driving SW 17b is thus ignored and the operation at the main steering seat 10a is continued. This prevents an abrupt starting caused by the switching of the steering seats.
In a case where the main steering seat 10a is chosen, in Step S15, the main BCM 14a computes the control command values for the outboard motors 20a and 20b on the basis of the detection values at the main steering seat 10a. In a case where the sub steering seat 10b is chosen, in Step S16, the main BCM 14a computes the control command values for the outboard motors 20a and 20b on the basis of the detection values at the sub steering seat 10b. The control command values computed in this instance include the start command, the stop command, the throttle opening, the shift position of each outboard motor engine, and the steering angle of each outboard motor. Having computed the control command values, the main BCM 14a transmits the control command values to the ECU's 21a and 21b and the steering devices 42a and 42b through CAN communications in Step S17.
Upon receipt of the steering angle commands through the CAN communications, the steering devices 42a and 42b control the steering angles of the outboard motors 20a and 20b, respectively, according to the control command values for the boat to be controlled in the propelling direction as the boat driver intended. Upon receipt of the start command through the CAN communications, the ECU's 21a and 21b of the outboard motors start the engines by activating the engine starters in the outboard motors. Upon receipt of the stop command, the ECU'S 21a and 21b stop the engine control (stop the fuel supply and the ignition control), and bring the outboard engines into a stopped state. Also, the throttle actuators 23a and 23b and the shift actuators 24a and 24b are-controlled according to the specified throttle openings and shift values to enable the control of the engine output and propulsion as the boat driver intended.
In a case where the system configuration is registered and set in the respective BCM's 14a and 14b and ECU's 21a and 21b at the time of rigging when the outboard motors 20a and 20b are equipped to the boat, the tester 50 for exclusive use is connected to the tester connection connector 51 of the CAN communication line 30. Then, the state of the system configuration, such as the number of steering seats, the number of outboard motors, and their own installment locations and roles, are stored in the respective BCM's 14a and 14b and ECU's 21a and 21b, more specifically, in the internal non-volatile memories (for example, EEPROM) of the respective BCM's 14a and 14b and ECU's 21a and 21b according to the specified values from the tester 50. Thereafter, the respective BCM's 14a and 14b and ECU's 21a and 21b are able to understand their own roles from the stored values at the time of start-ups, and perform specified processing. This makes it possible to set and change the system configuration flexibly, which can in turn reduce the number of man-hours, the cost, and the number of components at the time of rigging.
The BCM 14a registered as the main BCM confirms the connections with the sub BCM 14b and the ECU's 21a and 21b at the time of the system start-up when the power supply is switched ON by checking whether a normal response is received through CAN communications on the basis of the state of the system configuration registered in the internal non-volatile memory (for example EEPROM). Having confirmed that the connections are normal, the main BCM 14a determines that the sailing is allowed, and transmits the control command values to the ECU's 21a and 21b according to the operation of the boat driver to enable the boat to sail. In a case where the main BCM 14a confirms that the sub BCM 14b or any ECU has failed to return a normal response, it gives a warning to the boat driver by means of the warning device 19, such as a buzzer and a lamp, to let the boat driver become aware of the presence of an abnormality in the boat system.
Regarding the CAN communications, the BCM's 14a and 14b and the ECU's 21a and 21b in the sailing control system constantly exchange data mutually while the power supply stays ON. The ECU's 21a and 21b respectively in the outboard motors 20a and 20b control the outboard motors 20a and 20b according to the control command values, such as the target throttle opening and shift position, transmitted from the main BCM 14a periodically (every 5 ms) through the CAN communications, and transmit the state of the engine control, such as the engine rotating speeds, the actual throttle openings, and the actual shift positions of the outboard motors 20a and 20b, to the main BCM 14a periodically (every 10 ms).
A method of determining the shift positions and the throttle openings in the ECU's 21a and 21b according to the CAN reception values (control command values) from the main. BCM 14a will now be described with reference to the flowchart of
The flow of
When the control command values have not been received, the ECU counts up a counter 1 used to determine a CAN failure by one in Step S31. When the control command values are received normally, the ECU resets the counter 1 to 0 in Step S32.
In Step S33, the ECU confirms whether the value in the counter 1 reaches or exceeds a specific determination value. Upon confirming that the value has reached or exceeded the determination value (that is, a specific time), the ECU determines a CAN failure and sets a CAN failure flag in Step S34.
In Step S35, the ECU confirms the state of the CAN failure flag, and when the flag is not set, it determines that CAN communications are normal, and in Steps S40 and S41, it sets the target throttle openings and shift positions used for the control according to the control command values in the CAN receptions.
Upon confirming that the CAN failure flag is set in Step S35, the ECU decreases the current throttle openings (values set in the last time) by a specific value, and keeps decreasing them step-by-step until they reach the idle opening in Step S36.
In Step S37, the ECU confirms whether the throttle openings found in Step S36 have reached the idle opening. When the throttle openings reached the idle opening, the ECU puts the target shift position used for the control to a neutral state in Step S38. When the throttle openings have not reached the idle opening, the ECU leaves the shift position intact (at the values set in the last time) in Step S39.
Once a failure is determined, the failure state is maintained and released when the engine is stopped, so that the failure state is not released even when the CAN communications are restored to a normal state. This configuration enables the boat to undergo a transition to a stopped state safely should a failure such that repetitively causes a disconnection and a restoration of the CAN occur. It is thus possible to prevent the occurrence of an abrupt acceleration caused by a restoration of the CAN. The content of processing at the time of a CAN failure in Step S35 through S39 is set forth in the time chart of
The main BCM 14a constantly monitors the operation states of the respective outboard motors 20a and 20b on the basis of CAN reception values from the ECU's 21a and 21b. Upon detection of a system failure, the main BCM 14a stops the outboard engines and inform the boat driver of the system failure by means of the warning device 19, such as a buzzer and a lamp.
The procedure of the system monitoring by the main BCM 14a will now be described with reference to the flowchart of
Initially, in Step S40, upon receipt of the driving state values (the actual throttle opening value, the actual shift position, the engine rotating speed, and so forth) transmitted from the outboard ECU through CAN communications, the main BCM 14a gains an understanding of the engine state. In Step S41, the main BCM 14a monitors the actual throttle opening of the engine, and compares the actual throttle opening of the engine received in Step S40 with the throttle opening (target value) specified to the engine, and determines an abnormality when the relation, actual throttle opening>the target value, is established. Upon determination of an abnormality, the main BCM 14a increments a counter 2 used to detect an abnormality in Step S42. Upon determination of no abnormality, the main BCM 14a resets the counter 2 used to detect an abnormality in Step S43.
In Step S44, the main BCM 14a monitors the actual shift position of the engine. The main BCM 14a first compares the actual shift position of the engine received in Step S40 with the shift position (target value) specified to the engine, and determines an abnormality when the relation, actual shift position≠target value, is established. Upon determination of an abnormality, the main BCM 14a increments a counter 3 used to detect an abnormality in Step S45. Upon determination of no abnormality, the main BCM 14a resets the counter 3 used to detect an abnormality in Step S46.
In Step S47, the main BCM 14a confirms the counters 2 and 3 used to detect an abnormality. When the value in the counter 2 or 3 used to detect an abnormality exceeds a determination value, the main BCM 14a determines the occurrence of an abnormality of some kind within the system, and sets a system abnormality flag in Step S48.
Subsequently, the main BCM 14a confirms the system abnormality flag in Step S49. When the system abnormality flag is not set, the main BCM 14a determines that the system is operating normally. When the system abnormality flag is set, the BCM 14a transmits an engine stop command to the engine of the outboard motor with which the abnormality has been determined to stop the engine in Step S50. In Step S51, the main BCM 14a also gives a warning of an abnormal state to the boat driver by means of the warning device 19, such as a buzzer and a lamp.
As has been described, a sailing control system of a boat according to one aspect of the invention is equipped with one or more than one outboard motor including an engine and one or more than one steering seat to control a hull. The outboard motor includes a throttle actuator that controls throttle opening of the engine, a shift actuator that controls a shift position to be put into one of neutral, drive, and reverse positions, and an ECU that controls the engine. At the steering seat are mounted an operation input portion to control propulsion of the outboard motor and a BCM that computes control command values including a start and a stop, the throttle opening, and the shift position of the outboard motor by detecting a steering state of a boat driver at the steering seat. The BCM transmits the control command values to the outboard motor via a communication portion, and the outboard motor performs control of the start and the stop, the throttle opening, and the shift position of the engine according to the control command values received. Hence, because it is possible to omit a large portion of the mechanical wire cable and the components forming the mechanical mechanism that are necessary in the related art, a space in the hull occupied by these components can be reduced. Also, the man-hours and the cost needed to attach the outboard motor to the hull can be reduced.
According to this aspect of the invention, it is configured in such a manner that: the steering seat is provided in a plural form and one is used as a main steering seat and another is used as a sub steering seat; the BCM is mounted at the main and sub steering seats; the BCM mounted on the sub steering seat detects the steering state of the boat driver and transmits the detected steering state to the BCM mounted at the main steering seat by means of the communication portion; and the BCM mounted at the main steering seat computes most appropriate values as the control command values from operation states of all the steering seats. Hence, even when the steering seats are installed at two locations, there will be no unstable behaviors of the outboard motors caused by a difference of the control command values, and the interior of the hull can be managed comprehensively. It is thus possible to switch the steering seats smoothly. In addition, the invention can address a case where three or more steering seats are provided with ease, and can therefore handle various boat configurations flexibly without the need to provide additional mechanical cables and mechanisms.
According to this aspect of the invention, it is configured in such a manner that, at a time of rigging to incorporate the outboard motor, the steering seat, and the BCM into the hull, the number of outboard motors, the number of BCM's, and an installment location of the ECU to be equipped to the boat, and their own roles are registered in the ECU and the BCM by a tester connected to an outside, and that the ECU and the BCM store registered information into internal non-volatile memories, so that each operates according to memory values after a start-up when a power supply is switched ON. Hence, at the time of assembly of the hull, the system configuration information about the number of outboard motors and the number of steering seats attached to the hull, the installment location of the ECU, and the role of the BCM are set in the BCM and the ECU by the outside tester, and because the information thus set is held in the internal non-volatile memory, it is possible to set or change the system configuration with ease.
According to this aspect of the invention, it is configured in such a manner that the BCM registered for the main steering seat through registration by the tester confirms whether the ECU is normal at a system start-up when the power supply is switched ON through a transmission and a reception of data by means of the communication portion, and in a case where the ECU or any other BCM fails to reply, the BCM determines a system abnormal state and gives a warning of an abnormal state to the boat driver. Hence, by confirming whether the ECU and the sub BCM are operating normally at the start-up when the power supply is switched ON through a reception and a transmission of CAN communication data, it is possible to detect an abnormality before the driving of the boat starts. Also, in the case of an abnormality, a warning is displayed by means of a buzzer or a lamp for the boat driver to notice. An abnormality can be therefore detected before the boat is sailed in a case where the CAN communication line has an abnormality or the respective ECU's have an abnormality. It is thus possible to forestall a sailing in an abnormal state.
According to this aspect of the invention, it is configured in such a manner that the ECU has an abnormality detection portion that detects a data abnormality in the communication portion so as to detect an abnormality when data transmission and reception are disabled due to an occurrence of an abnormality in the communication portion, and that the ECU operates, in the presence of an abnormality, using latest control command values when communications were made normally and determines a failure when an abnormal state has continued for a specific time, and performs a control in such a manner so as to gradually lower an engine rotating speed by decreasing current throttle opening step-by-step to an idle position since a point in time at which the failure was determined for the shift position to be held in a neutral state thereafter. Alternatively, it is configured in such a manner that a control state at the point in time at which the failure was determined is maintained even when the communication portion is restored to a normal state during a failure determination and the data transmission and reception are enabled. Hence, even when an abnormality occurs in communications, the boat will never become unstable. Also, even when the communication line restores to a normal state and the communications are resumed, it is possible to avoid a runaway state that causes an abrupt acceleration state by keeping a failure processing state until the engine of the outboard motor is brought into a stopped state. As a consequence, a safe sailing is enabled.
According to this aspect of the invention, it is configured in such a manner that the ECU gains an understanding of an engine operating state of the outboard motor and constantly monitors whether the engine is operating according to the control command values. Upon detection of an operating state different from the control command values, the ECU determines an abnormal state, and not only stops the engine by transmitting a stop command to the outboard motor with which the abnormality is detected, but also gives a warning of an abnormal state to the boat driver. Hence, when an abnormal operation different from the control command value is detected, the stopping action is taken immediately to the outboard motor with which the abnormality is determined. It is thus possible to prevent the occurrence of a runaway due to an accidental failure state. As a consequence, a safe sailing is enabled.
Various modifications and alterations of this invention will be apparent to those skilled in the art without departing from the scope and sprint of this invention, and it should be understood that this is not limited to the illustrative embodiments set forth herein.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2006-273972 | Oct 2006 | JP | national |
