EP3912901A1 - Aussenbordmotorsteuervorrichtung, aussenbordmotorsteuerungsverfahren und programm - Google Patents

Aussenbordmotorsteuervorrichtung, aussenbordmotorsteuerungsverfahren und programm Download PDF

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Publication number
EP3912901A1
EP3912901A1 EP20741267.7A EP20741267A EP3912901A1 EP 3912901 A1 EP3912901 A1 EP 3912901A1 EP 20741267 A EP20741267 A EP 20741267A EP 3912901 A1 EP3912901 A1 EP 3912901A1
Authority
EP
European Patent Office
Prior art keywords
propulsion force
boat
operation unit
generate
motor control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP20741267.7A
Other languages
English (en)
French (fr)
Other versions
EP3912901A4 (de
Inventor
Masato SHIRAO
Marino AKITA
Takafumi Oshima
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
NHK Spring Co Ltd
Original Assignee
NHK Spring Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by NHK Spring Co Ltd filed Critical NHK Spring Co Ltd
Publication of EP3912901A1 publication Critical patent/EP3912901A1/de
Publication of EP3912901A4 publication Critical patent/EP3912901A4/de
Withdrawn legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H20/00—Outboard propulsion units, e.g. outboard motors or Z-drives; Arrangements thereof on vessels
    • B63H20/08—Means enabling movement of the position of the propulsion element, e.g. for trim, tilt or steering; Control of trim or tilt
    • B63H20/12—Means enabling steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H21/00—Use of propulsion power plant or units on vessels
    • B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/42—Steering or dynamic anchoring by propulsive elements; Steering or dynamic anchoring by propellers used therefor only; Steering or dynamic anchoring by rudders carrying propellers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H20/00—Outboard propulsion units, e.g. outboard motors or Z-drives; Arrangements thereof on vessels
    • B63H2020/003—Arrangements of two, or more outboard propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
    • B63H2025/026—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring using multi-axis control levers, or the like, e.g. joysticks, wherein at least one degree of freedom is employed for steering, slowing down, or dynamic anchoring

Definitions

  • Patent Literature 1 when a tip of a lever of the joystick is moved from a neutral position where the lever is not tilted to a right tilt position where the lever is tilted to the right, a relationship between an elapsed time period from a timing when the tip of the lever of the joystick is moved to the right tilt position and a magnitude of a rightward propulsion force (a composite force) generated by the two propulsion units is not described.
  • an objective of the present invention is to provide an outboard motor control device, an outboard motor control method, and a program capable of restricting a boat from turning due to the start of a movement of a front portion of a hull being later than the start of a movement of a rear portion of the hull when the boat, which is stopped, is moved in a left-right direction.
  • the boat 1 includes the two outboard motors 12 and 13 in the examples shown in Figs. 1 and 2 , the boat 1 may include three or more outboard motors in another example.
  • the outboard motor 13 is attached to a left side part on the rear portion 112 of the hull 11.
  • the outboard motor 13 includes an outboard motor main body 13A and a bracket 13B.
  • the bracket 13B is a mechanism for attaching the outboard motor 13 to the left side part on the rear portion 112 of the hull 11.
  • the outboard motor main body 13A is connected to the left side part on the rear portion 112 of the hull 11 via the bracket 13B so that the outboard motor main body 13A can rotate with respect to the hull 11 around the steering shaft 13AX.
  • the lever of the joystick is tilted in a right-forward direction.
  • the tip of the lever of the joystick is positioned at the position P3 on the right front side of the position P1.
  • the outboard motor control device 14 causes the steering actuators 12A2 and 13A2 and the propulsion units 12A1 and 13A1 to generate a propulsion force for moving the boat 1 in the right-forward direction forming an acute angle ⁇ 3 with respect to the left-right direction.
  • the propulsion force calculation unit 14C calculates a rightward propulsion force FR to be generated by the outboard motors 12 and 13 on the basis of the movement path P1 ⁇ P2 of the tip of the lever of the joystick calculated by the movement path calculation unit 14A and the elapsed time period calculated by the elapsed time calculation unit 14B (the time period while the tip of the lever of the joystick is continuously positioned at the position P2). Specifically, the propulsion force calculation unit 14C calculates a magnitude of a propulsion force for moving the boat 1 to the right.
  • the elapsed time calculation unit 14B calculates an elapsed time period from a timing when the tip of the lever of the joystick is moved from the position P1 to the position P3. Specifically, the elapsed time calculation unit 14B calculates a time period while the tip of the lever of the joystick is continuously positioned at the position P3.
  • the boat operator may want to move the boat 1 to the right (translational movement) and the boat 1 may also be affected by a rearward force due to, for example, wind, tidal current, or the like.
  • the horizontal axis in (A) of Fig. 8 represents time t11 when the tip of the lever of the joystick is moved from the position P1 to the position P2 and the like.
  • the outboard motor control device 14 prohibits the control as shown in (B) of Fig. 8 from being performed and executes the control as shown in (A) of Fig. 8 .
  • the operation unit 11D (the tip of the lever of the joystick) is moved from the position P1 to the position P4 as in the example shown in (D) of Fig. 4 .
  • the propulsion force calculation unit 14C calculates a propulsion force to be generated by the outboard motors 12 and 13 on the basis of the movement path P1 ⁇ P4 of the tip of the lever of the joystick calculated by the movement path calculation unit 14A and the elapsed time period calculated by the elapsed time calculation unit 14B (the time period while the tip of the lever of the joystick is continuously positioned at the position P4). Specifically, the propulsion force calculation unit 14C calculates a magnitude of a propulsion force for moving the boat 1 in the right-rearward direction.
  • the propulsion force calculation unit 14C calculates the first propulsion force FR1 as the rightward propulsion force FR the outboard motor control device 14 causes the outboard motors 12 and 13 to generate during the period from time t21 when the tip of the lever of the joystick is moved from the position P1 to the position P2 to time t22. That is, during the period from time t21 to time t22, the outboard motor control device 14 causes the outboard motors 12 and 13 to generate the first propulsion force FR1.
  • the tip of the lever of the joystick is moved from the position P2 to the position P4 at time t23.
  • the propulsion force calculation unit 14C calculates the left-right direction component F22R less than the left-right direction component F21R shown in (C) of Fig. 7 as the left-right direction component FR of the right-rearward propulsion force the outboard motor control device 14 causes the outboard motors 12 and 13 to generate. That is, during the period after time t23, the outboard motor control device 14 causes the outboard motors 12 and 13 to generate the right-rearward propulsion force F22 including the left-right direction component F22R less than the second propulsion force FR2.
  • the operation unit 11D (the tip of the lever of the joystick) is first moved from the position P1 to the position P2, as in the example shown in (E) of Fig. 4 .
  • the operation unit 11D (the tip of the lever of the joystick) is subsequently moved from the position P2 to the position P4 so that the direction of the boat 1 moving to the right is switched from the right direction to the right-rearward direction.
  • the elapsed time calculation unit 14B calculates an elapsed time period from the timing when the tip of the lever of the joystick is moved from the position P1 to the position P2 and an elapsed time period from the timing when the tip of the lever of the joystick is moved from the position P2 to the position P4. Specifically, the elapsed time calculation unit 14B calculates a time period while the tip of the lever of the joystick is continuously positioned at the position P2 and a time period while the tip of the lever of the joystick is continuously positioned at the position P4.
  • the propulsion force calculation unit 14C calculates a magnitude of a propulsion force (i.e., a right-rearward propulsion force) for switching the direction of the boat 1 moving to the right from the right direction to the right-rearward direction.
  • a propulsion force i.e., a right-rearward propulsion force
  • the outboard motor control device 14 causes the steering actuators 12A2 and 13A2 and the propulsion units 12A1 and 13A1 to generate a right-rearward propulsion force FR22 having a forward-rearward direction component greater than that in the example of (D) of Fig. 4 (specifically, in which the rearward component F22B is greater than the rearward component F21B) during the period when the operation unit 11D is positioned at the position P4.
  • the direction of the boat 1 can be quickly switched from the right direction to the right-rearward direction according to a request of the boat operator.
  • the outboard motor control device 14 prohibits the control as shown in (B) of Fig. 9 from being performed and executes the control as shown in (A) of Fig. 9 .
  • the boat operator may want to move the boat 1 to the left (translational movement).
  • the propulsion force calculation unit 14C calculates a first propulsion force FL1 as the leftward propulsion force FL the outboard motor control device 14 causes the outboard motors 12 and 13 to generate. That is, during the first period from time t31 to time t32, the outboard motor control device 14 causes the outboard motors 12 and 13 to generate the first propulsion force FL1.
  • the propulsion force calculation unit 14C calculates the second propulsion force FL2 greater than the first propulsion force FL1 as the leftward propulsion force FL the outboard motor control device 14 causes the outboard motors 12 and 13 to generate. That is, during the second period after time t32, the outboard motor control device 14 causes the outboard motors 12 and 13 to generate the second propulsion force FL2 greater than the first propulsion force FL1.
  • the propulsion force calculation unit 14C calculates the second propulsion force FL2 greater than the first propulsion force FL1 as the leftward propulsion force FL the outboard motor control device 14 causes the outboard motors 12 and 13 to generate. That is, during the second period from time t32, the outboard motor control device 14 causes the outboard motors 12 and 13 to generate the second propulsion force FL2 greater than the first propulsion force FL1.
  • the boat operator may want to move the boat 1 in the left-forward direction (translational movement).
  • Fig. 11 is a flowchart for describing an example of a process executed by the outboard motor control device 14 of the first embodiment.
  • step S10 the outboard motor control device 14 acquires a position of the operation unit 11D (a position of the lever of the joystick) detected by a sensor such as a micro switch.
  • step S20 the movement path calculation unit 14A of the outboard motor control device 14 calculates a movement path of the operation unit 11D (a movement path of the tip of the lever of the joystick) on the basis of a plurality of positions of the operation unit 11D (a plurality of positions of the lever of the joystick) acquired in step S10.
  • step S30 the elapsed time calculation unit 14B of the outboard motor control device 14 calculates an elapsed time period from a timing when the operation unit 11D (the tip of the lever of the joystick) is moved to each position.
  • the operation unit 11D includes the joystick having the lever.
  • the operation unit 11D is configured so that a flick input operation can be performed on the operation unit 11D (the touch panel) and a rotation input operation can be performed.
  • the "computer-readable recording medium” refers to a flexible disk, a magneto-optical disc, a ROM, a portable medium such as a CD-ROM, or a storage unit such as a hard disk embedded in the computer system.
  • the "computer-readable recording medium” may include a computer-readable recording medium for dynamically retaining the program for a short time period as in a communication line when the program is transmitted via a network such as the Internet or a communication circuit such as a telephone circuit and a computer-readable recording medium for retaining the program for a given time period as in a volatile memory inside the computer system including a server and a client when the program is transmitted.
  • the above-described program may be a program for implementing some of the above-described functions.
  • the above-described program may be a program capable of implementing the above-described function in combination with a program already recorded on the computer system.

Landscapes

  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Mechanical Control Devices (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
EP20741267.7A 2019-01-18 2020-02-14 Aussenbordmotorsteuervorrichtung, aussenbordmotorsteuerungsverfahren und programm Withdrawn EP3912901A4 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019007331A JP7162199B2 (ja) 2019-01-18 2019-01-18 船外機用制御装置、船外機用制御方法およびプログラム
PCT/IB2020/051230 WO2020148736A1 (ja) 2019-01-18 2020-02-14 船外機用制御装置、船外機用制御方法およびプログラム

Publications (2)

Publication Number Publication Date
EP3912901A1 true EP3912901A1 (de) 2021-11-24
EP3912901A4 EP3912901A4 (de) 2022-11-09

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP20741267.7A Withdrawn EP3912901A4 (de) 2019-01-18 2020-02-14 Aussenbordmotorsteuervorrichtung, aussenbordmotorsteuerungsverfahren und programm

Country Status (4)

Country Link
US (1) US20220063785A1 (de)
EP (1) EP3912901A4 (de)
JP (1) JP7162199B2 (de)
WO (1) WO2020148736A1 (de)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7162199B2 (ja) * 2019-01-18 2022-10-28 日本発條株式会社 船外機用制御装置、船外機用制御方法およびプログラム

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JP2023131896A (ja) * 2022-03-10 2023-09-22 ヤマハ発動機株式会社 操船支援装置および船舶

Also Published As

Publication number Publication date
US20220063785A1 (en) 2022-03-03
JP2020116982A (ja) 2020-08-06
JP7162199B2 (ja) 2022-10-28
EP3912901A4 (de) 2022-11-09
WO2020148736A1 (ja) 2020-07-23

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