US20050199169A1 - Steering assist system for boat - Google Patents
Steering assist system for boat Download PDFInfo
- Publication number
- US20050199169A1 US20050199169A1 US11/075,129 US7512905A US2005199169A1 US 20050199169 A1 US20050199169 A1 US 20050199169A1 US 7512905 A US7512905 A US 7512905A US 2005199169 A1 US2005199169 A1 US 2005199169A1
- Authority
- US
- United States
- Prior art keywords
- steering wheel
- displacement
- rudder
- steering
- boat
- 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.)
- Abandoned
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Classifications
-
- 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
- B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
- B63H2025/022—Steering wheels; Posts for steering wheels
-
- 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
- B63H2025/028—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring using remote control means, e.g. wireless control; Equipment or accessories therefor
Definitions
- the present inventions relate to an electric steering system for a small boat, and in particular, to steering systems that provide variable steering response.
- Japanese Patent Publication JP-B-Hei 6-33077 discloses a steering system for a small boat having a boat speed sensor, which is designed to change the ratio of the displacement of a rudder device relative to steering wheel angle depending on the boat speed.
- This system generates proportionally larger rudder displacements at low boat speeds by raising the steering angle to the steering wheel turning angle ratio.
- the system generates proportionally smaller rudder displacements at higher boat speeds by decreasing the steering angle to steering wheel angle ratio, thereby providing speed dependant steering response.
- An aspect of at least one of the embodiments disclosed herein includes the realization that an electric steering system for a small boat can constantly provide good steering performance corresponding to the boat running speed without a boat speed sensor, thereby reducing the cost and improving the reliability of the system.
- a steering system can change, in accordance with the boat running speed, the ratio of the rudder steering angle or displacement relative to the steering wheel turning angle.
- a steering system for a boat comprising an engine configured to provide propulsion for the hull and a rudder device including an electric actuator to rotate a rudder about a rotational shaft, a steering wheel configured to be operated by an operator of the boat.
- the steering system includes a steering wheel displacement sensor configured to detect the displacement of the steering wheel, and a controller configured to calculate the rotational displacement of the rudder device corresponding to the detected steering wheel displacement and to send an actuation signal to the electric actuator based on the calculated rotational displacement.
- the controller is also configured to receive a signal indicating a speed of the engine, and to change, in accordance with the engine speed, a ratio of the rotational displacement of the rudder relative to the steering wheel displacement.
- FIG. 1 is a schematic top plan view of a watercraft having a steering system in accordance with an embodiment.
- FIG. 2 is a block diagram of an electric steering system according to the embodiment of the present invention.
- FIGS. 3 (A) and 3 (B) are explanatory graphs, showing examples of preset steering angle relative to steering wheel turning angle.
- FIG. 1 is a schematic top plan view of a small boat including an outboard motor with which the present embodiments are applicable.
- the embodiments disclosed herein are described in the context of a marine propulsion system of a small boat because these embodiments have particular utility in this context. However, the embodiments and inventions herein can also be applied to other marine vessels, such as personal watercraft and small jet boats, as well as other vehicles.
- An outboard motor 3 is mounted to a transom plate 2 of a hull 1 through clamp brackets 4 .
- the outboard motor 3 is rotatable about a swivel shaft 6 .
- a steering bracket 5 is fixed to an upper end of the swivel shaft 6 .
- a rudder device 15 is connected to an end 5 a of the steering bracket 5 .
- the rudder device 15 includes, for example, a DD (Direct Drive) type electric motor including a motor body (not shown).
- the motor body slides along a threaded shaft (not shown) that can be oriented generally parallel to the transom plate 2 .
- the steering bracket 5 is connected to the motor body to allow the outboard motor 3 to rotate about the swivel shaft 6 in conjunction with the sliding motion of the motor body.
- a steering wheel 7 is provided in the vicinity of an operator's seat on the hull 1 .
- a steering wheel control section 13 can be provided at the root or base of a steering column shaft 8 of the steering wheel 7 , however other locations can also be utilized.
- a steering wheel displacement (e.g. operation angle) sensor 9 and a reaction torque motor 11 are provided inside the steering wheel control section 13 .
- the steering wheel control section 13 can be connected, via a signal cable 10 , to a controller 12 , which in turn is connected to the rudder device 15 .
- the controller 12 can be configured to calculate a steering angle based on a detection signal from the steering wheel operation angle sensor 9 .
- the calculated steering angle is sent to the rudder device 15 as an electric command signal, to drive the rudder device 15 so as to allow the outboard motor 3 to rotate about the swivel shaft 6 for boat steering.
- a load sensor 16 that can be provided in the outboard motor 3 or the rudder device 15 itself, can be configured to detect an external force F (See FIG. 2 ) exerted on the outboard motor 3 .
- the controller 12 can be configured to calculate a target value of reaction torque to be exerted to the steering wheel 7 by the reaction torque motor 11 based on the external force. The controller 12 then drives the reaction torque motor 11 in accordance with the target torque, thereby applying a reaction force corresponding to the external force to the steering wheel 7 .
- FIG. 2 is a block diagram of a steering system according to an embodiment of the present invention.
- a steering angle calculation circuit 21 of the controller (ECU) 12 calculates a steering angle as will be described later, and converts it into an electrical current value to drive the electric motor (not shown) of the rudder device 15 . This allows the outboard motor 3 to swing about the swivel shaft 6 (See FIG. 1 ), to change the direction of the boat.
- an external resistance (external force) F as a reaction force is applied to the outboard motor 3 .
- the load sensor 16 detects the external force F, and data of which is sent to a reaction torque calculating circuit 17 . Based on the data for the detected external force, a target torque is calculated and the reaction torque motor 11 is so driven as to apply such target torque. This causes a reaction force corresponding to the steering operation to be applied to the steering wheel 7 so that the operator can steer the steering wheel while feeling the reaction force in response to the steering wheel operation.
- the outboard motor 3 functions as a rudder when it rotates about the swivel shaft.
- the steering angle calculating circuit 21 calculates the displacement of the rudder or the steering angle (e.g. rudder angle) ⁇ based on the steering wheel turning angle a detected by the steering wheel operation angle sensor 9 .
- the steering angle calculating circuit 21 calculates ⁇ such that the value ⁇ /a varies with the engine speed N detected by the engine speed sensor 20 .
- the value ⁇ /a corresponding to the engine speed N can be stored in a memory 22 as a preset map.
- the steering angle calculating circuit 21 reads out the map of the value ⁇ /a stored in the memory 22 to calculate the steering angle ⁇ based on the data of the turning angle a detected by the steering wheel operation angle sensor 9 .
- FIGS. 3 (A) and 3 (B) are explanatory graphs, showing examples of preset steering angle relative to steering wheel turning angle.
- FIG. 3 (A)(a) shows two preset gradient values of the steering angle ⁇ relative to the steering wheel turning angle a, that is, a smaller preset value (a) and a larger preset value (b), between which there are included additional preset gradient values proportional to the engine speed N.
- the value ⁇ /a is set to a larger value for use in a lower speed range, smaller value for use in a higher speed range, and set to vary more linearly with the engine speed N in a middle speed range (an engine speed range between the lower and higher engine speeds).
- the value ⁇ /a itself can change proportionally to the engine speed N.
- the tem “proportionally” is intended to include any type of relationship, whether it is linear or non-linear.
- the term “proportional” encompasses relationships where incremental increases in a engine speed N trigger incremental increases (or decreases) in the value ⁇ /a.
- FIG. 3 (B)(a) shows three preset gradient values of the steering angle ⁇ relative to the steering wheel turning angle a; a smaller preset value (a), a larger preset vale (b) and a medium preset value (c).
- the preset value ⁇ /a sequentially decreases in a stepped manner in three stages, a low, medium and high speed range of the engine speed N.
- the preset value ⁇ /a relative to the engine speed N as shown in FIGS. 3 (A)(b) or 3 (B)(b) is stored in the memory as a map, and read out when the steering wheel is operated to calculate the steering angle ⁇ based on the steering wheel turning angle a and engine speed N.
- a boat sensor if used at all, it can be directly connected to a gauge (not shown) near the steering wheel 7 , and thus does not affect the complexity of the controller 12 or wiring layout of the boat.
- a typical engine control unit is provided with the engine speed sensor since it is such is commonly used for fuel and ignition timing controls. Thus, no additional sensor is required because the existing engine speed sensor can be used with the present steering system.
- the steering control is more simple, and thus less expensive to manufacture. Additionally, when in the low-speed range, steering response is more nimble because the steering displacement relative to the steering wheel operation angle is increased.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004065701A JP2005254849A (ja) | 2004-03-09 | 2004-03-09 | 船舶の操舵装置 |
JP2004-065701 | 2004-03-09 |
Publications (1)
Publication Number | Publication Date |
---|---|
US20050199169A1 true US20050199169A1 (en) | 2005-09-15 |
Family
ID=34918269
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US11/075,129 Abandoned US20050199169A1 (en) | 2004-03-09 | 2005-03-08 | Steering assist system for boat |
Country Status (2)
Country | Link |
---|---|
US (1) | US20050199169A1 (ja) |
JP (1) | JP2005254849A (ja) |
Cited By (24)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20050170713A1 (en) * | 2004-01-29 | 2005-08-04 | Takashi Okuyama | Method and system for steering watercraft |
US20050199167A1 (en) * | 2004-03-09 | 2005-09-15 | Makoto Mizutani | Steering system for boat |
US20050215131A1 (en) * | 2004-03-26 | 2005-09-29 | Takahiro Oguma | Steering system of outboard motor |
US20050282447A1 (en) * | 2004-06-18 | 2005-12-22 | Takashi Okuyama | Steering device for small watercraft |
US20060217012A1 (en) * | 2005-03-18 | 2006-09-28 | Makoto Mizutani | Steering control system for boat |
US20070049139A1 (en) * | 2005-08-19 | 2007-03-01 | Makoto Mizutani | Action control device for small boat |
US20070066156A1 (en) * | 2005-09-02 | 2007-03-22 | Makoto Mizutani | Steering method and steering system for boat |
US20070066154A1 (en) * | 2005-09-02 | 2007-03-22 | Makoto Mizutani | Steering system for small boat |
US20070093147A1 (en) * | 2005-10-25 | 2007-04-26 | Makoto Mizutani | Control unit for multiple installation of propulsion units |
US20070105463A1 (en) * | 2005-11-04 | 2007-05-10 | Makoto Mizutani | Electric type steering device for outboard motors |
US7270068B2 (en) | 2005-02-15 | 2007-09-18 | Yamaha Marine Kabushiki Kaisha | Steering control system for boat |
US20080015747A1 (en) * | 2006-07-14 | 2008-01-17 | Honda Motor Co., Ltd. | Outboard motor conversion unit |
US20080096445A1 (en) * | 2006-10-12 | 2008-04-24 | Yamaha Marine Kabushiki Kaisha | Personal watercraft |
US20080119974A1 (en) * | 2006-11-17 | 2008-05-22 | Yamaha Marine Kabushiki Kaisha | Watercraft steering system |
US20080119094A1 (en) * | 2006-11-17 | 2008-05-22 | Yamaha Marine Kabushiki Kaisha | Watercraft steering system, and watercraft |
US20080115711A1 (en) * | 2006-11-17 | 2008-05-22 | Yamaha Marine Kabushiki Kaisha | Watercraft steering device and watercraft |
US20080125925A1 (en) * | 2006-11-17 | 2008-05-29 | Yamaha Marine Kabushiki Kaisha | Watercraft steering device and watercraft |
US20080254689A1 (en) * | 2006-10-06 | 2008-10-16 | Yamaha Hatsudoki Kabushiki Kaisha | Control apparatus for marine vessel propulsion system, and marine vessel running supporting system and marine vessel using the same |
DE102010029696A1 (de) * | 2010-06-04 | 2011-12-08 | Raytheon Anschütz Gmbh | Wasserfahrzeug-Steuerung mit aktiver Rückkopplung |
US20120143408A1 (en) * | 2010-12-02 | 2012-06-07 | Furuno Electric Company Limited | Steering assist system and method using autopilot device |
US10232925B1 (en) * | 2016-12-13 | 2019-03-19 | Brunswick Corporation | System and methods for steering a marine vessel |
US10723429B1 (en) * | 2018-01-30 | 2020-07-28 | Brp Us Inc. | Power steering system for marine outboard motor |
EP4067223A3 (en) * | 2021-03-29 | 2022-10-12 | Brunswick Corporation | Systems and methods for steering a marine vessel |
US11738846B2 (en) | 2018-12-21 | 2023-08-29 | Brp Megatech Industries Inc. | Enhanced steering control system for personal watercrafts |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4681504B2 (ja) | 2006-05-22 | 2011-05-11 | ヤマハ発動機株式会社 | リモコン用電子制御装置及びそれを用いた遠隔操作システム |
JP4918156B1 (ja) | 2010-09-30 | 2012-04-18 | 三井造船株式会社 | 船舶のエンジン制御装置および方法 |
JP6146355B2 (ja) * | 2014-03-25 | 2017-06-14 | スズキ株式会社 | 船舶の舵角制御装置、方法及びプログラム |
Citations (22)
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US31429A (en) * | 1861-02-12 | Improvement in sewing-machines | ||
US150366A (en) * | 1874-04-28 | Improvement in extracting quicksilver from sulphur ores | ||
US170712A (en) * | 1875-12-07 | Improvement in paper-drying machines | ||
US199169A (en) * | 1878-01-15 | Improvement in chandeliers for oil-burners | ||
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US6234853B1 (en) * | 2000-02-11 | 2001-05-22 | Brunswick Corporation | Simplified docking method and apparatus for a multiple engine marine vessel |
US6402577B1 (en) * | 2001-03-23 | 2002-06-11 | Brunswick Corporation | Integrated hydraulic steering system for a marine propulsion unit |
US6655490B2 (en) * | 2000-08-11 | 2003-12-02 | Visteon Global Technologies, Inc. | Steer-by-wire system with steering feedback |
US6671588B2 (en) * | 2001-12-27 | 2003-12-30 | Toyota Jidosha Kabushiki Kaisha | System and method for controlling traveling direction of aircraft |
US6843195B2 (en) * | 2003-01-17 | 2005-01-18 | Honda Motor Co., Ltd. | Outboard motor steering system |
US6892661B2 (en) * | 2001-06-29 | 2005-05-17 | Morol Co., Ltd. | Steering device |
US6892662B2 (en) * | 2003-03-03 | 2005-05-17 | Kayaba Industry Co., Ltd. | Power steering device for boat with outboard motor |
-
2004
- 2004-03-09 JP JP2004065701A patent/JP2005254849A/ja active Pending
-
2005
- 2005-03-08 US US11/075,129 patent/US20050199169A1/en not_active Abandoned
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US224670A (en) * | 1880-02-17 | fitch | ||
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US3349744A (en) * | 1965-05-31 | 1967-10-31 | Mercier Jean | Hydraulic control system for rudders and/or deflectors of a ship |
US4120258A (en) * | 1976-10-13 | 1978-10-17 | Sperry Rand Corporation | Variable ratio helm |
US4787867A (en) * | 1986-05-23 | 1988-11-29 | Sanshin Kogyo Kabushiki Kaisha | Trim tab actuator for marine propulsion device |
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US5244426A (en) * | 1989-05-30 | 1993-09-14 | Suzuki Jidosha Kogyo Kabushiki Kaisha | Power steering system for an outboard motor |
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US6234853B1 (en) * | 2000-02-11 | 2001-05-22 | Brunswick Corporation | Simplified docking method and apparatus for a multiple engine marine vessel |
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US6671588B2 (en) * | 2001-12-27 | 2003-12-30 | Toyota Jidosha Kabushiki Kaisha | System and method for controlling traveling direction of aircraft |
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Cited By (43)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7497746B2 (en) * | 2004-01-29 | 2009-03-03 | Yamaha Marine Kabushiki Kaisha | Method and system for steering watercraft |
US20050170713A1 (en) * | 2004-01-29 | 2005-08-04 | Takashi Okuyama | Method and system for steering watercraft |
US20050199167A1 (en) * | 2004-03-09 | 2005-09-15 | Makoto Mizutani | Steering system for boat |
US7156034B2 (en) | 2004-03-09 | 2007-01-02 | Yamaha Marine Kabushiki Kaisha | Steering system for boat |
US7267587B2 (en) | 2004-03-26 | 2007-09-11 | Yamaha Marine Kabushiki Kaisha | Steering system of outboard motor |
US20050215131A1 (en) * | 2004-03-26 | 2005-09-29 | Takahiro Oguma | Steering system of outboard motor |
US20050282447A1 (en) * | 2004-06-18 | 2005-12-22 | Takashi Okuyama | Steering device for small watercraft |
US7320629B2 (en) | 2004-06-18 | 2008-01-22 | Yamaha Marine Kabushiki Kaisha | Steering device for small watercraft |
US7270068B2 (en) | 2005-02-15 | 2007-09-18 | Yamaha Marine Kabushiki Kaisha | Steering control system for boat |
US20060217012A1 (en) * | 2005-03-18 | 2006-09-28 | Makoto Mizutani | Steering control system for boat |
US7267069B2 (en) | 2005-03-18 | 2007-09-11 | Yamaha Marine Kabushiki Kaisha | Steering control system for boat |
US20070049139A1 (en) * | 2005-08-19 | 2007-03-01 | Makoto Mizutani | Action control device for small boat |
US7494390B2 (en) | 2005-08-19 | 2009-02-24 | Yamaha Marine Kabushiki Kaisha | Action control device for small boat |
US7422496B2 (en) | 2005-09-02 | 2008-09-09 | Yamaha Marine Kabushiki Kaisha | Steering system for small boat |
US20070066156A1 (en) * | 2005-09-02 | 2007-03-22 | Makoto Mizutani | Steering method and steering system for boat |
US20070066154A1 (en) * | 2005-09-02 | 2007-03-22 | Makoto Mizutani | Steering system for small boat |
US7465200B2 (en) | 2005-09-02 | 2008-12-16 | Yamaha Marine Kabushiki Kaisha | Steering method and steering system for boat |
US7455557B2 (en) | 2005-10-25 | 2008-11-25 | Yamaha Marine Kabushiki Kaisha | Control unit for multiple installation of propulsion units |
US20070093147A1 (en) * | 2005-10-25 | 2007-04-26 | Makoto Mizutani | Control unit for multiple installation of propulsion units |
US20070105463A1 (en) * | 2005-11-04 | 2007-05-10 | Makoto Mizutani | Electric type steering device for outboard motors |
US7527537B2 (en) | 2005-11-04 | 2009-05-05 | Yamaha Hatsudoki Kabushiki Kaisha | Electric type steering device for outboard motors |
US7933692B2 (en) * | 2006-07-14 | 2011-04-26 | Honda Motor Co., Ltd. | Outboard motor conversion unit |
US20080015747A1 (en) * | 2006-07-14 | 2008-01-17 | Honda Motor Co., Ltd. | Outboard motor conversion unit |
US8190316B2 (en) * | 2006-10-06 | 2012-05-29 | Yamaha Hatsudoki Kabushiki Kaisha | Control apparatus for marine vessel propulsion system, and marine vessel running supporting system and marine vessel using the same |
US20080254689A1 (en) * | 2006-10-06 | 2008-10-16 | Yamaha Hatsudoki Kabushiki Kaisha | Control apparatus for marine vessel propulsion system, and marine vessel running supporting system and marine vessel using the same |
US7802530B2 (en) * | 2006-10-12 | 2010-09-28 | Yamaha Hatsudoki Kabushiki Kaisha | Personal watercraft |
US20080096445A1 (en) * | 2006-10-12 | 2008-04-24 | Yamaha Marine Kabushiki Kaisha | Personal watercraft |
US20080125925A1 (en) * | 2006-11-17 | 2008-05-29 | Yamaha Marine Kabushiki Kaisha | Watercraft steering device and watercraft |
US8162706B2 (en) | 2006-11-17 | 2012-04-24 | Yamaha Hatsudoki Kabushiki Kaisha | Watercraft steering system, and watercraft |
US7844374B2 (en) * | 2006-11-17 | 2010-11-30 | Yamaha Hatsudoki Kabushiki Kaisha | Watercraft steering system |
US7930986B2 (en) * | 2006-11-17 | 2011-04-26 | Yamaha Hatsudoki Kabushiki Kaisha | Watercraft steering device and watercraft |
US20080119094A1 (en) * | 2006-11-17 | 2008-05-22 | Yamaha Marine Kabushiki Kaisha | Watercraft steering system, and watercraft |
US8046121B2 (en) | 2006-11-17 | 2011-10-25 | Yamaha Hatsudoki Kabushiki Kaisha | Watercraft steering device and watercraft |
US20080119974A1 (en) * | 2006-11-17 | 2008-05-22 | Yamaha Marine Kabushiki Kaisha | Watercraft steering system |
US20080115711A1 (en) * | 2006-11-17 | 2008-05-22 | Yamaha Marine Kabushiki Kaisha | Watercraft steering device and watercraft |
DE102010029696A1 (de) * | 2010-06-04 | 2011-12-08 | Raytheon Anschütz Gmbh | Wasserfahrzeug-Steuerung mit aktiver Rückkopplung |
US20120143408A1 (en) * | 2010-12-02 | 2012-06-07 | Furuno Electric Company Limited | Steering assist system and method using autopilot device |
US8589027B2 (en) * | 2010-12-02 | 2013-11-19 | Furuno Electric Company Limited | Steering assist system and method using autopilot device |
US10232925B1 (en) * | 2016-12-13 | 2019-03-19 | Brunswick Corporation | System and methods for steering a marine vessel |
US10723429B1 (en) * | 2018-01-30 | 2020-07-28 | Brp Us Inc. | Power steering system for marine outboard motor |
US11738846B2 (en) | 2018-12-21 | 2023-08-29 | Brp Megatech Industries Inc. | Enhanced steering control system for personal watercrafts |
EP4067223A3 (en) * | 2021-03-29 | 2022-10-12 | Brunswick Corporation | Systems and methods for steering a marine vessel |
US11628920B2 (en) | 2021-03-29 | 2023-04-18 | Brunswick Corporation | Systems and methods for steering a marine vessel |
Also Published As
Publication number | Publication date |
---|---|
JP2005254849A (ja) | 2005-09-22 |
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Owner name: YAMAHA MARINE KABUSHIKI KAISHA, JAPAN Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:MIZUTANI, MAKOTO;REEL/FRAME:016373/0453 Effective date: 20050302 |
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