Patent Application
20250050991
This application claims the benefit of priority to Japanese Patent Application No. 2023-130679 filed on Aug. 10, 2023. The entire contents of this application are hereby incorporated herein by reference.
The present invention relates to watercraft propulsion systems, and watercraft including the watercraft propulsion systems.
US 2014/0046515 A1 discloses a watercraft propulsion control system for a watercraft including a bow thruster and a single outboard motor. In the watercraft propulsion control system, a watercraft maneuvering pattern can be preliminarily selected and defined for an operation state of a lever (joystick) provided on a joystick unit. Specifically, watercraft maneuvering patterns for bow turning involving arcuate movement, diagonally forward translation, diagonally rearward translation, fixed-point bow turning, and lateral translation can be selected and allotted for laterally tilting operations on the joystick. A watercraft maneuvering pattern for anteroposterior movement is solely allotted for anteroposteriorly tilting operations on the joystick.
It is stated that, where the joystick is tilted diagonally, a watercraft maneuvering pattern may be obtained by combining the watercraft maneuvering pattern allotted for the anteroposterior tilting of the joystick with any one of the watercraft maneuvering patterns allotted for the lateral tilting of the joystick. More specifically, it is stated that the tilt amount of the joystick is decomposed into an anteroposterior component and a lateral component, and that the magnitude of the propulsive force of the outboard motor may be determined according to the anteroposterior component and the magnitude of the propulsive force of the bow thruster may be determined according to the lateral component.
Watercraft maneuvering patterns for bow turning involving arcuate movement, fixed-point bow turning, and fixed-point bow turning involving generation of a greater moment can be selected and allotted for twisting operations on the joystick.
The inventor of example embodiments of the present invention described and claimed in the present application conducted an extensive study and research regarding a watercraft propulsion system, such as the one described above, and in doing so, discovered and first recognized new unique challenges and previously unrecognized possibilities for improvements as described in greater detail below.
In US 2014/0046515 A1, there is no description about hull behaviors observed when the joystick is diagonally operated and twisted and, therefore, the hull behaviors disclosed in US 2014/0046515 A1 still have room for improvement.
In view of the foregoing, example embodiments of the present invention provide watercraft propulsion systems to properly actuate a bow thruster, a propulsion device, and a steering according to an operation of a joystick to achieve a hull behavior intended by a user (watercraft operator), and watercraft including the watercraft propulsion systems.
In order to overcome the previously unrecognized and unsolved challenges described above, an example embodiment of the present invention provides a watercraft propulsion system including a bow thruster provided at a bow of a hull to generate a first propulsive force laterally of the hull, a propulsion device provided on the hull to generate a second propulsive force anteroposteriorly of the hull, and a steering to change the course of the hull. The watercraft propulsion system further includes a joystick tiltable from a neutral tilt position in all directions, and twistable leftward and rightward from a neutral twist position about its axis, and a controller configured or programmed to control the bow thruster, the propulsion device, and the steering according to the operation of the joystick. The controller is configured or programmed to cause the bow thruster to generate the first propulsive force according to the lateral component of the a tilt amount of the joystick, to cause the propulsion device to generate the second propulsive force according to the anteroposterior component of the tilt amount of the joystick, and to control the steering according to the twisting of the joystick.
With this arrangement, the lateral component of the tilt amount of the joystick is associated with the first propulsive force of the bow thruster, and the anteroposterior component of the tilt amount of the joystick is associated with the second propulsive force of the propulsion device. Further, the twisting of the joystick is associated with the behavior of the steering. Thus, the watercraft propulsion system is able to properly respond to the twisting of the joystick in addition to the tilting of the joystick. As a result, the bow thruster and the propulsion device are properly actuated and the steering control is properly performed according to the operation of the joystick, thus making it possible to achieve a hull behavior intended by a user (watercraft operator).
In an example embodiment of the present invention, the controller is configured or programmed to control the first and second propulsive forces of the bow thruster and the propulsion device to zero when the anteroposterior component of the tilt amount of the joystick falls within a predetermined anteroposterior insensitive zone and the lateral component of the tilt amount of the joystick falls outside a predetermined lateral insensitive zone.
With this arrangement, even if the lateral component of the tilt amount of the joystick falls outside the lateral insensitive zone when the anteroposterior component of the tilt amount of the joystick falls within the anteroposterior insensitive zone, neither the bow thruster nor the propulsion device generates a propulsive force. Thus, the system is configured so as not to respond to the exactly lateral operation (or the lateral operation) of the joystick. In a watercraft propulsion system including a bow thruster and a single propulsion device provided on the stern of a hull, for example, the bow thruster and the single propulsion device may not be able to apply their resultant propulsive force exactly laterally to the hull. In this case, a hull behavior unintended by the user is avoided by preventing the controller from responding to the lateral operation of the joystick.
In an example embodiment of the present invention, the controller includes a plurality of control modes including a neutral mode in which no propulsive force is applied to the hull, a bow turning mode in which the bow of the hull is turned, and an anteroposterior mode in which the hull is moved anteroposteriorly. The controller is configured or programmed to be in the neutral mode when the joystick is in the neutral tilt position and the neutral twist position, to be switched from the neutral mode to the bow turning mode when the joystick is twisted from the neutral twist position in the neutral tilt position, and to be switched from the neutral mode to the anteroposterior mode when the joystick is tilted from the neutral tilt position in the neutral twist position.
With this arrangement, the control modes of the controller include the neutral mode, the bow turning mode and the anteroposterior mode, and the controller is able to properly control the bow thruster, the propulsion device and the steering while being switched among these control modes. Particularly, the controller is switched into the bow turning mode when the joystick is twisted in the neutral mode, and is switched into the anteroposterior mode when the joystick is tilted in the neutral mode. Thus, the hull behavior is achieved as intended by the user.
In an example embodiment of the present invention, when the controller is in the anteroposterior mode, the controller is configured or programmed to cause the bow thruster to generate the first propulsive force according to the lateral component of the tilt amount of the joystick, to cause the propulsion device to generate the second propulsive force according to the anteroposterior component of the tilt amount of the joystick, and to control the steering according to the twisting of the joystick.
With this arrangement, when the control mode of the controller is the anteroposterior mode, the lateral component of the tilt amount of the joystick is associated with the first propulsive force of the bow thruster, and the anteroposterior component of the tilt amount of the joystick is associated with the second propulsive force of the propulsion device. Further, the twisting of the joystick is associated with the behavior of the steering. This makes it possible to properly actuate the bow thruster and the propulsion device and properly perform the steering control according to the twisting of the joystick as well as the tilting of the joystick in the anteroposterior mode.
In an example embodiment of the present invention, when the controller is in the bow turning mode, the controller is configured or programmed to cause the bow thruster to generate the first propulsive force according to the twisting of the joystick, to actuate the steering according to the twisting of the joystick, and to cause the propulsion device to generate the second propulsive force according to the anteroposterior component of the tilt amount of the joystick.
With this arrangement, the twisting of the joystick is associated with the first propulsive force of the bow thruster and the behavior of the steering, and the anteroposterior component of the tilt amount of the joystick is associated with the second propulsive force of the propulsion device in the bow turning mode. Thus, the bow thruster and the steering are properly actuated in proper response to the twisting of the joystick, thus making it possible to achieve the hull behavior by placing priority on the bow turning.
In an example embodiment of the present invention, when the controller is in the neutral mode, the controller is configured or programmed to be maintained in the neutral mode when the joystick is tilted laterally from the neutral tilt position and the anteroposterior component of the tilt amount of the joystick falls within the predetermined anteroposterior insensitive zone.
With this arrangement, the controller is maintained in the neutral mode even if the lateral component of the tilt amount of the joystick falls outside the lateral insensitive zone when the anteroposterior component of the tilt amount of the joystick falls within the anteroposterior insensitive zone. Therefore, neither the bow thruster nor the propulsion device generates a propulsive force. Thus, the system is configured so as not to respond to the exactly lateral operation (or the lateral operation) of the joystick. In the watercraft propulsion system including the bow thruster and the single propulsion device provided on the stern of the hull, for example, the bow thruster and the single propulsion device may not be able to apply their resultant propulsive force exactly laterally to the hull. In this case, the hull behavior unintended by the user is avoided by preventing the controller from responding to the lateral operation of the joystick.
In an example embodiment of the present invention, when the controller is in the bow turning mode, the controller is configured or programmed to be switched into the anteroposterior mode when the joystick is diagonally tilted.
With this arrangement, the controller is switched into the anteroposterior mode by tilting the joystick diagonally. In this control mode, the anteroposterior propulsive force is easily applied to the hull. Thus, the bow thruster, the propulsion device, and the steering are properly controlled according to the tilting and the twisting of the joystick, making it possible to achieve the hull behavior intended by the user.
In an example embodiment of the present invention, when the controller is in the anteroposterior mode, the controller is configured or programmed to continue the anteroposterior mode when the anteroposterior component of the tilt amount of the joystick falls outside the predetermined anteroposterior insensitive zone in the anteroposterior mode, and to also continue the anteroposterior mode even if the anteroposterior component of the tilt amount of the joystick falls within the anteroposterior insensitive zone when the lateral component of the tilt amount of the joystick falls outside the predetermined lateral insensitive zone.
With this arrangement, even if the anteroposterior component of the tilt amount of the joystick falls within the anteroposterior insensitive zone when the lateral component of the tilt amount of the joystick falls outside the lateral insensitive zone in the anteroposterior mode, the controller continues the anteroposterior mode. In the watercraft propulsion system including the bow thruster and the single propulsion device provided on the stern of the hull, for example, as described above, the bow thruster and the single propulsion device may not be able to apply their resultant propulsive force exactly laterally to the hull. Even in this case, it is possible to move the hull diagonally (in a diagonally forward direction and in a diagonally rearward direction). The diagonal movement is achieved in the anteroposterior mode. Therefore, even if the anteroposterior component of the tilt amount of the joystick falls within the anteroposterior insensitive zone when the lateral component of the tilt amount of the joystick falls outside the lateral insensitive zone in the anteroposterior mode, the controller is maintained in the anteroposterior mode, making it possible to move the hull diagonally. Where a joystick operation for the diagonally forward movement and a joystick operation for the diagonally rearward movement are alternately performed, for example, it is possible to move the hull in a zig-zag traveling pattern while moving the hull rightward or leftward. When the lateral component of the tilt amount of the joystick falls outside the lateral insensitive zone, therefore, the hull behavior intended by the user is more easily achieved by maintaining the controller in the anteroposterior mode.
In an example embodiment of the present invention, the propulsion device includes a single propulsion device provided on the stern of the hull or a plurality of propulsion devices provided on the stern of the hull and configured to be steered at the same steering angle.
A combination of the plurality of propulsion devices configured to be steered at the same steering angle is equivalent to the single propulsion device in that the propulsive forces of the respective propulsion devices are applied in the same direction to the hull but are not simultaneously applied in different directions to the hull. In the watercraft propulsion system including the bow thruster provided at the bow of the hull and the propulsion devices provided on the stern of the hull and incapable of simultaneously applying their propulsive forces in different directions to the hull, the hull behavior is achieved as intended by the user by properly actuating the bow thruster, the propulsion devices, and the steering in proper response to the tilting and the twisting of the joystick.
In an example embodiment of the present invention, the bow thruster is fixed to the hull in an unsteerable manner.
Another example embodiment of the present invention provides a watercraft including a hull and a watercraft propulsion system including any of the features described above.
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 example embodiments with reference to the attached drawings.
The outboard motor OM includes a propeller 20 located underwater to generate a propulsive force by the rotation of the propeller 20 and apply a propulsive force to the hull 2. The outboard motor OM is attached to the stern 3 pivotably leftward and rightward such that the direction of the propulsive force generated by the propeller 20 is changed leftward and rightward. The steering angle is defined, for example, as an angle between the direction of the propulsive force generated by the propeller 20 and an anteroposterior reference direction parallel to the center line 2a. The outboard motor OM is configured to be pivoted leftward and rightward by a steering mechanism 26 thereof (see
The bow thruster BT includes a propeller 40 disposed in a tubular tunnel 41 extending through the bow portion of the hull 2 transversely of the hull 2. The propeller 40 may include, for example, two propellers connected to the opposite ends of its rotation shaft. The propeller 40 is rotatable in a forward rotation direction and a reverse rotation direction, i.e., is bidirectionally rotatable such that the bow thruster BT is able to apply a rightward or leftward propulsive force to the hull 2. In the present example embodiment, the direction of the propulsive force to be generated by the bow thruster BT is not settable to a direction other than the rightward direction and the leftward direction. That is, the bow thruster BT is fixed to the hull 2 in an unsteerable manner in the present example embodiment.
A usable space 4 for passengers is provided inside the hull 2. A helm seat 5 is provided in the usable space 4. A steering wheel 6, a remote control lever 7, a joystick 8, a gauge 9 (display panel) and the like are provided in association with the helm seat 5. The steering wheel 6 is an operator to be operated by a user (watercraft operator) to change the course of the watercraft 1. The remote control lever 7 is an operator to be operated by the user to change the magnitude (output) and the direction (a forward or reverse direction) of the propulsive force of the outboard motor OM, and corresponds to an acceleration operator. The joystick 8 is an operator to be operated instead of the steering wheel 6 and the remote control lever 7 by the user for watercraft maneuvering. An operator 45 (see
The outboard motor OM includes an engine ECU (Electronic Control Unit) 21, a steering ECU 22, an engine 23, a shift mechanism 24, the propeller 20, the steering mechanism 26 and the like. Power generated by the engine 23 is transmitted to the propeller 20 via the shift mechanism 24. The steering mechanism 26 is configured to pivot the body of the outboard motor OM leftward and rightward with respect to the hull 2 (see
The outboard motor OM further includes a throttle actuator 27 and a shift actuator 28, which are controlled by the engine ECU 21. The throttle actuator 27 is an electric actuator (typically including an electric motor) that actuates the throttle valve (not shown) of the engine 23. The shift actuator 28 is an actuator that actuates the shift mechanism 24. The outboard motor OM further includes a steering actuator 25 to be controlled by the steering ECU 22. The steering actuator 25 is the drive source of the steering mechanism 26, and typically includes an electric motor. The steering actuator 25 may include a hydraulic device of electric pump type. The steering actuator 25 and the steering mechanism 26 are a non-limiting example of the steering.
The bow thruster BT includes the propeller 40, an electric motor 42 that drives the propeller 40, and a motor controller 43 that controls the electric motor 42.
The watercraft propulsion system 100 further includes a main controller 50. The main controller 50 includes a processor 50a and a memory 50b, and is configured so that the processor 50a executes a program stored in the memory 50b to perform a plurality of functions. The main controller 50 is connected to an onboard network 55 (CAN: Control Area Network) provided in the hull 2. A remote control unit 17, a remote control ECU 51, a joystick unit 18, a GPS (Global Positioning System) receiver 52, an azimuth sensor 53 and the like are connected to the onboard network 55.
The remote control ECU 51 for the outboard motor OM is connected to the onboard network 55. The engine ECU 21 and the steering ECU 22 of the outboard motor OM are connected to the remote control ECU 51 via an outboard motor control network 56. The main controller 50 transmits and receives signals to/from various units connected to the onboard network 55 to control the outboard motor OM and the bow thruster BT, and further controls other units. The main controller 50 includes a plurality of control modes, and controls the units in predetermined manners according to the respective control modes.
A steering wheel unit 16 is connected to the outboard motor control network 56. The steering wheel unit 16 outputs an operation angle signal indicating the operation angle of the steering wheel 6 to the outboard motor control network 56. The operation angle signal is received by the remote control ECU 51 and the steering ECU 22. In response to the operation angle signal generated by the steering wheel unit 16 or a steering angle command generated by the remote control ECU 51, the steering ECU 22 correspondingly controls the steering actuator 25 to control the steering angle of the outboard motor OM.
The remote control unit 17 generates an operation position signal indicating the operation position of the remote control lever 7.
The joystick unit 18 generates an operation position signal indicating the operation position of the joystick 8, and generates an operation signal indicating the operation of any of operation buttons 180 provided on the joystick unit 18.
The remote control ECU 51 outputs a propulsive force command to the engine ECU 21 via the outboard motor control network 56. The propulsive force command includes a shift command indicating the shift position, and an output command indicating an engine output (specifically, an engine speed). Further, the remote control ECU 51 outputs the steering angle command to the steering ECU 22 via the outboard motor control network 56. The steering ECU 22 receives the detection signal of a steering angle sensor (not shown) that detects the steering angle of the steering mechanism 26. The steering ECU 22 controls the steering actuator 25 so that the actual steering angle detected by the steering angle sensor matches with the steering angle command supplied from the remote control ECU 51. The actual steering angle detected by the steering angle sensor is transmitted to the remote control ECU 51 from the steering ECU 22, and further transmitted to the main controller 50 from the remote control ECU 51.
The remote control ECU 51 performs different control operations according to different control modes of the main controller 50. In a control mode for watercraft maneuvering with the use of the steering wheel 6 and the remote control lever 7, for example, the remote control ECU 51 generates the propulsive force command (the shift command and the output command) according to the operation position signal generated by the remote control unit 17, and supplies the propulsive force command (the shift command and the output command) to the engine ECU 21. Further, the remote control ECU 51 commands the steering ECU 22 to conform to the operation angle signal generated by the steering wheel unit 16. In a control mode for watercraft maneuvering without the use of the steering wheel 6 and the remote control lever 7, on the other hand, the remote control ECU 51 conforms to commands provided by the main controller 50. That is, the main controller 50 generates the propulsive force command (the shift command and the output command) and the steering angle command, and the remote control ECU 51 outputs the propulsive force command (the shift command and the output command) and the steering angle command to the engine ECU 21 and the steering ECU 22, respectively. In a control mode for watercraft maneuvering with the use of the joystick 8 (joystick mode), for example, the main controller 50 generates the propulsive force command (the shift command and the output command) and the steering angle command according to the signals generated by the joystick unit 18. The magnitude and the direction (the forward direction or the reverse direction) of the propulsive force and the steering angle of the outboard motor OM are controlled according to the propulsive force command (the shift command and the output command) and the steering angle command thus generated.
The engine ECU 21 drives the shift actuator 28 according to the shift command to control the shift position, and drives the throttle actuator 27 according to the output command to control the throttle opening degree of the engine 23. The steering ECU 22 controls the steering actuator 25 according to the steering angle command to control the steering angle of the outboard motor OM.
The motor controller 43 of the bow thruster BT is connected to the onboard network 55, and is configured to actuate the electric motor 42 in response to a command provided from the main controller 50. The motor controller 43 may be connected to the onboard network 55 via a gateway (not shown). The main controller 50 supplies a propulsive force command to the motor controller 43. The propulsive force command includes a shift command (rotation direction command) and an output command (rotation speed command). The shift command is a rotation direction command that indicates the stop, the forward rotation, or the reverse rotation of the propeller 40. The output command is a rotation speed command that indicates a propulsive force to be generated, specifically, a target rotation speed value. The motor controller 43 controls the rotation direction and the rotation speed of the electric motor 42 according to the shift command (rotation direction command) and the output command.
In this example, the operator 45 dedicated for the bow thruster BT is connected to the motor controller 43. The user is able to adjust the rotation direction and the rotation speed of the bow thruster BT by operating the operator 45.
The GPS receiver 52 is an exemplary position detection device. The GPS receiver 52 detects the position of the watercraft 1 by receiving radio waves from an artificial satellite orbiting the earth, and outputs position data indicating the position of the watercraft 1 and speed data indicating the moving speed of the watercraft 1. The main controller 50 acquires the position data and the speed data, which are used to control and display the position and/or the azimuth of the watercraft 1. GPS is a specific example of GNSS (Global Navigation Satellite System).
The azimuth sensor 53 detects the azimuth of the watercraft 1 to generate azimuth data, which is used by the main controller 50.
The gauge 9 is connected to the onboard network 55. The gauge 9 is a display device that displays various information for the watercraft maneuvering. The gauge 9 is able to communicate, for example, with the main controller 50, the remote control ECU 51, and the motor controller 43. Thus, the gauge 9 is able to display the operation state of the outboard motor OM, the operation state of the bow thruster BT, the position and/or the azimuth of the watercraft 1, and other information. The gauge 9 may include an input device 10 such as touch panel and buttons. The input device 10 may be operated by the user to set various settings and provide various commands such that operation signals are outputted to the onboard network 55. An additional network other than the onboard network 55 may be provided to transmit display control signals related to the gauge 9.
Further, an application switch panel 60 is connected to the onboard network 55. The application switch panel 60 includes a plurality of function switches 61 to be operated to provide predefined function commands. For example, the function switches 61 may include switches for automatic watercraft maneuvering commands. More specifically, a command for a bow holding mode (Heading Hold) in which an automatic steering operation is performed to maintain the bow azimuth during forward sailing may be assigned to one of the function switches 61, and a command for a straight sailing holding mode (Course Hold) in which an automatic steering operation is performed to maintain the bow azimuth and a straight course during forward sailing may be assigned to another of the function switches 61. Further, a command for a checkpoint following mode (Track Point) in which an automatic steering operation is performed to follow a course (route) passing through specified checkpoints may be assigned to further another of the function switches 61, and a command for a pattern sailing mode (Pattern Steer) in which an automatic steering operation is performed to follow a predetermined sailing pattern (zig-zag pattern, spiral pattern or the like) may be assigned to still another of the function switches 61.
The joystick button 181 is an operator to be operated by a user (watercraft operator) to select a control mode (watercraft maneuvering mode) utilizing the joystick 8, i.e., the joystick mode.
The holding mode setting buttons 182, 183, 184 are operation buttons to be operated by the user to select position/azimuth holding control modes (examples of an automatic watercraft maneuvering mode). More specifically, the holding mode setting button 182 is operated to select a fixed-point holding mode (Stay Point™) in which the position and the bow azimuth (or the stern azimuth) of the watercraft 1 are maintained. The holding mode setting button 183 is operated to select a position holding mode (Fish Point™) in which the position of the watercraft 1 is maintained but the bow azimuth (or the stern azimuth) of the watercraft 1 is not maintained. The holding mode setting button 184 is operated to select an azimuth holding mode (Drift Point™) in which the bow azimuth (or the stern azimuth) of the watercraft 1 is maintained but the position of the watercraft 1 is not maintained.
The control modes of the main controller 50 are classified into an ordinary mode, the joystick mode, or the automatic watercraft maneuvering mode in terms of the operation system.
In the ordinary mode, a steering control cooperation is performed according to the operation angle signal generated by the steering wheel unit 16, and a propulsive force control operation is performed according to the operation signal (operation position signal) of the remote control lever 7. In the present example embodiment, the ordinary mode is a default control mode of the main controller 50. In the steering control operation, specifically, the steering ECU 22 drives the steering actuator 25 according to the operation angle signal generated by the steering wheel unit 16 or the steering angle command generated by the remote control ECU 51. Thus, the body of the outboard motor OM is steered leftward and rightward such that the propulsive force direction is changed leftward and rightward with respect to the hull 2. In the propulsive force control operation, specifically, the engine ECU 21 drives the shift actuator 28 and the throttle actuator 27 according to the propulsive force command (the shift command and the output command) supplied from the remote control ECU 51 to the engine ECU 21. Thus, the shift position of the outboard motor OM is set to the forward shift position, the reverse shift position, or the neutral shift position, and the engine output (specifically, the engine speed) of the outboard motor OM is changed.
In the joystick mode, the steering control operation and the propulsive force control operation are performed according to the operation signal of the joystick 8 of the joystick unit 18.
In the joystick mode, the steering control operation and the propulsive force control operation are performed on the outboard motor OM. That is, the main controller 50 supplies the steering angle command and the propulsive force command to the remote control ECU 51, and the remote control ECU 51 supplies the steering angle command and the propulsive force command to the steering ECU 22 and the engine ECU 21, respectively.
In the automatic watercraft maneuvering mode, the steering control operation and/or the propulsive force control operation are automatically performed by the functions of the main controller 50 and the like without the operation of the steering wheel 6, the remote control lever 7, and the joystick 8. That is, an automatic watercraft maneuvering operation is performed. The automatic watercraft maneuvering operation includes an automatic watercraft maneuvering operation to be performed on a sailing basis during sailing, and an automatic watercraft maneuvering operation on a position/azimuth holding basis to maintain one or both of the position and the azimuth. Examples of the automatic watercraft maneuvering operation on the sailing basis include the automatic steering operations to be selected by operating the function switches 61. Examples of the automatic watercraft maneuvering operation on the position/azimuth holding basis include watercraft maneuvering operations to be performed in the fixed-point holding mode, the position holding mode, and the azimuth holding mode, which are respectively selected by operating the holding mode setting buttons 182, 183 and 184.
In the present example embodiment, a cooperative mode in which the outboard motor OM and the bow thruster BT cooperate to achieve an intended hull behavior or a non-cooperative mode in which the outboard motor OM and the bow thruster BT do not cooperate is selectable in the joystick mode and the automatic watercraft maneuvering mode. A selection operator to be operated by the user to select the cooperative mode or the non-cooperative mode, for example, may be assigned to any of the function switches 61 provided on the application switch panel 60. Alternatively, the selection of the cooperative mode or the non-cooperative mode may be achieved by operating the input device 10 of the gauge 9. In the cooperative mode, the main controller 50 performs the steering control operation and the propulsive force control operation on the outboard motor OM and, in addition, performs the propulsive force control operation on the bow thruster BT.
Referring to
In the anteroposterior mode, the main controller 50 causes the bow thruster BT to generate the propulsive force according to the lateral component of the tilt amount of the joystick 8. Further, the main controller 50 causes the outboard motor OM to generate the propulsive force according to the anteroposterior component of the tilt amount of the joystick 8. Further, the main controller 50 controls the steering angle of the outboard motor OM by controlling the steering actuator 25 according to the twist amount of the joystick 8 to drive the steering mechanism 26.
More specifically, if the joystick 8 is tilted straight forward from the neutral tilt position, the main controller 50 controls the propulsive force of the bow thruster BT to zero, sets the shift position of the outboard motor OM to the forward shift position F, controls the magnitude of the propulsive force of the outboard motor OM according to the tilt amount of the joystick 8, and controls the steering angle of the outboard motor OM to zero. If the joystick 8 is thereafter twisted, the main controller 50 steers the outboard motor OM so as to promote the bow turning of the hull 2 in a direction corresponding to the twisting direction of the joystick 8. That is, the steering direction of the outboard motor OM corresponds to the twisting direction of the joystick 8, and the steering amount of the outboard motor OM corresponds to the twist amount of the joystick 8. The twist amount is a twist amount from the neutral twist position of the joystick 8 (this definition also applies to the following description). The propulsive force of the bow thruster BT is kept at zero. Therefore, the user is able to adjust the steering of the outboard motor OM by the twist amount of the joystick 8, while adjusting the propulsive force of the outboard motor OM by the forward tilt amount of the joystick 8.
If the joystick 8 is tilted in a diagonally forward-right direction, the main controller 50 causes the bow thruster BT to generate a rightward propulsive force, and controls the magnitude of the rightward propulsive force according to the lateral component of the tilt amount of the joystick 8. Further, the main controller 50 sets the shift position of the outboard motor OM to the forward shift position F, controls the magnitude of the propulsive force of the outboard motor OM according to the anteroposterior component of the tilt amount of the joystick 8, and controls the steering angle of the outboard motor OM to zero. If the joystick 8 is thereafter twisted, the main controller 50 steers the outboard motor OM so as to promote the bow turning of the hull 2 in a direction corresponding to the twisting direction of the joystick 8. That is, the steering direction of the outboard motor OM corresponds to the twisting direction of the joystick 8, and the steering amount of the outboard motor OM corresponds to the twist amount of the joystick 8. The rightward propulsive force generated by the bow thruster BT applies a clockwise bow turning moment to the hull 2. Therefore, if the joystick 8 is twisted counterclockwise, the outboard motor OM is steered leftward with respect to its neutral steering position (a position at which the steering angle is zero), and the propulsive force of the outboard motor OM applies a counterclockwise bow turning moment to the hull 2. Therefore, the clockwise bow turning moment applied by the propulsive force of the bow thruster BT is reduced. Further, if the joystick 8 is twisted clockwise, the outboard motor OM is steered rightward with respect to the neutral steering position, and the propulsive force of the outboard motor OM applies a clockwise bow turning moment to the hull 2. Therefore, the clockwise bow turning moment is added to the clockwise bow turning moment applied by the propulsive force of the bow thruster BT. Thus, the user is able to move the hull 2 in the diagonally forward-right direction by the tilting of the joystick 8, and is able to adjust the bow turning of the hull 2 by the twisting of the joystick 8. For example, the user is able to find a twist position of the joystick 8 at which the hull 2 is free from the bow turning, while operating the joystick 8, to thus cause the hull 2 to translate in the diagonally forward-right direction.
If the joystick 8 is tilted in a diagonally forward-left direction, the main controller 50 causes the bow thruster BT to generate a leftward propulsive force, and controls the magnitude of the leftward propulsive force according to the lateral component of the tilt amount of the joystick 8. Further, the main controller 50 sets the shift position of the outboard motor OM to the forward shift position F, controls the magnitude of the propulsive force of the outboard motor OM according to the anteroposterior component of the tilt amount of the joystick 8, and controls the steering angle of the outboard motor OM to zero. If the joystick 8 is thereafter twisted, the main controller 50 steers the outboard motor OM so as to promote the bow turning of the hull 2 in a direction corresponding to the twisting direction of the joystick 8. That is, the steering direction of the outboard motor OM corresponds to the twisting direction of the joystick 8, and the steering amount of the outboard motor OM corresponds to the twist amount of the joystick 8. The leftward propulsive force generated by the bow thruster BT applies a counterclockwise bow turning moment to the hull 2. Therefore, if the joystick 8 is twisted clockwise, the outboard motor OM is steered rightward with respect to the neutral steering position, and the propulsive force of the outboard motor OM applies a clockwise bow turning moment to the hull 2. Therefore, the counterclockwise bow turning moment applied by the propulsive force of the bow thruster BT is reduced. Further, if the joystick 8 is twisted counterclockwise, the outboard motor OM is steered leftward with respect to the neutral steering position, and the propulsive force of the outboard motor OM applies a counterclockwise bow turning moment to the hull 2. Therefore, the counterclockwise bow turning moment is added to the counterclockwise bow turning moment applied by the propulsive force of the bow thruster BT. Thus, the user is able to move the hull 2 in the diagonally forward-left direction by the tilting of the joystick 8, and is able to adjust the bow turning of the hull 2 by the twisting of the joystick 8. For example, the user is able to find a twist position of the joystick 8 at which the hull 2 is free from the bow turning, while operating the joystick 8, to thus cause the hull 2 to translate in the diagonally forward-left direction.
If the joystick 8 is tilted straight rearward from the neutral tilt position, the main controller 50 controls the propulsive force of the bow thruster BT to zero, sets the shift position of the outboard motor OM to the reverse shift position R, controls the magnitude of the propulsive force of the outboard motor OM according to the tilt amount of the joystick 8, and controls the steering angle of the outboard motor OM to zero. If the joystick 8 is thereafter twisted, the main controller 50 steers the outboard motor OM so as to promote the bow turning of the hull 2 in a direction corresponding to the twisting direction of the joystick 8. That is, the steering direction of the outboard motor OM corresponds to a direction opposite to the twisting direction of the joystick 8, and the steering amount of the outboard motor OM corresponds to the twist amount of the joystick 8. The propulsive force of the bow thruster BT is kept at zero. Thus, the user is able to adjust the steering of the outboard motor OM by the twisting of the joystick 8 while adjusting the propulsive force of the outboard motor OM by the rearward tilt amount of the joystick 8.
If the joystick 8 is tilted in a diagonally rearward-right direction, the main controller 50 causes the bow thruster BT to generate a rightward propulsive force, and controls the magnitude of the rightward propulsive force according to the lateral component of the tilt amount of the joystick 8. Further, the main controller 50 sets the shift position of the outboard motor OM to the reverse shift position R, controls the magnitude of the propulsive force of the outboard motor OM according to the anteroposterior component of the tilt amount of the joystick 8, and controls the steering angle of the outboard motor OM to zero. If the joystick 8 is thereafter twisted, the main controller 50 steers the outboard motor OM so as to promote the bow turning of the hull 2 in a direction corresponding to the twisting direction of the joystick 8. That is, the steering direction of the outboard motor OM corresponds to a direction opposite to the twisting direction of the joystick 8, and the steering amount of the outboard motor OM corresponds to the twist amount of the joystick 8. The rightward propulsive force generated by the bow thruster BT applies a clockwise bow turning moment to the hull 2. Therefore, if the joystick 8 is twisted counterclockwise, the outboard motor OM is steered rightward with respect to the neutral steering position, and the propulsive force of the outboard motor OM applies a counterclockwise bow turning moment to the hull 2. Therefore, the clockwise bow turning moment applied by the propulsive force of the bow thruster BT is reduced. Further, if the joystick 8 is twisted clockwise, the outboard motor OM is steered leftward, and the propulsive force of the outboard motor OM applies a clockwise bow turning moment to the hull 2. Therefore, the clockwise bow turning moment is added to the clockwise bow turning moment applied by the propulsive force of the bow thruster BT. Thus, the user is able to move the hull 2 in the diagonally rearward-right direction by the tilting of the joystick 8, and is able to adjust the bow turning of the hull 2 by the twisting of the joystick 8. For example, the user is able to find a twist position of the joystick 8 at which the hull 2 is free from the bow turning, while operating the joystick 8, to thus cause the hull 2 to translate in the diagonally rearward-right direction.
If the joystick 8 is tilted in a diagonally rearward-left direction, the main controller 50 causes the bow thruster BT to generate a leftward propulsive force, and controls the magnitude of the leftward propulsive force according to the lateral component of the tilt amount of the joystick 8. Further, the main controller 50 sets the shift position of the outboard motor OM to the reverse shift position R, controls the magnitude of the propulsive force of the outboard motor OM according to the anteroposterior component of the tilt amount of the joystick 8, and controls the steering angle of the outboard motor OM to zero. If the joystick 8 is thereafter twisted, the main controller 50 steers the outboard motor OM so as to promote the bow turning of the hull 2 in a direction corresponding to the twisting direction of the joystick 8. That is, the steering direction of the outboard motor OM corresponds to a direction opposite to the twisting direction of the joystick 8, and the steering amount of the outboard motor OM corresponds to the twist amount of the joystick 8. The leftward propulsive force generated by the bow thruster BT applies a counterclockwise bow turning moment to the hull 2. Therefore, if the joystick 8 is twisted clockwise, the outboard motor OM is steered leftward with respect to the neutral steering position, and the propulsive force of the outboard motor OM applies a clockwise bow turning moment to the hull 2. Therefore, the counterclockwise bow turning moment applied by the propulsive force of the bow thruster BT is reduced. Further, if the joystick 8 is twisted counterclockwise, the outboard motor OM is steered rightward with respect to the neutral steering position, and the propulsive force of the outboard motor OM applies a counterclockwise bow turning moment to the hull 2. Therefore, the counterclockwise bow turning moment is added to the counterclockwise bow turning moment applied by the propulsive force of the bow thruster BT. Thus, the user is able to move the hull 2 in the diagonally rearward-left direction by the tilting of the joystick 8, and is able to adjust the bow turning of the hull 2 by the twisting of the joystick 8. For example, the user is able to find a twist position of the joystick 8 at which the hull 2 is free from the bow turning, while operating the joystick 8, to thus cause the hull 2 to translate in the diagonally rearward-left direction.
It is noted that, even if the anteroposterior component of the tilt amount of the joystick 8 falls within the anteroposterior insensitive zone 81 (see
Even if the lateral component of the tilt amount of the joystick 8 falls outside the lateral insensitive zone 82 (see
When the anteroposterior component of the tilt amount of the joystick 8 falls within the anteroposterior insensitive zone 81 (see
Referring next to
In the bow turning mode, the main controller 50 causes the bow thruster BT to generate a propulsive force according to the twisting of the joystick 8. Further, the main controller 50 steers the outboard motor OM according to the twisting of the joystick 8, and causes the outboard motor OM to generate a propulsive force according to the anteroposterior component of the tilt amount of the joystick 8.
More specifically, if the joystick 8 is twisted from the neutral twist position, the main controller 50 drives the bow thruster BT so as to promote the bow turning of the hull 2 in a direction corresponding to the twisting direction of the joystick 8. That is, if the joystick 8 is twisted clockwise from the neutral twist position, the main controller 50 causes the bow thruster BT to generate a rightward propulsive force, and controls the magnitude of the rightward propulsive force according to the twist amount of the joystick 8 from the neutral twist position. Thus, a clockwise bow turning moment is applied to the hull 2. Further, if the joystick 8 is twisted counterclockwise from the neutral twist position, the main controller 50 causes the bow thruster BT to generate a leftward propulsive force, and controls the magnitude of the leftward propulsive force according to the twist amount of the joystick 8 from the neutral twist position. Thus, a counterclockwise bow turning moment is applied to the hull 2. As long as the anteroposterior component of the tilt amount of the joystick 8 falls within the anteroposterior insensitive zone 81 (see
If the joystick 8 is twisted clockwise from the neutral twist position and, in this state, the joystick 8 is tilted straight forward, the main controller 50 sets the shift position of the outboard motor OM to the forward shift position F, and causes the outboard motor OM to generate a propulsive force having a magnitude corresponding to the anteroposterior component of the tilt amount of the joystick 8. At this time, the main controller 50 steers the outboard motor OM in a direction corresponding to the twisting of the joystick 8, i.e., steers the outboard motor OM rightward with respect to the neutral steering position. The steering amount of the outboard motor OM corresponds to the twist amount of the joystick 8 from the neutral twist position. Thus, the propulsive force of the outboard motor OM, as well as the propulsive force of the bow thruster BT, applies a clockwise bow turning moment to the hull 2.
If the joystick 8 is twisted clockwise from the neutral twist position and, in this state, the joystick 8 is tilted straight rearward, on the other hand, the main controller 50 sets the shift position of the outboard motor OM to the reverse shift position R, and causes the outboard motor OM to generate a propulsive force having a magnitude corresponding to the anteroposterior component of the tilt amount of the joystick 8. At this time, the main controller 50 steers the outboard motor OM in a direction opposite to the twisting direction of the joystick 8, i.e., steers the outboard motor OM leftward with respect to the neutral steering position. The steering amount of the outboard motor OM corresponds to the twist amount of the joystick 8 from the neutral twist position. Thus, the propulsive force of the outboard motor OM, as well as the propulsive force of the bow thruster BT, applies a clockwise bow turning moment to the hull 2.
If the joystick 8 is twisted counterclockwise from the neutral twist position and, in this state, the joystick 8 is tilted straight forward, the main controller 50 sets the shift position of the outboard motor OM to the forward shift position F, and causes the outboard motor OM to generate a propulsive force having a magnitude corresponding to the anteroposterior component of the tilt amount of the joystick 8. At this time, the main controller 50 steers the outboard motor OM in a direction corresponding to the twisting of the joystick 8, i.e., steers the outboard motor OM leftward with respect to the neutral steering position. The steering amount of the outboard motor OM corresponds to the twist amount of the joystick 8 from the neutral twist position. Thus, the propulsive force of the outboard motor OM, as well as the propulsive force of the bow thruster BT, applies a counterclockwise bow turning moment to the hull 2.
If the joystick 8 is twisted counterclockwise from the neutral twist position and, in this state, the joystick 8 is tilted straight rearward, on the other hand, the main controller 50 sets the shift position of the outboard motor OM to the reverse shift position R, and causes the outboard motor OM to generate a propulsive force having a magnitude corresponding to the anteroposterior component of the tilt amount of the joystick 8. At this time, the main controller 50 steers the outboard motor OM in a direction opposite to the twisting direction of the joystick 8, i.e., steers the outboard motor OM rightward with respect to the neutral steering position. The steering amount of the outboard motor OM corresponds to the twist amount of the joystick 8 from the neutral twist position. Thus, the propulsive force of the outboard motor OM, as well as the propulsive force of the bow thruster BT, applies a counterclockwise bow turning moment to the hull 2.
If the joystick 8 is tilted in any of the diagonal directions (i.e., in the forward-right direction, the rearward-right direction, the forward-left direction, or the rearward-left direction) in the bow turning mode, the main controller 50 is switched into the anteroposterior mode. In the bow turning mode, the steering control operation is performed on the outboard motor OM according to the twisting of the joystick 8 as in the anteroposterior mode. Therefore, even if the main controller 50 is switched into the anteroposterior mode from the bow turning mode, the continuity of the watercraft maneuvering feeling is not impaired.
The initial sub-mode of the joystick mode in the cooperative mode is the neutral mode (Step S1). In the neutral mode, the main controller 50 determines whether or not the anteroposterior component of the tilt amount of the joystick 8 falls outside the anteroposterior insensitive zone (Step S2). If the anteroposterior component of the tilt amount of the joystick 8 falls outside the anteroposterior insensitive zone (YES in Step S2), the main controller 50 is switched to the anteroposterior mode (Step S3). If the anteroposterior component of the tilt amount of the joystick 8 falls within the anteroposterior insensitive zone (NO in Step S2), the main controller 50 further determines whether or not the twist amount of the joystick 8 falls outside the twist insensitive zone (Step S6). If the twist amount of the joystick 8 falls outside the twist insensitive zone (YES in Step S6), the main controller 50 is switched to the bow turning mode (Step S7). If the twist amount of the joystick 8 falls within the twist insensitive zone (NO in Step S6), the main controller 50 is maintained in the neutral mode (Step S1).
In the neutral mode (Step S1), the bow thruster BT is not driven, and the shift position of the outboard motor OM is set to the neutral shift position. Therefore, neither the bow thruster BT nor the outboard motor OM generates a propulsive force.
In the anteroposterior mode (Step S3), the main controller 50 controls the bow thruster BT to generate a propulsive force having a direction and a magnitude corresponding to the lateral component of the tilt amount of the joystick 8. Further, the main controller 50 controls the outboard motor OM to generate a propulsive force having a direction and a magnitude corresponding to the anteroposterior component of the tilt amount of the joystick 8. Furthermore, the main controller 50 controls the steering angle of the outboard motor OM based on the twisting of the joystick 8.
If the anteroposterior component of the tilt amount of the joystick 8 falls outside the anteroposterior insensitive zone in the anteroposterior mode (YES in Step S4), the anteroposterior mode is continued. If the anteroposterior component of the tilt amount of the joystick 8 falls within the anteroposterior insensitive zone (NO in Step S4), on the other hand, the main controller 50 determines whether or not the lateral component of the tilt amount of the joystick 8 falls outside the lateral insensitive zone (Step S5). If the lateral component of the tilt amount of the joystick 8 falls outside the lateral insensitive zone (YES in Step S5), the anteroposterior mode is continued. Thus, the hull 2 is maintained in a diagonally forwardly or rearwardly movable state. Where a joystick operation for the diagonally forward movement and a joystick operation for the diagonally rearward movement are alternately performed, for example, it is possible to move the hull 2 rightward or leftward while moving the hull 2 in a zig-zag traveling pattern.
If it is determined in Step S5 that the lateral component of the tilt amount of the joystick 8 falls within the lateral insensitive zone, the main controller 50 determines whether or not the twist amount of the joystick 8 falls outside the twist insensitive zone (Step S6). If the twist amount of the joystick 8 falls outside the twist insensitive zone, the main controller 50 is switched to the bow turning mode (Step S7). If the twist amount of the joystick 8 falls within the twist insensitive zone, the main controller 50 is switched to the neutral mode (Step S1).
Though not shown, even if the anteroposterior component of the tilt amount of the joystick 8 falls outside the anteroposterior insensitive zone and the lateral component of the tilt amount of the joystick 8 falls outside the lateral insensitive zone when the following condition is satisfied in the anteroposterior mode, the bow thruster BT is prohibited from outputting a propulsive force.
Condition: The sign of a steering angle required by the twisting of the joystick 8 is inconsistent with the sign of the actual steering angle.
This condition is satisfied, for example, when the joystick operation is switched between a state indicated by a reference character A1 and a state indicated by a reference character A2 in
In the states shown by the reference characters A1 and A2, the outboard motor OM is steered leftward and rightward, respectively, with respect to the neutral steering position, and the shift position of the outboard motor OM is set to the forward shift position and the reverse shift position, respectively. In the states shown by the reference characters A1 and A2, the required steering angle (a command value indicated by the steering angle command) is consistent with the actual steering angle. In the state shown by the reference character A1, the required steering angle and the actual steering angle each have a negative sign. In the state shown by the reference character A2, the required steering angle and the actual steering angle each have a positive sign. When a command for the switching between the states shown by the reference characters A1 and A2 is given, the sign of the required steering angle is immediately changed, and the sign of the actual steering angle is changed with a substantial delay because an operation time is required for the actual steering. During the delay, the bow thruster BT is prohibited from generating a propulsive force. In the states shown by the reference characters A1, A2, as is understandable from
In the bow turning mode (Step S7), the main controller 50 controls the bow thruster BT to generate a propulsive force having a direction and a magnitude corresponding to the twisting direction and the twist amount of the joystick 8. Further, the main controller 50 controls the outboard motor OM to generate a propulsive force having a direction and a magnitude corresponding to the anteroposterior component of the tilt amount of the joystick 8. Furthermore, the main controller 50 controls the steering angle of the outboard motor OM based on the twisting direction and the twist amount of the joystick 8.
If the lateral component of the tilt amount of the joystick 8 falls outside the lateral insensitive zone in the bow turning mode (YES in Step S8), the main controller 50 determines that the joystick 8 is tilted diagonally, and is switched to the anteroposterior mode (Step S3). If the lateral component of the tilt amount of the joystick 8 falls within the lateral insensitive zone (NO in Step S8), the bow turning mode (Step S7) is continued.
If the cooperative mode is not selected, the main controller 50 performs the joystick mode control operation according to the non-cooperative mode. In the joystick mode control operation according to the non-cooperative mode, for example, the main controller 50 controls the shift position and the output of the outboard motor OM so as to generate a propulsive force having a direction and a magnitude corresponding to the anteroposterior component of the tilt amount of the joystick 8. Further, the main controller 50 controls the steering angle of the outboard motor OM according to the twisting direction and the twist amount of the joystick 8.
When the cooperative mode is switched to the non-cooperative mode, the main controller 50 is switched to the neutral mode or to the anteroposterior mode according to the operation state of the joystick 8. For example, the main controller 50 may be configured to be maintained in the neutral mode if the switching to the non-cooperative mode occurs in the neutral mode, and to be maintained in the anteroposterior mode if the switching to the non-cooperative mode occurs in the anteroposterior mode. Further, the main controller 50 may be configured to be switched to the anteroposterior mode if the switching to the non-cooperative mode occurs in the neutral mode, and to be maintained in the anteroposterior mode if the switching to the non-cooperative mode occurs in the anteroposterior mode. If the switching to the non-cooperative mode occurs in the bow turning mode, the bow turning mode (a limited bow turning mode without the use of the bow thruster BT) is preferably continued. Particularly, where the upper limit values of the propulsive forces in the anteroposterior mode and the bow turning mode are different, the main controller 50 is preferably maintained in the bow turning mode. This prevents the propulsive force from being increased when the tilt amount of the joystick 8 is not changed. Further, when a battery voltage is temporarily reduced, for example, the cooperative mode may be switched to the non-cooperative mode. In this case, the main controller 50 is preferably maintained in the bow turning mode, because the propulsive force of the bow thruster BT can be utilized for the bow turning immediately after the main controller 50 is returned to the cooperative mode by the recovery of the battery voltage. In the bow turning mode (limited bow turning mode) in the non-cooperative mode, the switching to the anteroposterior mode by the diagonal tilting of the joystick 8 is preferably prohibited so as not to change the propulsive force when the tilt amount of the joystick 8 is not changed. When the tilt amount of the joystick 8 is reduced to zero in the bow turning mode, the main controller 50 is switched to the neutral mode. If the joystick 8 is thereafter tilted anteroposteriorly, the main controller 50 is switched to the anteroposterior mode.
As described above, the watercraft propulsion system 100 according to the present example embodiment includes the bow thruster BT provided at the bow of the hull 2 and able to generate a propulsive force laterally of the hull 2, and the outboard motor OM provided as the propulsion device on the hull 2 and able to generate the propulsive force anteroposteriorly of the hull 2. Further, the watercraft propulsion system 100 includes the steering mechanism 26 that changes the course of the hull 2, and the steering actuator 25 that drives the steering mechanism 26. The watercraft propulsion system 100 further includes the joystick 8 tiltable from the neutral tilt position in all directions and twistable leftward and rightward from the neutral twist position about its axis, and the main controller 50 that controls the bow thruster BT, the outboard motor OM and the steering mechanism 26 according to the operation of the joystick 8.
The main controller 50 includes, as the sub-modes of the joystick mode, the neutral mode in which no propulsive force is applied to the hull 2, the bow turning mode in which the bow of the hull 2 is turned, and the anteroposterior mode in which the hull 2 is moved anteroposteriorly. When the joystick 8 is in the neutral tilt position and the neutral twist position, the main controller 50 is in the neutral mode. When the joystick 8 is twisted in the neutral mode, the main controller 50 is switched to the bow turning mode. Further, when the joystick 8 is tilted in the neutral mode, the main controller 50 is switched to the anteroposterior mode.
Therefore, the main controller 50 is able to properly control the propulsive force of the bow thruster BT, and the propulsive force and the steering angle of the outboard motor OM, while switching its control mode among the neutral mode, the bow turning mode, and the anteroposterior mode. Particularly, if the joystick 8 is twisted in the neutral mode, the main controller 50 is switched to the bow turning mode. If the joystick 8 is tilted in the neutral mode, the main controller 50 is switched to the anteroposterior mode. Thus, the hull behavior is achieved as intended by the user.
In the anteroposterior mode, the main controller 50 causes the bow thruster BT to generate the propulsive force according to the lateral component of the tilt amount of the joystick 8, and causes the outboard motor OM to generate the propulsive force according to the anteroposterior component of the tilt amount of the joystick 8. In the anteroposterior mode, the main controller 50 controls the steering angle of the outboard motor OM according to the twisting of the joystick 8.
Thus, the lateral component of the tilt amount of the joystick 8 is associated with the propulsive force of the bow thruster BT, and the anteroposterior component of the tilt amount of the joystick 8 is associated with the propulsive force of the outboard motor OM. Further, the twisting of the joystick 8 is associated with the control of the steering angle of the outboard motor OM. Thus, the watercraft propulsion system 100 is able to properly respond to the twisting of the joystick 8 in addition to the tilting of the joystick 8. As a result, the bow thruster BT and the outboard motor OM are properly actuated and the steering control is properly performed according to the operation of the joystick 8 such that the hull behavior is achieved as intended by the user.
In the bow turning mode, the main controller 50 causes the bow thruster BT to generate a propulsive force according to the twisting of the joystick 8, and controls the steering angle of the outboard motor OM according to the twisting of the joystick 8. In the bow turning mode, the main controller 50 causes the outboard motor OM to generate a propulsive force according to the anteroposterior component of the tilt amount of the joystick 8.
In the bow turning mode, the twisting of the joystick 8 is thus associated with the propulsive force of the bow thruster BT and the steering control, and the anteroposterior component of the tilt amount of the joystick 8 is associated with the propulsive force of the outboard motor OM. Thus, the propulsive force of the bow thruster BT and the steering angle of the outboard motor OM are properly controlled in proper response to the twisting of the joystick 8, thus making it possible to achieve the hull behavior by placing priority on the bow turning.
When the anteroposterior component of the tilt amount of the joystick 8 falls outside the anteroposterior insensitive zone in the anteroposterior mode, the main controller 50 continues the anteroposterior mode. Further, even if the anteroposterior component of the tilt amount of the joystick 8 falls within the anteroposterior insensitive zone when the lateral component of the tilt amount of the joystick 8 falls outside the lateral insensitive zone, the main controller 50 also continues the anteroposterior mode.
In the present example embodiment, the bow thruster BT is fixed to the bow of the hull 2 in an unsteerable manner, and the single outboard motor OM is provided on the stern of the hull 2. With this arrangement, the bow thruster BT and the single outboard motor OM are not able to apply their resultant propulsive force exactly laterally to the hull 2. Even in this case, it is possible to move the hull 2 diagonally (in the diagonally forward direction and in the diagonally rearward direction). The diagonal movement is achieved in the anteroposterior mode. Therefore, even if the anteroposterior component of the tilt amount of the joystick 8 falls within the anteroposterior insensitive zone when the lateral component of the tilt amount of the joystick 8 falls outside the lateral insensitive zone in the anteroposterior mode, the main controller 50 is maintained in the anteroposterior mode, thus making it possible to move the hull 2 diagonally. Where the joystick operation for the diagonally forward movement and the joystick operation for the diagonally rearward movement are alternately performed, for example, it is possible to move the hull 2 rightward or leftward while moving the hull 2 in the zig-zag traveling pattern. When the lateral component of the tilt amount of the joystick 8 falls outside the lateral insensitive zone, therefore, the hull behavior intended by the user is more easily achieved by maintaining the anteroposterior mode. Additionally, for the zig-zag lateral translation of the hull 2, the user typically repeatedly performs the operation for the diagonally forward movement and the operation for the diagonally rearward movement while maintaining the bow azimuth. In this case, the user twists the joystick 8 and, in this state, repeatedly tilts the joystick 8 in the diagonally forward direction and in the diagonally rearward direction. If the main controller 50 is switched from the anteroposterior mode to the bow turning mode through the neutral mode in such an operation state, a hull behavior occurring in response to the twisting of the joystick 8 is changed. Specifically, the steering angle of the outboard motor OM is changed according to the twisting of the joystick 8 in the anteroposterior mode. In the bow turning mode, on the other hand, not only the steering angle of the outboard motor OM but also the propulsive force of the bow thruster BT is changed, so that the bow azimuth is liable to be changed. Therefore, the hull behavior intended by the user is more easily achieved by maintaining the anteroposterior mode.
In the present example embodiment, if the joystick 8 is tilted diagonally in the bow turning mode, the main controller 50 is switched to the anteroposterior mode (YES in Step S8). In this control mode, the anteroposterior propulsive force is easily applied to the hull 2. Thus, the propulsive force of the bow thruster BT and the propulsive force and the steering angle of the outboard motor OM are properly controlled according to the tilting and the twisting of the joystick 8 such that the hull behavior is achieved as intended by the user.
In the present example embodiment, even if the joystick 8 is tilted leftward or rightward from the neutral tilt position when the anteroposterior component of the tilt amount of the joystick 8 falls within the anteroposterior insensitive zone in the neutral mode, the main controller 50 is maintained in the neutral mode (NO in Step S2). Therefore, when the anteroposterior component of the tilt amount of the joystick 8 falls within the anteroposterior insensitive zone and the lateral component of the tilt amount of the joystick 8 falls outside the predetermined lateral insensitive zone, the propulsive forces of the bow thruster BT and the outboard motor OM are controlled to zero.
Thus, the system is configured so as not to respond to the exactly lateral operation (or the lateral operation) of the joystick 8. The watercraft propulsion system 100 according to the present example embodiment includes the bow thruster BT fixed to the bow of the hull 2 and the single outboard motor OM provided as the propulsion device on the stern of the hull 2, and the bow thruster BT and the single outboard motor OM are not able to apply their resultant propulsive force exactly laterally to the hull 2. Therefore, the hull behavior unintended by the user is avoided by preventing the main controller 50 from responding to the lateral operation of the joystick 8.
The plurality of propulsion devices configured to be steered in synchronism at the same steering angle are able to apply their propulsive forces in the same direction to the hull 2, but are not able to apply the propulsive forces simultaneously in different directions to the hull 2. In this aspect, a combination of the plurality of propulsion devices is equivalent to the single propulsion device. Therefore, the example embodiment described above is applicable to a watercraft propulsion system which includes a plurality of propulsion devices provided on the stern of a hull 2 and incapable of applying their propulsive forces simultaneously in different directions to the hull 2, and a bow thruster BT provided at the bow of the hull 2. Thus, the bow thruster BT, the propulsion devices and the steering are properly actuated in proper response to the tilting and the twisting of the joystick 8 such that the hull behavior is achieved as intended by the user.
While example embodiments of the present invention have thus been described, the present invention may be embodied in some other ways.
In the example embodiments described above, the bow thruster BT is fixed to the hull 2 in an unsteerable manner. Alternatively, a steerable propulsion unit such as a trolling motor may be used as the bow thruster BT. The example embodiments described above are applicable even in this case.
In the example embodiments described above, the outboard motor OM is used as the propulsion device by way of example, but the propulsion device may be any of various types such as an inboard motor, inboard/outboard motor, and waterjet propulsion device. The propulsion device may be provided at an appropriate position of the hull other than the stern.
While example 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 |
|---|---|---|---|
| 2023-130679 | Aug 2023 | JP | national |
