WO2020246574A1 - Control device for ship propulsion device, method for controlling ship propulsion device, and program - Google Patents

Abstract

This control device for a ship propulsion device controls a plurality of ship propulsion devices. Each ship propulsion device is provided with a propulsion unit which is driven by an engine to generate a propulsive force for a ship, and a steering actuator. The ship is provided with an operating portion for actuating the steering actuator and the propulsion units. The operating portion is capable of being positioned in a first position in which the ship propulsion devices do not generate a propulsive force for the ship, and a second position in which the ship propulsion devices generate a propulsive force for the ship. When the operating portion is moved from the first position to the second position and is maintained at the second position, the ship propulsion devices generate a first propulsive force during a first period from a first time point at which the operating portion was moved from the first position to the second position, to a second time point, and the ship propulsion devices generate a second propulsive force greater than the first propulsive force during a second period after the second time point.

Description

Control device for ship propulsion device, control method and program for ship propulsion device

The present invention relates to a control device for a ship propulsion device, a control method and a program for a ship propulsion device.
The present application claims priority based on Japanese Patent Application No. 2019-106518 filed in Japan on June 6, 2019, the contents of which are incorporated herein by reference.

Conventionally, outboard motors that maintain good riding comfort have been known (see, for example, Patent Document 1). The outboard motor described in Patent Document 1 includes an engine for driving a propeller supported at the rear of the hull. In Patent Document 1, since the air intake opening of the engine is opened toward the rear of the hull, even if intake noise is generated when the engine is driven, the intake noise does not face the passengers on the hull, and the ride comfort is achieved. It is stated that is maintained in good condition.
By the way, in the technique described in Patent Document 1, although it is possible to prevent the intake noise from facing the passengers, no measures are taken to improve the riding comfort at the start of movement of the ship.

Japanese Unexamined Patent Publication No. 2002-098017

In view of the above-mentioned problems, an object of the present invention is to provide a control device for a ship propulsion device, a control method and a program for a ship propulsion device, which can improve the riding comfort at the start of movement of a ship.

In diligent research, the present inventors have conducted the first period as a propulsive force generated by a ship propulsion device when, for example, the tip of a joystick lever is moved and maintained from a neutral position to, for example, a rightward tilted position. A small thrust to the right is calculated during, and then during the later period, a greater propulsion than during the first period is calculated, resulting in a better ride at the start of the vessel's movement. It was found that it was significantly improved and the risk of the passengers staggering at the start of movement of the ship was suppressed.

One aspect of the present invention is a control device for a ship propulsion device that controls a plurality of ship propulsion devices, and each of the plurality of ship propulsion devices is a propulsion unit that is driven by an engine to generate propulsive force of the ship. The ship includes a propulsion unit and an operation unit for operating the steering actuator, and the operation unit is at a position where at least the plurality of ship propulsion devices do not generate propulsive force of the ship. The first position and the second position where the plurality of ship propulsion devices generate the propulsive force of the ship can be located, and the operation unit is moved from the first position to the second position. Then, when the control device for the ship propulsion device is maintained at the second position, the operation unit is moved from the first position to the second position from the first time to the second time. During the first period, the first propulsion force is generated in the plurality of ship propulsion devices, and then, during the second period after the second time, the plurality of second propulsion forces larger than the first propulsion force are generated. It is a control device for a ship propulsion device generated in the ship propulsion device of.

One aspect of the present invention is a control method for a ship propulsion device that controls a plurality of ship propulsion devices, and each of the plurality of ship propulsion devices is a propulsion unit that is driven by an engine to generate propulsive force of the ship. The ship includes a propulsion unit and an operation unit for operating the steering actuator, and the operation unit is at a position where at least the plurality of ship propulsion devices do not generate propulsive force of the ship. The first position and the second position where the plurality of ship propulsion devices generate the propulsive force of the ship can be located, and the operation unit is moved from the first position to the second position. Then, when the operation unit is maintained at the second position, the first propulsion is performed during the first period from the first time to the second time when the operation unit is moved from the first position to the second position. A ship that generates a force in the plurality of ship propulsion devices, and then generates a second propulsion force larger than the first propulsion force in the plurality of ship propulsion devices during the second period after the second time. This is a control method for propulsion devices.

One aspect of the present invention is a program for controlling a plurality of ship propulsion devices, and each of the plurality of ship propulsion devices includes a propulsion unit driven by an engine to generate propulsive force of the ship and a steering actuator. The ship includes an operation unit for operating the propulsion unit and the steering actuator, and the operation unit includes a first position where at least the plurality of ship propulsion devices do not generate propulsive force of the ship. The plurality of ship propulsion devices can be positioned at a second position, which is a position where the propulsive force of the ship is generated, and the operation unit is moved from the first position to the second position, and the first position. When maintained at two positions, the computer propulses the plurality of vessels during the first period from the first time to the second time when the operation unit is moved from the first position to the second position. During the first step in which the device generates the first propulsion force and the second period after the second time, the plurality of ship propulsion devices generate a second propulsion force larger than the first propulsion force. It is a program for executing steps.

According to the present invention, it is possible to provide a control device for a ship propulsion device, a control method and a program for the ship propulsion device, which can improve the riding comfort at the start of movement of the ship.

It is a figure which shows an example of the ship to which the control device for a ship propulsion device of 1st Embodiment is applied. It is a functional block diagram of the main part of the ship shown in FIG. Position of the operation unit in the ship of the first embodiment (specifically, the position of the tip of the joystick lever, the clockwise rotation position of the joystick lever, and the counterclockwise rotation position of the joystick lever). It is a figure for demonstrating an example of. The control for the ship propulsion device of the first embodiment when the operation unit is moved from the position P1 to the position P2 and maintained at the position P2, and then moved from the position P2 to the position P1 and maintained at the position P1. It is a figure for demonstrating the 1st example such as the target value of the propulsive force calculated by the propulsive force calculation part of an apparatus. The control for the ship propulsion device of the first embodiment when the operation unit is moved from the position P1 to the position P2 and maintained at the position P2, and then moved from the position P2 to the position P1 and maintained at the position P1. It is a figure for demonstrating the 2nd example such as the target value of the propulsion force calculated by the propulsion force calculation part of an apparatus. It is a flowchart for demonstrating an example of the process executed by the control device for a ship propulsion device of 1st Embodiment. It is a figure which shows an example of the ship to which the control device for a ship propulsion device of 2nd Embodiment is applied. It is a functional block diagram of the main part of the ship shown in FIG. When the operation unit is moved from the position P1 to the position P2 and maintained at the position P2, the target value of the propulsion force calculated by the propulsion force calculation unit of the control device for the ship propulsion device of the second embodiment is the first. It is a figure for demonstrating one example. When the operation unit is moved from the position P1 to the position P2 and maintained at the position P2, the target value of the propulsion force calculated by the propulsion force calculation unit of the control device for the ship propulsion device of the second embodiment is the first. It is a figure for demonstrating two examples. It is a figure which shows an example of the ship to which the control device for a ship propulsion device of 3rd Embodiment is applied. When the operation unit is moved from the position P1 to the position P2 and maintained at the position P2, the target value of the propulsion force calculated by the propulsion force calculation unit of the control device for the ship propulsion device of the third embodiment is the first. It is a figure for demonstrating one example. When the operation unit is moved from the position P1 to the position P2 and maintained at the position P2, the target value of the propulsion force calculated by the propulsion force calculation unit of the control device for the ship propulsion device of the third embodiment is the first. It is a figure for demonstrating two examples. It is a figure which shows an example of the ship to which the control device for a ship propulsion device of 7th Embodiment is applied.

<First Embodiment>
Hereinafter, the first embodiment of the ship propulsion device control device, the ship propulsion device control method, and the program of the present invention will be described.

FIG. 1 is a diagram showing an example of a ship 1 to which the control device 14 for a ship propulsion device of the first embodiment is applied. FIG. 2 is a functional block diagram of the main part of the ship 1 shown in FIG.
In the example shown in FIGS. 1 and 2, the ship 1 includes a hull 11, a ship propulsion device 12, a ship propulsion device 13, and a ship propulsion device control device 14. The ship propulsion devices 12 and 13 generate the propulsive force of the ship 1.

In the examples shown in FIGS. 1 and 2, the ship propulsion device 12 is arranged on the right side of the rear 112 of the hull 11. The ship propulsion device 12 includes a ship propulsion device main body 12A and a bracket 12B. The bracket 12B is a mechanism for attaching the ship propulsion device 12 to the right side portion of the rear portion 112 of the hull 11. The ship propulsion device main body 12A is rotatably connected to the hull 11 about the steering shaft 12AX and is connected to the right side portion of the rear 112 of the hull 11 via the bracket 12B.
The ship propulsion device main body 12A includes a propulsion unit 12A1 and a steering actuator 12A2. The propulsion unit 12A1 is driven by an engine (not shown) to generate the propulsive force of ship 1. The steering actuator 12A2 rotates the entire ship propulsion device main body 12A including the propulsion unit 12A1 with respect to the hull 11 around the steering shaft 12AX. The steering actuator 12A2 serves as a rudder.

In the examples shown in FIGS. 1 and 2, the ship propulsion device 13 is arranged on the left side portion of the rear 112 of the hull 11. The ship propulsion device 13 includes a ship propulsion device main body 13A and a bracket 13B. The bracket 13B is a mechanism for attaching the ship propulsion device 13 to the left side portion of the rear portion 112 of the hull 11. The ship propulsion device main body 13A is rotatably connected to the hull 11 about the steering shaft 13AX and is connected to the left side portion of the rear 112 of the hull 11 via the bracket 13B.
The ship propulsion device main body 13A includes a propulsion unit 13A1 and a steering actuator 13A2. Like the propulsion unit 12A1, the propulsion unit 13A1 is driven by an engine (not shown) to generate the propulsive force of the ship 1. The steering actuator 13A2 rotates the entire ship propulsion device main body 13A including the propulsion unit 13A1 with respect to the hull 11 around the steering shaft 13AX. The steering actuator 13A2 serves as a rudder.

In the examples shown in FIGS. 1 and 2, the ship propulsion devices 12 and 13 are outboard motors having propeller-specification propulsion units 12A1 and 13A1 driven by, for example, an engine. In another example, the ship propulsion devices 12 and 13 have an inboard unit having a propeller-specific propulsion unit driven by an engine, an inboard / outboard unit having a propeller-specific propulsion unit driven by an engine, and water driven by an engine. It may be a ship propulsion device having a jet-type propulsion unit, a pod drive type ship propulsion device driven by an engine, or the like.

In the example shown in FIGS. 1 and 2, the hull 11 includes a steering device 11A, a remote control device 11B, a remote control device 11C, and an operation unit 11D.
In another example, the hull 11 may not include the steering device 11A, the remote control device 11B, and the remote control device 11C.

In the example shown in FIGS. 1 and 2, the steering device 11A is a device that operates the steering actuators 12A2 and 13A2, and is, for example, a steering device having a steering wheel. By operating the steering device 11A, the ship operator can operate the steering actuators 12A2 and 13A2 to steer the ship 1.
The remote control device 11B is a device that receives an input operation for operating the propulsion unit 12A1, and has, for example, a remote control lever. The operator can change the magnitude and direction of the propulsive force generated by the propulsion unit 12A1 by operating the remote control device 11B. The remote control lever of the remote control device 11B includes a forward region in which the propulsion unit 12A1 generates a forward propulsive force for the ship 1, a reverse region in which the propulsion unit 12A1 generates a backward propulsive force for the ship 1, and a propulsion unit 12A1. Can be located in a neutral region that does not generate. The magnitude of the forward propulsive force of the ship 1 generated by the propulsion unit 12A1 changes according to the position of the remote control lever in the forward region. Further, the magnitude of the backward propulsive force of the ship 1 generated by the propulsion unit 12A1 changes according to the position of the remote control lever in the reverse region.

In the examples shown in FIGS. 1 and 2, the remote control device 11C is a device that receives an input operation for operating the propulsion unit 13A1, and is configured in the same manner as the remote control device 11B. That is, the operator can change the magnitude and direction of the propulsive force generated by the propulsion unit 13A1 by operating the remote control device 11C.
The operation unit 11D is a device that operates the propulsion units 12A1 and 13A1 and the steering actuators 12A2 and 13A2. Specifically, the operation unit 11D receives an input operation for operating the propulsion units 12A1 and 13A1 and the steering actuators 12A2 and 13A2. The operation unit 11D is provided separately from the steering device 11A and the remote controller devices 11B and 11C.
In the ship 1 of the first embodiment, the operation unit 11D is composed of a joystick having a lever.
By operating the steering device 11A (steering wheel) and the remote control devices 11B and 11C (remote lever), the operator can not only operate the propulsion units 12A1 and 13A1 and the steering actuators 12A2 and 13A2, but also the operation unit. The propulsion units 12A1 and 13A1 and the steering actuators 12A2 and 13A2 can also be operated by operating the 11D (joystick).

In the example shown in FIGS. 1 and 2, the control device 14 for the ship propulsion device has the propulsion unit 12A1 and the steering actuator 12A2 of the ship propulsion device 12 and the propulsion unit of the ship propulsion device 13 based on the input operation to the operation unit 11D. It controls 13A1 and the steering actuator 13A2. Specifically, the ship propulsion device control device 14 controls the magnitude and direction of the propulsive force of the ship 1 generated by the propulsion units 12A1, 13A1 and the steering actuators 12A2, 13A2 based on the input operation to the operation unit 11D. ..
Depending on the magnitude and direction of the propulsive force generated by the propulsion units 12A1, 13A1 and the steering actuators 12A2, 13A2, a rotational moment may be generated in the vessel 1. That is, the control device 14 for the ship propulsion device controls the propulsion units 12A1 and 13A1 and the steering actuators 12A2 and 13A2 based on the input operation to the operation unit 11D, so that the magnitude and direction of the rotational moment generated in the ship 1 are also determined. Control.

In the example shown in FIGS. 1 and 2, the ship propulsion device control device 14 includes a movement route calculation unit 14A, an elapsed time calculation unit 14B, and a propulsion force calculation unit 14C. The movement route calculation unit 14A calculates the movement route of the operation unit 11D. Specifically, the movement path calculation unit 14A calculates the movement path of the tip of the joystick lever based on the position of the joystick lever detected by a sensor (not shown) such as a microswitch.
The elapsed time calculation unit 14B calculates the elapsed time from the time when the operation unit 11D (the tip of the joystick lever) is moved to a certain position.
The propulsion force calculation unit 14C causes the ship propulsion devices 12 and 13 to generate propulsion based on the movement path of the operation unit 11D calculated by the movement route calculation unit 14A and the elapsed time calculated by the elapsed time calculation unit 14B. Calculate the force. Specifically, the propulsion force calculation unit 14C calculates a target value (control command value) of the propulsion force generated in the ship propulsion devices 12 and 13.
Specifically, the propulsion force calculation unit 14C is a propulsion unit based on the movement path of the tip of the joystick lever and the time (elapsed time) that the tip of the joystick lever remains located at a certain position. The magnitude and direction of the propulsive force of the ship 1 generated in the 12A1, 13A1 and the steering actuators 12A2, 13A2 are calculated.
That is, the control device 14 for the ship propulsion device has the propulsion units 12A1 and 13A1 so that the propulsion units 12A1 and 13A1 and the steering actuators 12A2 and 13A2 generate the propulsive force of the magnitude and direction calculated by the propulsion force calculation unit 14C. And the steering actuators 12A2 and 13A2 are controlled.

In the examples shown in FIGS. 1 and 2, the operation unit 11D is configured so that the lever of the operation unit 11D (joystick) can be tilted and the lever can rotate about the central axis of the lever.
When the operator rotates the lever clockwise around the central axis of the lever, the hull 11 of the control device 14 for the ship propulsion device turns clockwise (that is, the hull 11 turns clockwise on the spot). The propulsion units 12A1 and 13A1 and the steering actuators 12A2 and 13A2 are controlled so as to. On the other hand, when the operator rotates the lever counterclockwise around the central axis of the lever, the hull 11 of the ship propulsion device control device 14 turns counterclockwise (that is, the hull 11 turns counterclockwise). The propulsion units 12A1 and 13A1 and the steering actuators 12A2 and 13A2 are controlled so as to turn around on the spot. That is, when the operator rotates the lever around the central axis of the lever, the direction of the front portion 111 of the hull 11 changes.
Further, as will be described in detail later, when the operator tilts the lever, the ship propulsion device control device 14 moves the propulsion units 12A1, 13A1 and the hull 11 so as to maintain the attitude. It controls the steering actuators 12A2 and 13A2. That is, when the operator tilts the lever, the front portion 111 of the hull 11 and the rear portion 112 of the hull 11 are translated.

FIG. 3 shows the positions of the operation unit 11D in the ship 1 of the first embodiment (specifically, the positions P1 to P9 of the tip of the joystick lever, the clockwise rotation position (rotation position) P10 of the joystick lever, and , It is a figure for demonstrating an example of the counterclockwise rotation position (rotation position) P11) of a joystick lever.
In the example shown in FIG. 3A, the lever of the operation unit 11D (joystick) is not tilted. Therefore, the operation unit 11D (specifically, the tip of the joystick lever) is located at the position (neutral position) P1. When the operation unit 11D (the tip of the lever of the joystick) is located at the position P1, the control device 14 for the ship propulsion device does not generate the propulsive force of the ship 1 in the propulsion units 12A1, 13A1 and the steering actuators 12A2, 13A2.
That is, the position P1 is basically a position where the ship propulsion devices 12 and 13 do not generate the propulsive force of the ship 1.

In the example shown in FIG. 3B, the lever of the joystick is tilted to the right. Therefore, the tip of the joystick lever is located at the position P2 on the right side of the position P1. When the tip of the lever of the joystick is located at the position P2, the ship propulsion device control device 14 generates a propulsive force for moving the ship 1 to the right in the propulsion units 12A1 and 13A1 and the steering actuators 12A2 and 13A2.
That is, the position P2 is a position where the ship propulsion devices 12 and 13 generate a propulsive force for moving the ship 1 to the right (specifically, translational movement).

In the example shown in FIG. 3C, the lever of the joystick is tilted forward to the right. Therefore, the tip of the lever of the joystick is located at the position P3 on the right front side of the position P1. When the tip of the lever of the joystick is located at the position P3, the control device 14 for the ship propulsion device moves the ship 1 to the propulsion units 12A1 and 13A1 and the steering actuators 12A2 and 13A2 in the left-right direction and the right forward direction forming an acute angle θ3. Generate propulsive force to make.
That is, the position P3 is a position where the ship propulsion devices 12 and 13 generate a propulsive force for moving the ship 1 forward to the right (translational movement).
In the example shown in FIG. 3D, the lever of the joystick is tilted backward to the right. Therefore, the tip of the joystick lever is located at the position P4 on the right rear side of the position P1. When the tip of the lever of the joystick is located at the position P4, the control device 14 for the ship propulsion device moves the ship 1 to the propulsion units 12A1 and 13A1 and the steering actuators 12A2 and 13A2 in the left-right direction and the right rearward direction forming an acute angle θ4. Generate propulsive force to make.
That is, the position P4 is a position where the ship propulsion devices 12 and 13 generate a propulsive force for moving the ship 1 backward to the right (translational movement).

In the example shown in FIG. 3 (E), the lever of the joystick is tilted to the left. Therefore, the tip of the joystick lever is located at the position P5 on the left side of the position P1. When the tip of the lever of the joystick is located at the position P5, the ship propulsion device control device 14 generates a propulsive force for moving the ship 1 to the left in the propulsion units 12A1 and 13A1 and the steering actuators 12A2 and 13A2.
That is, the position P5 is a position where the ship propulsion devices 12 and 13 generate a propulsive force for moving the ship 1 to the left (translational movement).

In the example shown in FIG. 3 (F), the lever of the joystick is tilted forward to the left. Therefore, the tip of the lever of the joystick is located at the position P6 on the left front side of the position P1. When the tip of the lever of the joystick is located at the position P6, the control device 14 for the ship propulsion device moves the ship 1 to the propulsion units 12A1 and 13A1 and the steering actuators 12A2 and 13A2 in the left-right direction and the left forward direction forming an acute angle θ6. Generate propulsive force to make.
That is, the position P6 is a position where the ship propulsion devices 12 and 13 generate a propulsive force for moving the ship 1 forward to the left (translational movement).
In the example shown in FIG. 3 (G), the lever of the joystick is tilted backward to the left. Therefore, the tip of the lever of the joystick is located at the position P7 on the left rear side of the position P1. When the tip of the lever of the joystick is located at the position P7, the control device 14 for the ship propulsion device moves the ship 1 to the propulsion units 12A1 and 13A1 and the steering actuators 12A2 and 13A2 in the left-right direction and the left rearward direction forming an acute angle θ7. Generate propulsive force to make.
That is, the position P7 is a position where the ship propulsion devices 12 and 13 generate a propulsive force for moving the ship 1 backward to the left (translational movement).

In the example shown in FIG. 3H, the lever of the joystick is tilted forward. Therefore, the tip of the lever of the joystick is located at the position P8 on the front side of the position P1. When the tip of the lever of the joystick is located at position P8, the ship propulsion device control device 14 causes the propulsion units 12A1 and 13A1 and the steering actuators 12A2 and 13A2 to generate a propulsive force for moving the ship 1 forward.
That is, the position P8 is a position where the ship propulsion devices 12 and 13 generate a propulsive force for moving (advancing) the ship 1 forward.
In the example shown in FIG. 3 (I), the lever of the joystick is tilted backward. Therefore, the tip of the joystick lever is located at the position P9 behind the position P1. When the tip of the lever of the joystick is located at position P9, the ship propulsion device control device 14 causes the propulsion units 12A1 and 13A1 and the steering actuators 12A2 and 13A2 to generate a propulsive force for moving the ship 1 backward.
That is, the position P9 is a position where the ship propulsion devices 12 and 13 generate a propulsive force for moving (reverse) the ship 1 backward.

In the example shown in FIG. 3 (J), the lever of the joystick is not tilted and is rotated clockwise. Therefore, the lever of the joystick is located at the clockwise rotation position (rotation position) P10. When the lever of the joystick is located at the rotation position P10, the ship propulsion device control device 14 controls the propulsion units 12A1, 13A1 and the steering actuators 12A2, 13A2 so that a clockwise rotation moment is generated on the ship 1. ..
That is, the rotation position P10 is a position where the ship propulsion devices 12 and 13 generate a propulsive force (propulsive force for turning the ship 1 clockwise) to turn the ship 1 to the right.
In the example shown in FIG. 3 (K), the lever of the joystick is not tilted and is rotated counterclockwise. Therefore, the lever of the joystick is located at the counterclockwise rotation position (rotation position) P11. When the lever of the joystick is located at the rotation position P11, the ship propulsion device control device 14 controls the propulsion units 12A1, 13A1 and the steering actuators 12A2, 13A2 so that a counterclockwise rotation moment is generated on the ship 1. To do.
That is, the rotation position P11 is a position where the ship propulsion devices 12 and 13 generate a propulsive force (propulsive force for turning the ship 1 counterclockwise) to turn the ship 1 counterclockwise.

When the operator does not operate the operation unit 11D (joystick), the tip of the lever of the joystick having the automatic return function is located at the position P1. The tip of the lever of the joystick can be positioned at positions P1 to P9, rotation positions P10, P11, and the like, depending on the operation of the operator.

FIG. 4 shows the ship of the first embodiment when the operation unit 11D is moved from the position P1 to the position P2 and maintained at the position P2, and then moved from the position P2 to the position P1 and maintained at the position P1. It is a figure for demonstrating the first example such as the target value of the propulsion force (the propulsion force generated by ship propulsion devices 12 and 13) calculated by the propulsion force calculation unit 14C of the control device 14 for a propulsion device.
In detail, FIG. 4A shows the relationship between the positions P1 and P2 of the operation unit 11D and time, and FIG. 4B shows the propulsive force calculation of the ship propulsion device control device 14 of the first embodiment. The relationship between the target value of the propulsive force calculated by the part 14C and the time is shown, and FIG. 4 (C) shows the relationship between the target value of the propulsive force calculated by the ship of the comparative example and the time.

In the example shown in FIG. 4, as shown in FIG. 4A, the operation unit 11D is located at the position P1 during the period before the time t1, and the operation unit 11D is moved from the position P1 to the position P2 at the time t1. The operation unit 11D is maintained at the position P2 during the period from time t1 to time t3. Then, at time t3, the operation unit 11D is moved from position P2 to position P1, and the operation unit 11D is maintained at position P1 during the period after time t3.

In the first example of the control device 14 for the ship propulsion device of the first embodiment, as shown in FIG. 4B, the propulsion force calculation unit 14C generates the ship propulsion devices 12 and 13 during the period before the time t1. Calculate zero as the target value of the driving force to be used. As a result, the ship propulsion devices 12 and 13 do not generate propulsive force, and the speed of the ship 1 is zero.
Next, during the period from time t1 to time t2, the target value of the propulsive force (the propulsive force generated by the ship propulsion devices 12 and 13) calculated by the propulsion force calculation unit 14C is from zero to the value F1, for example, a constant amount of change. Increases with. As a result, the propulsive force generated by the ship propulsion devices 12 and 13 gradually increases, and the speed of the ship 1 also gradually increases.
Next, during the period from time t2 to time t3, the target value of the propulsive force (the propulsive force generated by the ship propulsion devices 12 and 13) calculated by the propulsion force calculation unit 14C is maintained at the value F1. As a result, the propulsive force generated by the ship propulsion devices 12 and 13 is maintained at a constant value, and the speed of the ship 1 is also maintained at a constant value.
Next, during the period from time t3 to time t4, the target value of the propulsive force (the propulsive force generated by the ship propulsion devices 12 and 13) calculated by the propulsion force calculation unit 14C is from the value F1 to zero, for example, a constant amount of change. Decreases with. As a result, the propulsive force generated by the ship propulsion devices 12 and 13 gradually decreases, and the speed of the ship 1 also gradually decreases.
Next, during the period after time t4, the propulsion force calculation unit 14C calculates zero as the target value of the propulsion force generated by the ship propulsion devices 12 and 13. As a result, the ship propulsion devices 12 and 13 do not generate propulsive force, and the speed of the ship 1 is zero.

That is, in the example shown in FIG. 4B, the ship propulsion devices 12 and 13 have a small propulsive force (first) during the period from time t1 to time t2 when the operation unit 11D is moved from the position P1 to the position P2. Propulsion force) is generated, and then, during the period from time t2 to time t3, the ship propulsion devices 12 and 13 generate a second propulsion force (propulsion force having a value F1) larger than the first propulsion force.
That is, in the example shown in FIG. 4B, the propulsive force generated by the ship propulsion devices 12 and 13 does not suddenly change from zero to the value F1, but gradually changes. Therefore, it is possible to improve the riding comfort at the start of movement of the ship 1, and it is possible to suppress the possibility that the passengers will stagger at the start of movement of the ship 1.

Further, in the example shown in FIG. 4B, during the period from time t3 to time t4 when the operation unit 11D was moved from the position P2 to the position P1, the ship propulsion devices 12 and 13 were larger than zero and the second. A third propulsion force smaller than the propulsion force (propulsion force of the value F1) is generated, and then the ship propulsion devices 12 and 13 do not generate the propulsion force (that is, the ship propulsion devices 12 and 13) during the period after the time t4. The driving force generated is zero).
That is, in the example shown in FIG. 4B, the propulsive force generated by the ship propulsion devices 12 and 13 does not suddenly change from the value F1 to zero, but gradually changes. Therefore, it is possible to improve the riding comfort when the ship 1 is stopped, and it is possible to suppress the possibility that the passengers will stagger when the ship 1 is stopped.

In the ship of the comparative example, as shown in FIG. 4C, the target value of the propulsive force generated by the ship propulsion device is zero during the period before the time t1. As a result, the ship propulsion device does not generate propulsion and the speed of the ship is zero.
Then, at time t1, the target value of the propulsive force generated by the ship propulsion device rapidly increases from zero to the value F1. As a result, the propulsive force generated by the ship propulsion device increases sharply, and the speed of the ship also sharply increases.
Therefore, in the ship of the comparative example, the riding comfort at the start of movement of the ship is poor, and there is a risk that the passengers may stagger at the start of movement of the ship.

Further, in the ship of the comparative example, as shown in FIG. 4C, the target value of the propulsive force generated by the ship propulsion device is maintained at the value F1 during the period from time t1 to time t3. As a result, the propulsive force generated by the ship propulsion device is maintained at a constant value, and the speed of the ship is also maintained at a constant value.
Then, at time t3, the target value of the propulsive force generated by the ship propulsion device sharply decreases from the value F1 to zero. As a result, the propulsive force generated by the ship propulsion device sharply decreases, and the speed of the ship also sharply decreases.
Therefore, in the ship of the comparative example, the riding comfort when the ship is stopped is uncomfortable, and the passenger may stagger when the ship is stopped.

FIG. 5 shows the ship of the first embodiment when the operation unit 11D is moved from the position P1 to the position P2 and maintained at the position P2, and then moved from the position P2 to the position P1 and maintained at the position P1. It is a figure for demonstrating the 2nd example such as the target value of the propulsion force (the propulsion force generated by the ship propulsion devices 12 and 13) calculated by the propulsion force calculation unit 14C of the control device 14 for a propulsion device.
In detail, FIG. 5A shows the relationship between the positions P1 and P2 of the operation unit 11D and time, and FIG. 5B shows the propulsive force calculation of the ship propulsion device control device 14 of the first embodiment. The relationship between the target value of the propulsive force calculated by the part 14C and the time is shown.

In the example shown in FIG. 5, as shown in FIG. 5A, the operation unit 11D is located at the position P1 during the period before the time t1, and the operation unit 11D is moved from the position P1 to the position P2 at the time t1. The operation unit 11D is maintained at the position P2 during the period from time t1 to time t3. Then, at time t3, the operation unit 11D is moved from position P2 to position P1, and the operation unit 11D is maintained at position P1 during the period after time t3.

In the second example of the ship propulsion device control device 14 of the first embodiment, as shown in FIG. 5 (B), the ship propulsion devices 12 and 13 are generated in the propulsion force calculation unit 14C during the period before the time t1. Calculate zero as the target value of the driving force to be used. As a result, the ship propulsion devices 12 and 13 do not generate propulsive force, and the speed of the ship 1 is zero.
Next, during the period from time t1 to time t2, the propulsion force calculation unit 14C calculates a value F2 larger than zero and smaller than the value F1 as the target value of the propulsive force generated by the ship propulsion devices 12 and 13. As a result, the propulsive force generated by the ship propulsion devices 12 and 13 gradually increases at time t1 from the example shown in FIG. 4 (C), and the speed of the ship 1 also increases more slowly than the example shown in FIG. 4 (C). Increase to.
Next, during the period from time t2 to time t3, the propulsion force calculation unit 14C calculates the value F1 as the target value of the propulsion force generated by the ship propulsion devices 12 and 13. As a result, the propulsive force generated by the ship propulsion devices 12 and 13 gradually increases at time t2 to the same extent as the time t1, and the speed of the ship 1 also gradually increases to the same extent as the time t1.
Next, during the period from time t3 to time t4, the propulsion force calculation unit 14C calculates a value F2 larger than zero and smaller than the value F1 as the target value of the propulsive force generated by the ship propulsion devices 12 and 13. As a result, the propulsive force generated by the ship propulsion devices 12 and 13 gradually decreases at time t3 from the example shown in FIG. 4 (C), and the speed of the ship 1 also decreases more slowly than the example shown in FIG. 4 (C). Decreases to.
Next, during the period after time t4, the propulsion force calculation unit 14C calculates zero as the target value of the propulsion force generated by the ship propulsion devices 12 and 13. As a result, the propulsive force generated by the ship propulsion devices 12 and 13 gradually decreases at time t4 to the same extent as the time t3, and the speed of the ship 1 also gradually decreases to the same extent as the time t3.

That is, in the example shown in FIG. 5B, the ship propulsion devices 12 and 13 have a small propulsive force (value F2) during the period from time t1 to time t2 when the operation unit 11D is moved from the position P1 to the position P2. Then, during the period from time t2 to time t3, the ship propulsion devices 12 and 13 generate a propulsion force having a value F1 larger than a propulsion force having a value F2.
That is, in the example shown in FIG. 5B, the propulsive force generated by the ship propulsion devices 12 and 13 does not suddenly change from zero to the value F1, but changes in steps. Therefore, it is possible to improve the riding comfort at the start of movement of the ship 1, and it is possible to suppress the possibility that the passengers will stagger at the start of movement of the ship 1.

Further, in the example shown in FIG. 5B, during the period from time t3 to time t4 when the operation unit 11D was moved from the position P2 to the position P1, the ship propulsion devices 12 and 13 had a value F1 larger than zero. F2 propulsion force is generated, and then the ship propulsion devices 12 and 13 do not generate propulsion force during the period after time t4 (that is, the propulsion force generated by ship propulsion devices 12 and 13 is It is zero).
That is, in the example shown in FIG. 5B, the propulsive force generated by the ship propulsion devices 12 and 13 does not suddenly change from the value F1 to zero, but changes in steps. Therefore, it is possible to improve the riding comfort when the ship 1 is stopped, and it is possible to suppress the possibility that the passengers will stagger when the ship 1 is stopped.

In the first example of the ship propulsion device control device 14 of the first embodiment, the operation unit 11D is moved from the position P1 to the position P3 and maintained at the position P3, and then moved from the position P3 to the position P1. When the propulsion force calculation unit 14C is maintained at the position P1, the ship propulsion is carried out so that the propulsion force generated by the ship propulsion devices 12 and 13 gradually changes, as in the example shown in FIG. 4 (B). The target value of the propulsive force generated by the devices 12 and 13 is calculated.
In the second example of the ship propulsion device control device 14 of the first embodiment, the operation unit 11D is moved from the position P1 to the position P3 and maintained at the position P3, and then moved from the position P3 to the position P1. When the propulsion force calculation unit 14C is maintained at the position P1, the propulsion force generated by the ship propulsion devices 12 and 13 changes stepwise in the same manner as in the example shown in FIG. 5 (B). The target value of the propulsive force generated by the propulsion devices 12 and 13 is calculated.

In the first example of the ship propulsion device control device 14 of the first embodiment, the operation unit 11D is moved from the position P1 to the position P4 and maintained at the position P4, and then moved from the position P4 to the position P1. When the propulsion force calculation unit 14C is maintained at the position P1, the ship propulsion is carried out so that the propulsion force generated by the ship propulsion devices 12 and 13 gradually changes, as in the example shown in FIG. 4 (B). The target value of the propulsive force generated by the devices 12 and 13 is calculated.
In the second example of the ship propulsion device control device 14 of the first embodiment, the operation unit 11D is moved from the position P1 to the position P4 and maintained at the position P4, and then moved from the position P4 to the position P1. When the propulsion force calculation unit 14C is maintained at the position P1, the propulsion force generated by the ship propulsion devices 12 and 13 changes stepwise in the same manner as in the example shown in FIG. 5 (B). The target value of the propulsive force generated by the propulsion devices 12 and 13 is calculated.

In the ship propulsion device control device 14 of the first embodiment, symmetrical control is executed on the right side and the left side of the ship 1.
That is, in the first example of the ship propulsion device control device 14 of the first embodiment, the operation unit 11D is moved from the position P1 to any of the positions P5 to P7 and maintained at the positions P5 to P7, and then is maintained. , When the propulsion force calculation unit 14C is moved from the positions P5 to P7 to the position P1 and maintained at the position P1, the ship propulsion devices 12 and 13 are generated as in the example shown in FIG. 4 (B). The target value of the propulsive force generated by the ship propulsion devices 12 and 13 is calculated so that the propulsive force to be generated gradually changes.
In the second example of the ship propulsion device control device 14 of the first embodiment, the operation unit 11D is moved from the position P1 to any of the positions P5 to P7 and maintained at the positions P5 to P7, and then the operation unit 11D thereof. When the propulsion force calculation unit 14C is moved from the positions P5 to P7 to the position P1 and maintained at the position P1, the propulsion force calculation unit 14C generates propulsion by the ship propulsion devices 12 and 13 as in the example shown in FIG. 5 (B). The target value of the propulsive force generated by the ship propulsion devices 12 and 13 is calculated so that the force changes in steps.

Further, in the control device 14 for the ship propulsion device of the first embodiment, the control shown in FIG. 4 (B) or FIG. 5 (B) is the control when the ship 1 moves in the front-rear direction (the ship 1 is moved forward or backward). It also applies to control).
That is, in the first example of the ship propulsion device control device 14 of the first embodiment, the operation unit 11D is moved from the position P1 to any of the positions P8 and P9 and maintained at the positions P8 and P9, and then is maintained. , When the propulsion force calculation unit 14C is moved from the positions P8 and P9 to the position P1 and maintained at the position P1, the ship propulsion devices 12 and 13 are generated as in the example shown in FIG. 4 (B). The target value of the propulsive force generated by the ship propulsion devices 12 and 13 is calculated so that the propulsive force to be generated gradually changes.
In the second example of the ship propulsion device control device 14 of the first embodiment, the operation unit 11D is moved from the position P1 to any of the positions P8 and P9 and maintained at the positions P8 and P9, and then the operation unit 11D thereof. When the propulsion force calculation unit 14C is moved from the positions P8 and P9 to the position P1 and maintained at the position P1, the propulsion force calculation unit 14C generates propulsion by the ship propulsion devices 12 and 13 as in the example shown in FIG. 5 (B). The target value of the propulsive force generated by the ship propulsion devices 12 and 13 is calculated so that the force changes in steps.

Further, in the control device 14 for the ship propulsion device of the first embodiment, the control shown in FIG. 4B or FIG. 5B is a control for turning the ship 1 clockwise (the ship 1 is turned clockwise on the spot). It also applies to turning control).
That is, in the first example of the ship propulsion device control device 14 of the first embodiment, the operation unit 11D is moved from the position P1 to the rotation position (rotation position) P10 and maintained at the rotation position P10. Next, when the rotation position P10 is moved to the position P1 and maintained at the position P1, the propulsion force calculation unit 14C causes the ship propulsion devices 12 and 13 to perform in the same manner as in the example shown in FIG. 4B. The target value of the propulsive force generated by the ship propulsion devices 12 and 13 is calculated so that the generated propulsive force gradually changes.
In the second example of the ship propulsion device control device 14 of the first embodiment, the operation unit 11D is moved from the position P1 to the rotation position P10 and maintained at the rotation position P10, and then the rotation position is maintained. When the propulsion force calculation unit 14C moves from P10 to the position P1 and is maintained at the position P1, the propulsion force generated by the ship propulsion devices 12 and 13 is stepped in the same manner as in the example shown in FIG. The target value of the propulsive force generated by the ship propulsion devices 12 and 13 is calculated so as to change the shape.

Further, in the control device 14 for the ship propulsion device of the first embodiment, the control shown in FIG. 4B or FIG. 5B is a control for turning the ship 1 counterclockwise (turning the ship 1 counterclockwise). It also applies to control to turn around on the spot).
That is, in the first example of the ship propulsion device control device 14 of the first embodiment, the operation unit 11D is moved from the position P1 to the rotation position (rotation position) P11 and maintained at the rotation position P11. Next, when the rotation position P11 is moved to the position P1 and maintained at the position P1, the propulsion force calculation unit 14C causes the ship propulsion devices 12 and 13 to perform in the same manner as in the example shown in FIG. 4 (B). The target value of the propulsive force generated by the ship propulsion devices 12 and 13 is calculated so that the generated propulsive force gradually changes.
In the second example of the ship propulsion device control device 14 of the first embodiment, the operation unit 11D is moved from the position P1 to the rotation position P11 and maintained at the rotation position P11, and then the rotation position is maintained. When the propulsion force calculation unit 14C moves from P11 to the position P1 and is maintained at the position P1, the propulsion force generated by the ship propulsion devices 12 and 13 is stepped in the same manner as in the example shown in FIG. 5 (B). The target value of the propulsive force generated by the ship propulsion devices 12 and 13 is calculated so as to change the shape.

In the first example or the second example of the ship propulsion device control device 14 of the first embodiment described above, the control shown from the time t3 to the time t4 in FIG. 4 (B) when the ship 1 is stopped (that is, the ship propulsion device). Control in which the propulsive force generated by 12 and 13 gradually decreases) or control shown from time t3 to time t4 in FIG. 5 (B) (that is, the propulsive force generated by ship propulsion devices 12 and 13 decreases stepwise. However, in the third example of the control device 14 for the ship propulsion device of the first embodiment, when the ship 1 is stopped, the control shown from time t3 to time t4 in FIG. 4B and FIG. 5 None of the controls shown in (B) from time t3 to time t4 or later may be executed. That is, in the third example of the control device 14 for the ship propulsion device of the first embodiment, the control shown after the time t3 in FIG. 4C is executed when the ship 1 is stopped.

FIG. 6 is a flowchart for explaining an example of the process executed by the ship propulsion device control device 14 of the first embodiment.
The process shown in FIG. 6A and the process shown in FIG. 6B start when the position of the operation unit 11D (joystick) changes, and are executed in parallel.
In the example shown in FIG. 6A, in step S11, the ship propulsion device control device 14 operates based on the position of the operation unit 11D (the position of the joystick lever) detected by a sensor such as a microswitch. It is determined whether or not the unit 11D has been moved from the position P1 to any of the positions P2 to P11. When the operation unit 11D is moved from the position P1 to any of the positions P2 to P11, the process proceeds to step S12. On the other hand, when the operation unit 11D is not moved from the position P1 to any of the positions P2 to P11, the routine shown in FIG. 6A ends.

In step S12, the first period (the period from time t1 to time t2) of the ship propulsion device control device 14 elapses from the time t1 when the operation unit 11D is moved from the position P1 to any of the positions P2 to P11. Determine if it has been done. When the first period (the period from time t1 to time t2) has not elapsed from the time t1 when the operation unit 11D is moved from the position P1 to any of the positions P2 to P11 (that is, the current time is the first period). If it is inside), the process proceeds to step S13. On the other hand, when the first period (the period from time t1 to time t2) has elapsed from the time t1 when the operation unit 11D is moved from the position P1 to any of the positions P2 to P11 (that is, the current time is If it is in the second period after the time t2), the process proceeds to step S14.

In step S13, the propulsion force calculation unit 14C of the ship propulsion device control device 14 sets a constant amount of change from zero to a value F1 with the passage of time as a target value of the propulsion force generated by the ship propulsion devices 12 and 13. Calculate the value that increases with, or the value that increases stepwise with the passage of time (calculate the first propulsive force). As a result, the ship propulsion device control device 14 propulses the ship during the first period (the period from time t1 to time t2) by gradually or stepwise increasing the first propulsive force with the passage of time. Generate in devices 12 and 13.
In step S14, the propulsion force calculation unit 14C of the ship propulsion device control device 14 continues to calculate a constant value (value F1) as a target value of the propulsion force generated by the ship propulsion devices 12 and 13 (second propulsion force). Continue to calculate). As a result, during the second period (the period from time t2 to time t3), the ship propulsion device control device 14 has a second propulsive force (a constant propulsive force corresponding to a constant value F1) larger than the first propulsive force. ) Is generated in the ship propulsion devices 12 and 13.

In the example shown in FIG. 6B, in step S21, the ship propulsion device control device 14 determines whether or not the operation unit 11D has been moved from any of the positions P2 to P11 to the position P1. When the operation unit 11D is moved to the position P1 from any of the positions P2 to P11, the process proceeds to step S22. On the other hand, if the operation unit 11D has not been moved from any of the positions P2 to P11 to the position P1, the routine shown in FIG. 6B ends.

In step S22, the third period (the period from time t3 to time t4) of the ship propulsion device control device 14 elapses from the time t3 when the operation unit 11D is moved from any of the positions P2 to P11 to the position P1. Determine if it has been done. When the third period (the period from time t3 to time t4) has not elapsed from the time t3 when the operation unit 11D is moved from any of the positions P2 to P11 to the position P1 (that is, the current time is the third period). If it is inside), the process proceeds to step S23. On the other hand, when the third period (the period from time t3 to time t4) has elapsed from the time t3 when the operation unit 11D is moved from any of the positions P2 to P11 to the position P1 (that is, the current time is If it is in the fourth period after the time t4), the process proceeds to step S24.

In step S23, the propulsion force calculation unit 14C of the ship propulsion device control device 14 sets a constant amount of change from the value F1 to zero as a target value of the propulsion force generated by the ship propulsion devices 12 and 13. Calculate the value that decreases with, or the value that decreases stepwise with the passage of time (calculate the third propulsive force). As a result, the control device 14 for the ship propulsion device has a third propulsive force (from zero) that gradually or stepwise decreases with the passage of time during the third period (period from time t3 to time t4). A third propulsion force (largely smaller than the second propulsion force) is generated in the ship propulsion devices 12 and 13.
In step S24, the propulsion force calculation unit 14C of the ship propulsion device control device 14 continues to calculate zero as the target value of the propulsion force generated by the ship propulsion devices 12 and 13 (continues to calculate the propulsion force zero). As a result, the ship propulsion device control device 14 does not generate propulsive force in the ship propulsion devices 12 and 13 during the fourth period (period after time t4).

<Second Embodiment>
Hereinafter, a second embodiment of the ship propulsion device control device, the ship propulsion device control method, and the program of the present invention will be described.
The ship propulsion device control device 14 of the second embodiment is configured in the same manner as the ship propulsion device control device 14 of the first embodiment described above, except for the points described later. Therefore, according to the ship propulsion device control device 14 of the second embodiment, the same effect as that of the ship propulsion device control device 14 of the first embodiment described above can be obtained except for the points described later.

FIG. 7 is a diagram showing an example of a ship 1 to which the control device 14 for a ship propulsion device of the second embodiment is applied. FIG. 8 is a functional block diagram of the main part of the ship 1 shown in FIG.
As described above, in the example shown in FIGS. 1 and 2, the hull 11 includes a steering device 11A, a remote control device 11B, a remote control device 11C, and an operation unit 11D.
On the other hand, in the example shown in FIGS. 7 and 8, the hull 11 includes a steering device 11A, a remote control device 11B, a remote control device 11C, an operation unit 11D, and a first period setting unit 11E. The first period setting unit 11E requests, for example, a change in the length of the first period (the period from time t1 (see FIGS. 4 and 5) to time t2 (see FIGS. 4 and 5)) by the operator (specifically). Accepts extension requests or shortening requests).
In another example, the hull 11 may not include the steering device 11A, the remote control device 11B, and the remote control device 11C.

As described above, in the examples shown in FIGS. 1 and 2, the ship propulsion device control device 14 includes a movement route calculation unit 14A, an elapsed time calculation unit 14B, and a propulsion force calculation unit 14C.
On the other hand, in the examples shown in FIGS. 7 and 8, the ship propulsion device control device 14 includes a movement route calculation unit 14A, an elapsed time calculation unit 14B, a propulsion force calculation unit 14C, and a first period length change unit 14D. And have.
The first period length changing unit 14D changes the length of the first period (the period from time t1 to time t2). Specifically, when the first period setting unit 11E receives, for example, a request from the operator to extend the length of the first period, the first period length changing unit 14D extends the length of the first period. To do. On the other hand, when the first period setting unit 11E receives, for example, a request from the operator to shorten the length of the first period, the first period length changing unit 14D shortens the length of the first period.

FIG. 9 shows a propulsion force calculated by the propulsion force calculation unit 14C of the ship propulsion device control device 14 of the second embodiment when the operation unit 11D is moved from the position P1 to the position P2 and maintained at the position P2. It is a figure for demonstrating the 1st example such as the target value of (the propulsive force generated by ship propulsion devices 12 and 13).
In detail, FIG. 9A shows the relationship between the positions P1 and P2 of the operation unit 11D and the time, and FIG. 9B shows the length of the first period by the first period length changing unit 14D. The relationship between the target value of the propulsive force calculated by the propulsive force calculation unit 14C of the ship propulsion device control device 14 of the second embodiment and the time before being changed is shown. FIG. 9C shows the propulsive force calculated by the propulsive force calculation unit 14C of the ship propulsion device control device 14 of the second embodiment after the length of the first period is extended by the first period length changing unit 14D. 9 (D) shows the relationship between the target value and the time, and FIG. 9 (D) shows the control device for the ship propulsion device of the second embodiment after the length of the first period is shortened by the first period length changing unit 14D. The relationship between the target value of the propulsive force calculated by the propulsive force calculation unit 14C of 14 and the time is shown.

In the example shown in FIG. 9, as shown in FIG. 9A, the operation unit 11D is located at the position P1 during the period before the time t1, and the operation unit 11D is moved from the position P1 to the position P2 at the time t1. The operation unit 11D is maintained at the position P2 during the period after the time t1.

In the first example of the control device 14 for the ship propulsion device of the second embodiment, as shown in FIG. 9B, the propulsion force calculation unit 14C generates the ship propulsion devices 12 and 13 during the period before the time t1. Calculate zero as the target value of the driving force to be used. As a result, the ship propulsion devices 12 and 13 do not generate propulsive force, and the speed of the ship 1 is zero.
Next, during the first period from time t1 to time t2, the target value of the propulsive force (the propulsive force generated by the ship propulsion devices 12 and 13) calculated by the propulsion force calculation unit 14C is from zero to the value F1, for example, constant. It increases with the amount of change. As a result, the propulsive force generated by the ship propulsion devices 12 and 13 gradually increases, and the speed of the ship 1 also gradually increases.
Next, during the second period after the time t2, the target value of the propulsive force (the propulsive force generated by the ship propulsion devices 12 and 13) calculated by the propulsion force calculation unit 14C is maintained at the value F1. As a result, the propulsive force generated by the ship propulsion devices 12 and 13 is maintained at a constant value, and the speed of the ship 1 is also maintained at a constant value.

That is, in the example shown in FIG. 9B, the ship propulsion devices 12 and 13 have a small propulsive force during the first period from the time t1 to the time t2 when the operation unit 11D is moved from the position P1 to the position P2. The first propulsion force) is generated, and then, during the second period after the time t2, the ship propulsion devices 12 and 13 generate the second propulsion force (the propulsion force having a value F1) larger than the first propulsion force. ..
That is, in the example shown in FIG. 9B, the propulsive force generated by the ship propulsion devices 12 and 13 does not suddenly change from zero to the value F1, but gradually changes. Therefore, it is possible to improve the riding comfort at the start of movement of the ship 1, and it is possible to suppress the possibility that the passengers will stagger at the start of movement of the ship 1.

On the other hand, depending on the ship operator, there may be a ship operator who desires to increase the propulsive force generated by the ship propulsion devices 12 and 13 from zero to the value F1 more slowly than in the example shown in FIG. 9B.
In such a case, the first period setting unit 11E receives the request for extension of the length of the first period (the period from time t1 to time t2) by the ship operator, and the first period length changing unit 14D receives the first period length changing unit 14D. The length of the period is extended from "time t1 to time t2 (see FIG. 9 (B))" to "time t1 to time t2'(see FIG. 9 (C))".

In the example shown in FIG. 9C in which the length of the first period is extended, the propulsion force calculation unit 14C sets the target value of the propulsion force generated by the ship propulsion devices 12 and 13 during the period before the time t1. Calculate zero. As a result, the ship propulsion devices 12 and 13 do not generate propulsive force, and the speed of the ship 1 is zero.
Next, during the first period from time t1 to time t2'(that is, the first period after the extension), the target value of the propulsive force (the propulsive force generated by the ship propulsion devices 12 and 13) calculated by the propulsion force calculation unit 14C. Gradually increases from zero to the value F1 as compared to the example shown in FIG. 9 (B). As a result, the propulsive force generated by the ship propulsion devices 12 and 13 gradually increases, and the speed of the ship 1 also gradually increases.
Next, during the second period after the time t2', the target value of the propulsive force (the propulsive force generated by the ship propulsion devices 12 and 13) calculated by the propulsion force calculation unit 14C is maintained at the value F1. As a result, the propulsive force generated by the ship propulsion devices 12 and 13 is maintained at a constant value, and the speed of the ship 1 is also maintained at a constant value.

That is, in the example shown in FIG. 9C, the ship is propelled during the first period (first period after extension) from the time t1 to the time t2'when the operation unit 11D is moved from the position P1 to the position P2. The devices 12 and 13 generate a small propulsion force (first propulsion force), and then during the second period after time t2', the ship propulsion devices 12 and 13 generate a second propulsion force larger than the first propulsion force. (Propulsive force of value F1) is generated.
That is, in the example shown in FIG. 9C, the propulsive force generated by the ship propulsion devices 12 and 13 gradually increases from zero to the value F1 as compared with the example shown in FIG. 9B. Therefore, the possibility that the passengers may stagger at the start of movement of the ship 1 can be suppressed as compared with the example shown in FIG. 9B.

Further, depending on the ship operator, there may be a ship operator who desires to increase the propulsive force generated by the ship propulsion devices 12 and 13 from zero to the value F1 more quickly than in the example shown in FIG. 9B.
In such a case, the first period setting unit 11E receives the request for shortening the length of the first period (the period from time t1 to time t2) by the ship operator, and the first period length changing unit 14D receives the first period length changing unit 14D. The length of the period is shortened from "time t1 to time t2 (see FIG. 9 (B))" to "time t1 to time t2" (see FIG. 9 (D)).

In the example shown in FIG. 9D in which the length of the first period is shortened, the propulsion force calculation unit 14C sets the target value of the propulsion force generated by the ship propulsion devices 12 and 13 during the period before the time t1. Calculate zero. As a result, the ship propulsion devices 12 and 13 do not generate propulsive force, and the speed of the ship 1 is zero.
Next, during the first period of "time t1 to time t2" (that is, the first period after shortening), the target value of the propulsive force (the propulsive force generated by the ship propulsion devices 12 and 13) calculated by the propulsion force calculation unit 14C. Increases from zero to the value F1 more rapidly than in the example shown in FIG. 9B. As a result, the propulsive force generated by the ship propulsion devices 12 and 13 increases, and the speed of the ship 1 also increases.
Next, during the second period after time t2 ", the target value of the propulsive force (the propulsive force generated by the ship propulsion devices 12 and 13) calculated by the propulsion force calculation unit 14C is maintained at the value F1. The propulsive force generated by the ship propulsion devices 12 and 13 is maintained at a constant value, and the speed of the ship 1 is also maintained at a constant value.

That is, in the example shown in FIG. 9D, the ship is propelled during the first period (first period after shortening) from the time t1 to the time t2 ”when the operation unit 11D is moved from the position P1 to the position P2. Devices 12 and 13 generate a small propulsion force (first propulsion force), and then during the second period after time t2 ", the ship propulsion devices 12 and 13 generate a second propulsion force larger than the first propulsion force. (Propulsive force of value F1) is generated.
That is, in the example shown in FIG. 9D, the propulsive force generated by the ship propulsion devices 12 and 13 increases from zero to the value F1 more rapidly than in the example shown in FIG. 9B. Therefore, it is possible to suppress the possibility that the passengers may stagger at the start of movement of the ship 1 while satisfying the demands of the ship operator.

FIG. 10 shows a propulsion force calculated by the propulsion force calculation unit 14C of the ship propulsion device control device 14 of the second embodiment when the operation unit 11D is moved from the position P1 to the position P2 and maintained at the position P2. It is a figure for demonstrating the 2nd example such as the target value of (the propulsive force generated by ship propulsion devices 12 and 13).
In detail, FIG. 10 (A) shows the relationship between the positions P1 and P2 of the operation unit 11D and the time, and FIG. 10 (B) shows the length of the first period by the first period length changing unit 14D. The relationship between the target value of the propulsive force calculated by the propulsive force calculating unit 14C of the ship propulsion device control device 14 of the second embodiment and the time before being changed is shown. FIG. 10C shows the propulsive force calculated by the propulsive force calculation unit 14C of the ship propulsion device control device 14 of the second embodiment after the length of the first period is extended by the first period length changing unit 14D. 10 (D) shows the relationship between the target value and the time, and FIG. 10 (D) shows the control device for the ship propulsion device of the second embodiment after the length of the first period is shortened by the first period length changing unit 14D. The relationship between the target value of the propulsive force calculated by the propulsive force calculation unit 14C of 14 and the time is shown.

In the example shown in FIG. 10, as shown in FIG. 10A, the operation unit 11D is located at the position P1 during the period before the time t1, and the operation unit 11D is moved from the position P1 to the position P2 at the time t1. The operation unit 11D is maintained at the position P2 during the period after the time t1.

In the second example of the control device 14 for the ship propulsion device of the second embodiment, as shown in FIG. 10B, the propulsion force calculation unit 14C generates the ship propulsion devices 12 and 13 during the period before the time t1. Calculate zero as the target value of the driving force to be used. As a result, the ship propulsion devices 12 and 13 do not generate propulsive force, and the speed of the ship 1 is zero.
Next, during the first period from time t1 to time t2, the propulsion force calculation unit 14C calculates a value F2 larger than zero and smaller than the value F1 as the target value of the propulsive force generated by the ship propulsion devices 12 and 13. As a result, the propulsive force generated by the ship propulsion devices 12 and 13 gradually increases at time t1 from the example shown in FIG. 4 (C), and the speed of the ship 1 also increases more slowly than the example shown in FIG. 4 (C). Increase to.
Next, during the second period after the time t2, the propulsion force calculation unit 14C calculates the value F1 as the target value of the propulsion force generated by the ship propulsion devices 12 and 13. As a result, the propulsive force generated by the ship propulsion devices 12 and 13 gradually increases at time t2 to the same extent as the time t1, and the speed of the ship 1 also gradually increases to the same extent as the time t1.

That is, in the example shown in FIG. 10B, during the first period from time t1 to time t2 when the operation unit 11D was moved from position P1 to position P2, the ship propulsion devices 12 and 13 were small first propulsion. A force (propulsive force of value F2) is generated, and then during the second period after time t2, the ship propulsion devices 12 and 13 have a second propulsive force (propulsive force of value F1) larger than the first propulsive force. Occurs.
That is, in the example shown in FIG. 10B, the propulsive force generated by the ship propulsion devices 12 and 13 does not suddenly change from zero to the value F1, but changes in steps. Therefore, it is possible to improve the riding comfort at the start of movement of the ship 1, and it is possible to suppress the possibility that the passengers will stagger at the start of movement of the ship 1.

On the other hand, depending on the ship operator, as the first period in which the ship propulsion devices 12 and 13 generate a small first propulsion force (propulsion force having a value of F2), a first period longer than the example shown in FIG. 10B is desired. There can also be ship operators.
In such a case, the first period setting unit 11E receives the request for extension of the length of the first period (the period from time t1 to time t2) by the ship operator, and the first period length changing unit 14D receives the first period length changing unit 14D. The length of the period is extended from "time t1 to time t2 (see FIG. 10 (B))" to "time t1 to time t2'(see FIG. 10 (C))".

In the example shown in FIG. 10C in which the length of the first period is extended, the propulsion force calculation unit 14C sets the target value of the propulsion force generated by the ship propulsion devices 12 and 13 during the period before the time t1. Calculate zero. As a result, the ship propulsion devices 12 and 13 do not generate propulsive force, and the speed of the ship 1 is zero.
Next, during the first period from time t1 to time t2'(that is, the first period after the extension), the propulsion force calculation unit 14C sets the target value of the propulsive force generated by the ship propulsion devices 12 and 13 to be larger than zero. , A value F2 smaller than the value F1 is calculated.
Next, during the second period after the time t2', the propulsion force calculation unit 14C calculates the value F1 as the target value of the propulsion force generated by the ship propulsion devices 12 and 13.

That is, in the example shown in FIG. 10C, the ship is propelled during the first period (first period after extension) from the time t1 to the time t2'when the operation unit 11D is moved from the position P1 to the position P2. The devices 12 and 13 generate a small propulsion force (first propulsion force), and then during the second period after time t2', the ship propulsion devices 12 and 13 generate a second propulsion force larger than the first propulsion force. (Propulsive force of value F1) is generated.
That is, in the example shown in FIG. 10 (C), since the first period is longer than the example shown in FIG. 10 (B), the propulsive force generated by the ship propulsion devices 12 and 13 is larger than that in the example shown in FIG. 10 (B). Also gradually increases. Therefore, the possibility that the passengers may stagger at the start of movement of the ship 1 can be suppressed as compared with the example shown in FIG. 10B.

Further, depending on the ship operator, there may be a ship operator who desires to increase the propulsive force generated by the ship propulsion devices 12 and 13 more quickly than in the example shown in FIG. 10 (B).
In such a case, the first period setting unit 11E receives the request for shortening the length of the first period (the period from time t1 to time t2) by the ship operator, and the first period length changing unit 14D receives the first period length changing unit 14D. The length of the period is shortened from "time t1 to time t2 (see FIG. 10 (B))" to "time t1 to time t2" (see FIG. 10 (D)).

In the example shown in FIG. 10 (D) in which the length of the first period is shortened, the propulsion force calculation unit 14C sets the target value of the propulsion force generated by the ship propulsion devices 12 and 13 during the period before the time t1. Calculate zero. As a result, the ship propulsion devices 12 and 13 do not generate propulsive force, and the speed of the ship 1 is zero.
Next, during the first period of "time t1 to time t2" (that is, the first period after shortening), the propulsion force calculation unit 14C sets the target value of the propulsion force generated by the ship propulsion devices 12 and 13 to be larger than zero. , A value F2 smaller than the value F1 is calculated.
Next, during the second period after the time t2 ", the propulsion force calculation unit 14C calculates the value F1 as the target value of the propulsion force generated by the ship propulsion devices 12 and 13.

That is, in the example shown in FIG. 10D, the ship is propelled during the first period (first period after shortening) from the time t1 to the time t2 ”when the operation unit 11D is moved from the position P1 to the position P2. Devices 12 and 13 generate a small propulsion force (first propulsion force), and then during the second period after time t2 ", the ship propulsion devices 12 and 13 generate a second propulsion force larger than the first propulsion force. (Propulsive force of value F1) is generated.
That is, in the example shown in FIG. 10 (D), the propulsive force generated by the ship propulsion devices 12 and 13 increases from zero to the value F1 more rapidly than in the example shown in FIG. 10 (B). Therefore, it is possible to suppress the possibility that the passengers may stagger at the start of movement of the ship 1 while satisfying the demands of the ship operator.

<Third Embodiment>
Hereinafter, a third embodiment of the ship propulsion device control device, the ship propulsion device control method, and the program of the present invention will be described.
The ship propulsion device control device 14 of the third embodiment is configured in the same manner as the ship propulsion device control device 14 of the first embodiment described above, except for the points described later. Therefore, according to the ship propulsion device control device 14 of the third embodiment, the same effect as that of the ship propulsion device control device 14 of the first embodiment described above can be obtained except for the points described later.

FIG. 11 is a diagram showing an example of a ship 1 to which the control device 14 for a ship propulsion device of the third embodiment is applied.
As described above, in the example shown in FIG. 1, the hull 11 includes a steering device 11A, a remote control device 11B, a remote control device 11C, and an operation unit 11D.
On the other hand, in the example shown in FIG. 11, the hull 11 includes a steering device 11A, a remote control device 11B, a remote control device 11C, an operation unit 11D, and a mode setting unit 11F. The mode setting unit 11F accepts, for example, the operator's selection of either a first mode (slow start mode) or a second mode (quick start mode).
In another example, the hull 11 may not include the steering device 11A, the remote control device 11B, and the remote control device 11C.

FIG. 12 shows the propulsion force calculated by the propulsion force calculation unit 14C of the ship propulsion device control device 14 of the third embodiment when the operation unit 11D is moved from the position P1 to the position P2 and maintained at the position P2. It is a figure for demonstrating the 1st example such as the target value of (the propulsive force generated by ship propulsion devices 12 and 13).
In detail, FIG. 12A shows the relationship between the positions P1 and P2 of the operation unit 11D and the time, and FIG. 12B shows the mode setting unit 11F selecting the first mode (slow start mode). The relationship between the time and the target value of the propulsive force calculated by the propulsive force calculation unit 14C of the ship propulsion device control device 14 of the third embodiment when the reception is received is shown, and FIG. 12 (C) shows the mode setting unit. When the 11th floor accepts the selection of the second mode (quick start mode), the relationship between the target value of the propulsive force calculated by the propulsive force calculation unit 14C of the control device 14 for the ship propulsion device 14 of the third embodiment and the time. Shown.

In the example shown in FIG. 12, as shown in FIG. 12A, the operation unit 11D is located at the position P1 during the period before the time t1, and the operation unit 11D is moved from the position P1 to the position P2 at the time t1. The operation unit 11D is maintained at the position P2 during the period after the time t1.

In the first example of the ship propulsion device control device 14 of the third embodiment, when the mode setting unit 11F accepts the selection of the first mode (slow start mode), as shown in FIG. 12B, the time t1 During the previous period, the propulsion force calculation unit 14C calculates zero as the target value of the propulsion force generated by the ship propulsion devices 12 and 13. As a result, the ship propulsion devices 12 and 13 do not generate propulsive force, and the speed of the ship 1 is zero.
Next, during the first period from time t1 to time t2, the target value of the propulsive force (the propulsive force generated by the ship propulsion devices 12 and 13) calculated by the propulsion force calculation unit 14C is from zero to the value F1, for example, constant. It increases with the amount of change. As a result, the propulsive force generated by the ship propulsion devices 12 and 13 gradually increases, and the speed of the ship 1 also gradually increases.
Next, during the second period after the time t2, the target value of the propulsive force (the propulsive force generated by the ship propulsion devices 12 and 13) calculated by the propulsion force calculation unit 14C is maintained at the value F1. As a result, the propulsive force generated by the ship propulsion devices 12 and 13 is maintained at a constant value, and the speed of the ship 1 is also maintained at a constant value.

That is, in the example shown in FIG. 12B, the ship propulsion devices 12 and 13 have a small propulsive force during the first period from time t1 to time t2 when the operation unit 11D is moved from the position P1 to the position P2. The first propulsion force) is generated, and then, during the second period after the time t2, the ship propulsion devices 12 and 13 generate the second propulsion force (the propulsion force having a value F1) larger than the first propulsion force. ..
That is, in the example shown in FIG. 12B, the propulsive force generated by the ship propulsion devices 12 and 13 does not suddenly change from zero to the value F1, but gradually changes. Therefore, it is possible to improve the riding comfort at the start of movement of the ship 1, and it is possible to suppress the possibility that the passengers will stagger at the start of movement of the ship 1.

In the first example of the ship propulsion device control device 14 of the third embodiment, when the mode setting unit 11F accepts the selection of the second mode (quick start mode), as shown in FIG. 12C, the time t1 During the previous period, the propulsion force calculation unit 14C calculates zero as the target value of the propulsion force generated by the ship propulsion devices 12 and 13. As a result, the ship propulsion devices 12 and 13 do not generate propulsive force, and the speed of the ship 1 is zero.
Next, at time t1, the propulsion force calculation unit 14C calculates the value F1 as the target value of the propulsion force generated by the ship propulsion devices 12 and 13. As a result, the propulsive force generated by the ship propulsion devices 12 and 13 sharply increases from zero to the value F1, and the speed of the ship 1 also sharply increases.
Next, during the period after the time t1, the target value of the propulsive force (the propulsive force generated by the ship propulsion devices 12 and 13) calculated by the propulsion force calculation unit 14C is maintained at the value F1. As a result, the propulsive force generated by the ship propulsion devices 12 and 13 is maintained at a constant value, and the speed of the ship 1 is also maintained at a constant value.

That is, in the example shown in FIG. 12C, the ship propulsion devices 12 and 13 have a second propulsion force (value) larger than the first propulsion force at the time t1 when the operation unit 11D is moved from the position P1 to the position P2. The propulsive force of F1) is generated, and then the ship propulsion devices 12 and 13 continue to generate the second propulsive force during the period after the time t1.
That is, in the example shown in FIG. 12C, the propulsive force generated by the ship propulsion devices 12 and 13 suddenly changes from zero to the value F1. Therefore, it is possible to satisfy the demand of the ship operator who desires to rapidly increase the propulsive force generated by the ship propulsion devices 12 and 13 from zero to the value F1.

FIG. 13 shows the propulsion force calculated by the propulsion force calculation unit 14C of the ship propulsion device control device 14 of the third embodiment when the operation unit 11D is moved from the position P1 to the position P2 and maintained at the position P2. It is a figure for demonstrating the 2nd example such as the target value of (the propulsive force generated by ship propulsion devices 12 and 13).
In detail, FIG. 13A shows the relationship between the positions P1 and P2 of the operation unit 11D and the time, and FIG. 13B shows the mode setting unit 11F selecting the first mode (slow start mode). The relationship between the target value of the propulsive force calculated by the propulsive force calculation unit 14C of the ship propulsion device control device 14 of the third embodiment and the time when the object is received is shown, and FIG. 13 (C) shows the mode setting unit. When the 11th floor accepts the selection of the second mode (quick start mode), the relationship between the target value of the propulsive force calculated by the propulsive force calculation unit 14C of the control device 14 for the ship propulsion device 14 of the third embodiment and the time. Shown.

In the example shown in FIG. 13, as shown in FIG. 13A, the operation unit 11D is located at the position P1 during the period before the time t1, and the operation unit 11D is moved from the position P1 to the position P2 at the time t1. The operation unit 11D is maintained at the position P2 during the period after the time t1.

In the first example of the ship propulsion device control device 14 of the third embodiment, when the mode setting unit 11F accepts the selection of the first mode (slow start mode), as shown in FIG. 13B, the time t1 During the previous period, the propulsion force calculation unit 14C calculates zero as the target value of the propulsion force generated by the ship propulsion devices 12 and 13. As a result, the ship propulsion devices 12 and 13 do not generate propulsive force, and the speed of the ship 1 is zero.
Next, during the first period from time t1 to time t2, the propulsion force calculation unit 14C calculates a value F2 larger than zero and smaller than the value F1 as the target value of the propulsive force generated by the ship propulsion devices 12 and 13. As a result, the propulsive force generated by the ship propulsion devices 12 and 13 gradually increases at time t1 from the example shown in FIG. 13 (C), and the speed of the ship 1 also increases more slowly than the example shown in FIG. 13 (C). Increase to.
Next, during the second period after the time t2, the propulsion force calculation unit 14C calculates the value F1 as the target value of the propulsion force generated by the ship propulsion devices 12 and 13. As a result, the propulsive force generated by the ship propulsion devices 12 and 13 gradually increases at time t2 to the same extent as the time t1, and the speed of the ship 1 also gradually increases to the same extent as the time t1.

That is, in the example shown in FIG. 13 (B), during the first period from time t1 to time t2 when the operation unit 11D is moved from the position P1 to the position P2, the ship propulsion devices 12 and 13 are small first propulsion. A force (propulsive force of value F2) is generated, and then during the second period after time t2, the ship propulsion devices 12 and 13 have a second propulsive force (propulsive force of value F1) larger than the first propulsive force. Occurs.
That is, in the example shown in FIG. 13B, the propulsive force generated by the ship propulsion devices 12 and 13 does not suddenly change from zero to the value F1, but changes in steps. Therefore, it is possible to improve the riding comfort at the start of movement of the ship 1, and it is possible to suppress the possibility that the passengers will stagger at the start of movement of the ship 1.

In the second example of the ship propulsion device control device 14 of the third embodiment, when the mode setting unit 11F accepts the selection of the second mode (quick start mode), as shown in FIG. 13C, the time t1 During the previous period, the propulsion force calculation unit 14C calculates zero as the target value of the propulsion force generated by the ship propulsion devices 12 and 13. As a result, the ship propulsion devices 12 and 13 do not generate propulsive force, and the speed of the ship 1 is zero.
Next, at time t1, the propulsion force calculation unit 14C calculates the value F1 as the target value of the propulsion force generated by the ship propulsion devices 12 and 13. As a result, the propulsive force generated by the ship propulsion devices 12 and 13 sharply increases from zero to the value F1, and the speed of the ship 1 also sharply increases.
Next, during the period after the time t1, the target value of the propulsive force (the propulsive force generated by the ship propulsion devices 12 and 13) calculated by the propulsion force calculation unit 14C is maintained at the value F1. As a result, the propulsive force generated by the ship propulsion devices 12 and 13 is maintained at a constant value, and the speed of the ship 1 is also maintained at a constant value.

That is, in the example shown in FIG. 13C, the ship propulsion devices 12 and 13 have a second propulsion force (value) larger than the first propulsion force at the time t1 when the operation unit 11D is moved from the position P1 to the position P2. The propulsive force of F1) is generated, and then the ship propulsion devices 12 and 13 continue to generate the second propulsive force during the period after the time t1.
That is, in the example shown in FIG. 13C, the propulsive force generated by the ship propulsion devices 12 and 13 suddenly changes from zero to the value F1. Therefore, it is possible to satisfy the demand of the ship operator who desires to rapidly increase the propulsive force generated by the ship propulsion devices 12 and 13 from zero to the value F1.

<Fourth Embodiment>
Hereinafter, a fourth embodiment of the ship propulsion device control device, the ship propulsion device control method, and the program of the present invention will be described.
The ship propulsion device control device 14 of the fourth embodiment is configured in the same manner as the ship propulsion device control device 14 of the third embodiment described above, except for the points described later. Therefore, according to the ship propulsion device control device 14 of the fourth embodiment, the same effect as that of the ship propulsion device control device 14 of the third embodiment described above can be obtained except for the points described later.

As described above, in the example shown in FIG. 11, the hull 11 includes a steering device 11A, a remote control device 11B, a remote control device 11C, an operation unit 11D, and a mode setting unit 11F, and the mode setting unit 11F. Accepts, for example, the operator's choice of either a first mode (slow start mode) or a second mode (quick start mode).
On the other hand, the hull 11 of the ship 1 to which the control device 14 for the ship propulsion device of the fourth embodiment is applied is not provided with the mode setting unit 11F. In the ship 1 to which the control device 14 for the ship propulsion device of the fourth embodiment is applied, the first mode (slow start mode) and the second mode (quick start mode) can be switched according to the position of the operation unit 11D. ..

In the ship 1 to which the control device 14 for the ship propulsion device of the fourth embodiment is applied, the position P2 of the operation unit 11D where the ship propulsion devices 12 and 13 generate the propulsive force for translating the ship 1 to the right (FIG. 3 (FIG. 3). B)) includes a first region and a second region.
When the operation unit 11D is moved from the position P1 (see FIG. 3A) to the first region of the position P2, the movement amount of the operation unit 11D becomes equal to or less than a predetermined threshold value (first threshold value). On the other hand, when the operation unit 11D is moved from the position P1 to the second region of the position P2, the movement amount of the operation unit 11D becomes larger than the threshold value (first threshold value).
Specifically, when the operation unit 11D is located in the second region of the position P2, the operation unit 11D (the tip of the lever of the joystick) is in the state shown in FIG. 3 (B). On the other hand, when the operation unit 11D is located in the first region of the position P2, the tip of the lever of the joystick is located at the position indicated by the reference numeral “P1” in FIG. It is located between the position indicated by "P2".

In the ship 1 to which the control device 14 for the ship propulsion device of the fourth embodiment is applied, the operation unit 11D (the tip of the lever of the joystick) is moved from the position P1 to the second region of the position P2, and the position P2. When the control device 14 for the ship propulsion device is maintained in the second region of the above (slow start mode), the operation unit 11D moves from the position P1 to the position P2 as shown in FIG. 12 (B) or FIG. 13 (B). During the first period from time t1 to time t2 moved to the second region of the ship, the ship propulsion devices 12 and 13 generate a first propulsive force (a small propulsive force that translates the ship 1 to the right). Next, during the second period after time t2, a second propulsion force (a large propulsion force for translating the ship 1 to the right) (a propulsion force having a value of F1) larger than the first propulsion force is applied to the ship propulsion devices 12 and 13. To generate.
When the operation unit 11D (the tip of the joystick lever) is moved from the position P1 to the first region of the position P2 and maintained in the first region of the position P2 (quick start mode), for the ship propulsion device. As shown in FIG. 12C or FIG. 13C, the control device 14 sets the second propulsion force (ship 1) at the time t1 when the operation unit 11D is moved from the position P1 to the first region of the position P2. A large propulsion force for translational movement to the right) (propulsion force having a value of F1) is generated in the ship propulsion devices 12 and 13. Next, the second propulsion force is continuously generated in the ship propulsion devices 12 and 13 during the period after the time t1.

In the ship 1 to which the control device 14 for the ship propulsion device of the fourth embodiment is applied, the position P3 of the operation unit 11D where the ship propulsion devices 12 and 13 generate the propulsive force for translating the ship 1 forward to the right (FIG. 3). (See (C)) includes a first region and a second region.
When the operation unit 11D is moved from the position P1 (see FIG. 3A) to the first region of the position P3, the movement amount of the operation unit 11D becomes equal to or less than the threshold value (first threshold value). On the other hand, when the operation unit 11D is moved from the position P1 to the second region of the position P3, the movement amount of the operation unit 11D becomes larger than the threshold value (first threshold value).
Specifically, when the operation unit 11D is located in the second region of the position P3, the operation unit 11D (the tip of the lever of the joystick) is in the state shown in FIG. 3C. On the other hand, when the operation unit 11D is located in the first region of the position P3, the tip of the lever of the joystick is located at the position indicated by the reference numeral "P1" in FIG. 3A and the reference numeral "P1" in FIG. 3C. It is located between the position indicated by "P3".

In the ship 1 to which the control device 14 for the ship propulsion device of the fourth embodiment is applied, the operation unit 11D (the tip of the lever of the joystick) is moved from the position P1 to the second region of the position P3, and the position P3. When the control device 14 for the ship propulsion device is maintained in the second region of the above (slow start mode), the operation unit 11D moves from the position P1 to the position P3 as shown in FIG. 12 (B) or FIG. 13 (B). During the first period from time t1 to time t2 moved to the second region of the ship, the ship propulsion devices 12 and 13 generate a first propulsive force (a small propulsive force that translates the ship 1 forward to the right). .. Next, during the second period after time t2, a second propulsion force (a large propulsion force that translates the ship 1 forward to the right) (a propulsion force equivalent to the value F1) that is larger than the first propulsion force is applied to the ship propulsion device. It is generated at 12 and 13.
When the operation unit 11D (the tip of the joystick lever) is moved from the position P1 to the first region of the position P3 and maintained in the first region of the position P3 (quick start mode), for the ship propulsion device. As shown in FIG. 12 (C) or FIG. 13 (C), the control device 14 has a second propulsion force (ship 1) at time t1 when the operation unit 11D is moved from the position P1 to the first region of the position P3. A large propulsive force that translates forward to the right) (a propulsive force equivalent to the value F1) is generated in the ship propulsion devices 12 and 13. Next, the second propulsion force is continuously generated in the ship propulsion devices 12 and 13 during the period after the time t1.

In the ship 1 to which the control device 14 for the ship propulsion device of the fourth embodiment is applied, the position P4 of the operation unit 11D where the ship propulsion devices 12 and 13 generate the propulsive force for translating the ship 1 to the right rearward (FIG. 3). (See (D)) includes a first region and a second region.
When the operation unit 11D is moved from the position P1 (see FIG. 3A) to the first region of the position P4, the movement amount of the operation unit 11D becomes equal to or less than the threshold value (first threshold value). On the other hand, when the operation unit 11D is moved from the position P1 to the second region of the position P4, the movement amount of the operation unit 11D becomes larger than the threshold value (first threshold value).
Specifically, when the operation unit 11D is located in the second region of the position P4, the operation unit 11D (the tip of the lever of the joystick) is in the state shown in FIG. 3 (D). On the other hand, when the operation unit 11D is located in the first region of the position P4, the tip of the lever of the joystick is located at the position indicated by the reference numeral “P1” in FIG. 3 (A) and the reference numeral “P1” in FIG. 3 (D). It is located between the position indicated by "P4".

In the ship 1 to which the control device 14 for the ship propulsion device of the fourth embodiment is applied, the operation unit 11D (the tip of the lever of the joystick) is moved from the position P1 to the second region of the position P4, and the position P4. When the control device 14 for the ship propulsion device is maintained in the second region of the above (slow start mode), the operation unit 11D moves from the position P1 to the position P4 as shown in FIG. 12 (B) or FIG. 13 (B). During the first period from time t1 to time t2 moved to the second region of the ship, the ship propulsion devices 12 and 13 generate a first propulsive force (a small propulsive force that translates the ship 1 backward to the right). .. Next, during the second period after time t2, a second propulsion force (a large propulsion force that translates the ship 1 backward to the right) (a propulsion force equivalent to the value F1) that is larger than the first propulsion force is applied to the ship propulsion device. It is generated at 12 and 13.
When the operation unit 11D (the tip of the joystick lever) is moved from the position P1 to the first region of the position P4 and maintained in the first region of the position P4 (quick start mode), for the ship propulsion device. As shown in FIG. 12C or FIG. 13C, the control device 14 sets the second propulsion force (ship 1) at the time t1 when the operation unit 11D is moved from the position P1 to the first region of the position P4. A large propulsive force for translating backward to the right) (a propulsive force equivalent to the value F1) is generated in the ship propulsion devices 12 and 13. Next, the second propulsion force is continuously generated in the ship propulsion devices 12 and 13 during the period after the time t1.

In the ship propulsion device control device 14 of the fourth embodiment, symmetrical control is executed on the right side and the left side of the ship 1.
That is, in the ship 1 to which the control device 14 for the ship propulsion device of the fourth embodiment is applied, the operation unit 11D (the tip of the joystick lever) is moved from the position P1 to the second region of any of the positions P5 to P7. When moved and maintained in the second region of the positions P5 to P7 (slow start mode), the ship propulsion device control device 14 is as shown in FIG. 12 (B) or FIG. 13 (B). During the first period from time t1 to time t2 when the operation unit 11D was moved from position P1 to any second region of positions P5 to P7, the first propulsion force (ship 1 facing left, facing left forward or A small propulsion force that translates backward to the left) is generated in the ship propulsion devices 12 and 13. Then, during the second period after time t2, a second propulsive force larger than the first propulsive force (a large propulsive force that translates the ship 1 to the left, forward left, or backward left) (propulsive force equivalent to the value F1). ) Is generated in the ship propulsion devices 12 and 13.
When the operation unit 11D (the tip of the joystick lever) is moved from the position P1 to the first region of any of the positions P5 to P7 and maintained in the first region of the positions P5 to P7 (quick start). In the mode), the ship propulsion device control device 14 moves the operation unit 11D from the position P1 to the first region of any of the positions P5 to P7 as shown in FIG. 12 (C) or FIG. 13 (C). At the time t1, a second propulsive force (a large propulsive force that translates the ship 1 to the left, forward to the left, or backward to the left) (a propulsive force equivalent to the value F1) is generated in the ship propulsion devices 12 and 13. Next, the second propulsion force is continuously generated in the ship propulsion devices 12 and 13 during the period after the time t1.

Further, in the control device 14 for the ship propulsion device of the fourth embodiment, the control shown in FIG. 12 or 13 is also applied to the control when the ship 1 moves in the front-rear direction (control to move the ship 1 forward or backward). The ship.
In the ship 1 to which the control device 14 for the ship propulsion device of the fourth embodiment is applied, the position P8 of the operation unit 11D in which the ship propulsion devices 12 and 13 generate the propulsive force for advancing the ship 1 (see FIG. 3H). ) Includes a first region and a second region.
When the operation unit 11D is moved from the position P1 (see FIG. 3A) to the first region of the position P8, the movement amount of the operation unit 11D becomes equal to or less than the threshold value (first threshold value). On the other hand, when the operation unit 11D is moved from the position P1 to the second region of the position P8, the movement amount of the operation unit 11D becomes larger than the threshold value (first threshold value).
Specifically, when the operation unit 11D is located in the second region of the position P8, the operation unit 11D (the tip of the lever of the joystick) is in the state shown in FIG. 3 (H). On the other hand, when the operation unit 11D is located in the first region of the position P8, the tip of the lever of the joystick is located at the position indicated by the reference numeral “P1” in FIG. 3 (A) and the reference numeral “P1” in FIG. 3 (H). It is located between the position indicated by "P8".

In the ship 1 to which the control device 14 for the ship propulsion device of the fourth embodiment is applied, the operation unit 11D (the tip of the lever of the joystick) is moved from the position P1 to the second region of the position P8, and the position P8. When the control device 14 for the ship propulsion device is maintained in the second region of the above (slow start mode), the operation unit 11D is moved from the position P1 to the position P8 as shown in FIG. 12 (B) or FIG. 13 (B). During the first period from time t1 to time t2 moved to the second region of the above, the first propulsion force (small propulsion force for advancing the ship 1) is generated in the ship propulsion devices 12 and 13. Next, during the second period after time t2, a second propulsive force (a large propulsive force for advancing the ship 1) (a propulsive force equivalent to the value F1) larger than the first propulsive force is applied to the ship propulsion devices 12 and 13. generate.
When the operation unit 11D (the tip of the joystick lever) is moved from the position P1 to the first region of the position P8 and maintained in the first region of the position P8 (quick start mode), for the ship propulsion device. As shown in FIG. 12 (C) or FIG. 13 (C), the control device 14 has a second propulsion force (ship 1) at time t1 when the operation unit 11D is moved from the position P1 to the first region of the position P8. A large propulsive force to move forward) (a propulsive force equivalent to the value F1) is generated in the ship propulsion devices 12 and 13. Next, the second propulsion force is continuously generated in the ship propulsion devices 12 and 13 during the period after the time t1.

In the ship 1 to which the control device 14 for the ship propulsion device of the fourth embodiment is applied, the position P9 of the operation unit 11D in which the ship propulsion devices 12 and 13 generate the propulsive force for moving the ship 1 backward (see FIG. 3 (I)). ) Includes a first region and a second region.
When the operation unit 11D is moved from the position P1 (see FIG. 3A) to the first region of the position P9, the movement amount of the operation unit 11D becomes equal to or less than the threshold value (first threshold value). On the other hand, when the operation unit 11D is moved from the position P1 to the second region of the position P9, the movement amount of the operation unit 11D becomes larger than the threshold value (first threshold value).
Specifically, when the operation unit 11D is located in the second region of the position P9, the operation unit 11D (the tip of the joystick lever) is in the state shown in FIG. 3 (I). On the other hand, when the operation unit 11D is located in the first region of the position P9, the tip of the lever of the joystick is located at the position indicated by the reference numeral “P1” in FIG. 3 (A) and the reference numeral “P1” in FIG. 3 (I). It is located between the position indicated by "P9".

In the ship 1 to which the control device 14 for the ship propulsion device of the fourth embodiment is applied, the operation unit 11D (the tip of the lever of the joystick) is moved from the position P1 to the second region of the position P9, and the position P9. When the control device 14 for the ship propulsion device is maintained in the second region of the above (slow start mode), the operation unit 11D is moved from the position P1 to the position P9 as shown in FIG. 12 (B) or FIG. 13 (B). During the first period from time t1 to time t2 moved to the second region of the above, the first propulsion force (small propulsion force for moving the ship 1 backward) is generated in the ship propulsion devices 12 and 13. Next, during the second period after time t2, a second propulsive force (a large propulsive force for moving the ship 1 to move backward) (a propulsive force equivalent to the value F1) larger than the first propulsive force is applied to the ship propulsion devices 12 and 13. generate.
When the operation unit 11D (the tip of the joystick lever) is moved from the position P1 to the first region of the position P9 and maintained in the first region of the position P9 (quick start mode), for the ship propulsion device. As shown in FIG. 12 (C) or FIG. 13 (C), the control device 14 has a second propulsion force (ship 1) at time t1 when the operation unit 11D is moved from the position P1 to the first region of the position P9. A large thrust to move backward) (a propulsion force equivalent to the value F1) is generated in the ship propulsion devices 12 and 13. Next, the second propulsion force is continuously generated in the ship propulsion devices 12 and 13 during the period after the time t1.

Further, in the control device 14 for the ship propulsion device of the fourth embodiment, the control shown in FIG. 12 or 13 also serves as a control for turning the ship 1 clockwise (control for turning the ship 1 clockwise on the spot). Applies.
In the ship 1 to which the control device 14 for the ship propulsion device of the fourth embodiment is applied, the position P10 of the operation unit 11D in which the ship propulsion devices 12 and 13 generate the propulsive force for turning the ship 1 clockwise (FIG. 3 (FIG. 3). J)) includes a first region and a second region.
When the operation unit 11D is moved from the position P1 (see FIG. 3A) to the first region of the position P10, the movement amount of the operation unit 11D becomes equal to or less than the threshold value (first threshold value). On the other hand, when the operation unit 11D is moved from the position P1 to the second region of the position P10, the movement amount of the operation unit 11D becomes larger than the threshold value (first threshold value).
Specifically, when the operation unit 11D is located in the second region of the position P10, the operation unit 11D (joystick lever) is in the state shown in FIG. 3 (J). On the other hand, when the operation unit 11D is located in the first region of the position P10, the lever of the joystick has the position indicated by the reference numeral “P1” in FIG. 3 (A) and the reference numeral “P10” in FIG. 3 (H). It is located between the indicated position (that is, the amount of rotation of the joystick lever is smaller than the state shown in FIG. 3 (J)).

In the ship 1 to which the control device 14 for the ship propulsion device of the fourth embodiment is applied, the operation unit 11D (joystick lever) is moved from the position P1 to the second region of the position P10, and the second of the position P10. When the control device 14 for the ship propulsion device is maintained in the region (slow start mode), as shown in FIG. 12 (B) or FIG. 13 (B), the operation unit 11D moves from the position P1 to the second position P10. During the first period from time t1 to time t2 moved to the region, a first propulsive force (a small propulsive force that turns the ship 1 clockwise) is generated in the ship propulsion devices 12 and 13. Next, during the second period after time t2, the ship propulsion device 12 applies a second propulsion force (a large propulsion force that turns the ship 1 clockwise) (a propulsion force equivalent to the value F1) that is larger than the first propulsion force. , 13 to generate.
When the operation unit 11D (joystick lever) is moved from the position P1 to the first region of the position P10 and maintained in the first region of the position P10 (quick start mode), the control device 14 for the ship propulsion device 14 As shown in FIG. 12 (C) or FIG. 13 (C), the second propulsion force (vessel 1 clockwise) at time t1 when the operation unit 11D was moved from the position P1 to the first region of the position P10. A large propulsive force for turning) (a propulsive force equivalent to the value F1) is generated in the ship propulsion devices 12 and 13. Next, the second propulsion force is continuously generated in the ship propulsion devices 12 and 13 during the period after the time t1.

Further, in the control device 14 for the ship propulsion device of the first embodiment, the control shown in FIG. 12 or 13 is a control for turning the ship 1 counterclockwise (control for turning the ship 1 counterclockwise on the spot). Also applies to.
In the ship 1 to which the control device 14 for the ship propulsion device of the fourth embodiment is applied, the position P11 of the operation unit 11D (FIG. 3) in which the ship propulsion devices 12 and 13 generate the propulsive force for turning the ship 1 counterclockwise. (See (K)) includes a first region and a second region.
When the operation unit 11D is moved from the position P1 (see FIG. 3A) to the first region of the position P11, the movement amount of the operation unit 11D becomes equal to or less than the threshold value (first threshold value). On the other hand, when the operation unit 11D is moved from the position P1 to the second region of the position P11, the movement amount of the operation unit 11D becomes larger than the threshold value (first threshold value).
Specifically, when the operation unit 11D is located in the second region of the position P11, the operation unit 11D (joystick lever) is in the state shown in FIG. 3 (K). On the other hand, when the operation unit 11D is located in the first region of the position P11, the lever of the joystick has the position indicated by the reference numeral "P1" in FIG. 3 (A) and the reference numeral "P11" in FIG. It is located between the indicated position (that is, the amount of rotation of the joystick lever is smaller than the state shown in FIG. 3 (K)).

In the ship 1 to which the control device 14 for the ship propulsion device of the fourth embodiment is applied, the operation unit 11D (joystick lever) is moved from the position P1 to the second region of the position P11, and the second of the position P11. When the control device 14 for the ship propulsion device is maintained in the region (slow start mode), as shown in FIG. 12 (B) or FIG. 13 (B), the operation unit 11D moves from the position P1 to the second position P11. During the first period from time t1 to time t2 moved to the region, a first propulsion force (a small propulsion force for turning the ship 1 counterclockwise) is generated in the ship propulsion devices 12 and 13. Next, during the second period after time t2, a second propulsion force (a large propulsion force that turns the ship 1 counterclockwise) (a propulsion force equivalent to the value F1) that is larger than the first propulsion force is applied to the ship propulsion device. It is generated at 12 and 13.
When the operation unit 11D (joystick lever) is moved from the position P1 to the first region of the position P11 and maintained in the first region of the position P11 (quick start mode), the ship propulsion device control device 14 As shown in FIG. 12 (C) or FIG. 13 (C), the second propulsion force (counterclockwise rotation of the ship 1) occurs at time t1 when the operation unit 11D is moved from the position P1 to the first region of the position P11. A large propulsive force (a propulsive force equivalent to the value F1) is generated in the ship propulsion devices 12 and 13. Next, the second propulsion force is continuously generated in the ship propulsion devices 12 and 13 during the period after the time t1.
In the above example, the slow start mode is set when the operation unit 11D (the tip of the joystick lever) is maintained in the second area, and the quick start mode is set when the operation unit 11D is maintained in the first area. However, in another example, the slow start mode may be set when the operation unit 11D is maintained in the first region, and the quick start mode may be set when the operation unit 11D is maintained in the second region.

<Fifth Embodiment>
Hereinafter, a fifth embodiment of the ship propulsion device control device, the ship propulsion device control method, and the program of the present invention will be described.
The ship propulsion device control device 14 of the fifth embodiment is configured in the same manner as the ship propulsion device control device 14 of the third embodiment described above, except for the points described later. Therefore, according to the ship propulsion device control device 14 of the fifth embodiment, the same effect as that of the ship propulsion device control device 14 of the third embodiment described above can be obtained except for the points described later.

As described above, in the example shown in FIG. 11, the hull 11 includes a steering device 11A, a remote control device 11B, a remote control device 11C, an operation unit 11D, and a mode setting unit 11F, and the mode setting unit 11F. Accepts, for example, the operator's choice of either a first mode (slow start mode) or a second mode (quick start mode).
On the other hand, the hull 11 of the ship 1 to which the control device 14 for the ship propulsion device of the fifth embodiment is applied is not provided with the mode setting unit 11F. In the ship 1 to which the control device 14 for the ship propulsion device of the fifth embodiment is applied, the first mode (slow start mode) is performed according to the time required for the operation unit 11D to move from the position P1 to any of the positions P2 to P11. ) And the second mode (quick start mode) can be switched.

In FIGS. 12A and 13A, the start time of movement of the operation unit 11D from the position P1 to the position P2 and the end time of the movement of the operation unit 11D from the position P1 to the position P2 are the same time ( Although it is shown as time t1), in reality, the movement start time of the operation unit 11D from the position P1 to the position P2 and the movement end time of the operation unit 11D from the position P1 to the position P2 are different.
In the ship propulsion device control device 14 of the fifth embodiment, the time from the movement start time of the operation unit 11D from the position P1 to the position P2 to the movement end time of the operation unit 11D from the position P1 to the position P2 (operation unit). The movement time required for 11D) is used for switching between the first mode (slow start mode) and the second mode (quick start mode).

In the ship 1 to which the control device 14 for the ship propulsion device of the fifth embodiment is applied, the operation unit 11D (the tip of the lever of the joystick) is moved from the position P1 (see FIG. 3A) to the position P2 (FIG. 3 (FIG. 3). B)) and maintained at position P2, and the time required to move the operation unit 11D from position P1 to position P2 is longer than a predetermined threshold (second threshold) (slow). In the start mode), the control device 14 for the ship propulsion device is moved from the position P1 to the position P2 when the operation unit 11D is moved from the position P1 to the position P2 (movement end time) as shown in FIG. 12 (B) or FIG. 13 (B). During the first period from t1 to time t2, a first propulsive force (a small propulsive force that translates the ship 1 to the right) is generated in the ship propulsion devices 12 and 13. Next, during the second period after time t2, a second propulsion force (a large propulsion force for translating the ship 1 to the right) (a propulsion force having a value of F1) larger than the first propulsion force is applied to the ship propulsion devices 12 and 13. To generate.
When the operation unit 11D (the tip of the joystick lever) is moved from the position P1 to the position P2 and maintained at the position P2, the time required to move the operation unit 11D from the position P1 to the position P2 When it is equal to or less than the threshold value (second threshold value) (quick start mode), the control device 14 for the ship propulsion device has the operation unit 11D from the position P1 as shown in FIG. 12 (C) or FIG. 13 (C). A second propulsive force (a large propulsive force that translates the ship 1 to the right) (a propulsive force having a value F1) is generated in the ship propulsion devices 12 and 13 at the time (movement end time) t1 when the ship 1 is moved to the position P2. Next, the second propulsion force is continuously generated in the ship propulsion devices 12 and 13 during the period after the time t1.

In the ship 1 to which the control device 14 for the ship propulsion device of the fifth embodiment is applied, the operation unit 11D (the tip of the lever of the joystick) is moved from the position P1 (see FIG. 3A) to the position P3 (FIG. 3 (FIG. 3). When it is moved to (see C)) and maintained at the position P3, and the time required for the operation unit 11D to move from the position P1 to the position P3 is longer than the threshold (second threshold) (slow start mode). ), As shown in FIG. 12B or FIG. 13B, the ship propulsion device control device 14 starts from the time (movement end time) t1 when the operation unit 11D is moved from the position P1 to the position P3. During the first period up to time t2, a first propulsive force (a small propulsive force that translates the ship 1 forward to the right) is generated in the ship propulsion devices 12 and 13. Next, during the second period after time t2, a second propulsion force (a large propulsion force that translates the ship 1 forward to the right) (a propulsion force equivalent to the value F1) that is larger than the first propulsion force is applied to the ship propulsion device. It is generated at 12 and 13.
When the operation unit 11D (the tip of the joystick lever) is moved from the position P1 to the position P3 and maintained at the position P3, the time required to move the operation unit 11D from the position P1 to the position P3 When it is equal to or less than the threshold value (second threshold value) (quick start mode), in the ship propulsion device control device 14, the operation unit 11D is positioned from the position P1 as shown in FIG. 12 (C) or FIG. 13 (C). A second propulsive force (a large propulsive force that translates the ship 1 forward to the right) (a propulsive force equivalent to the value F1) is generated in the ship propulsion devices 12 and 13 at the time (movement end time) t1 when the ship is moved to P3. Let me. Next, the second propulsion force is continuously generated in the ship propulsion devices 12 and 13 during the period after the time t1.

In the ship 1 to which the control device 14 for the ship propulsion device of the fifth embodiment is applied, the operation unit 11D (the tip of the lever of the joystick) is moved from the position P1 (see FIG. 3A) to the position P4 (FIG. 3 (FIG. 3). When it is moved to (see D)) and maintained at the position P4, and the time required to move the operation unit 11D from the position P1 to the position P4 is longer than the threshold value (second threshold value) (slow start mode). ), As shown in FIG. 12B or FIG. 13B, the ship propulsion device control device 14 starts from the time (movement end time) t1 when the operation unit 11D is moved from the position P1 to the position P4. During the first period up to time t2, a first propulsive force (a small propulsive force that translates the ship 1 backward to the right) is generated in the ship propulsion devices 12 and 13. Next, during the second period after time t2, a second propulsion force (a large propulsion force that translates the ship 1 backward to the right) (a propulsion force equivalent to the value F1) that is larger than the first propulsion force is applied to the ship propulsion device. It is generated at 12 and 13.
When the operation unit 11D (the tip of the joystick lever) is moved from the position P1 to the position P4 and maintained at the position P4, the time required to move the operation unit 11D from the position P1 to the position P4. When it is equal to or less than the threshold value (second threshold value) (quick start mode), in the ship propulsion device control device 14, the operation unit 11D is positioned from the position P1 as shown in FIG. 12 (C) or FIG. 13 (C). A second propulsive force (a large propulsive force that translates the ship 1 backward to the right) (a propulsive force equivalent to the value F1) is generated in the ship propulsion devices 12 and 13 at the time (movement end time) t1 when the ship is moved to P4. Let me. Next, the second propulsion force is continuously generated in the ship propulsion devices 12 and 13 during the period after the time t1.

In the ship propulsion device control device 14 of the fifth embodiment, symmetrical control is executed on the right side and the left side of the ship 1.
That is, in the ship 1 to which the control device 14 for the ship propulsion device of the fifth embodiment is applied, the operation unit 11D (the tip of the joystick lever) is moved from the position P1 (see FIG. 3A) to the positions P5 to P7. In the case where the operation unit 11D is moved to any of the above positions and maintained at the positions P5 to P7, the time required for the operation unit 11D to move from the position P1 to the positions P5 to P7 is longer than the threshold value (second threshold value). In the case (slow start mode), in the ship propulsion device control device 14, the operation unit 11D is moved from the position P1 to the positions P5 to P7 as shown in FIG. 12 (B) or FIG. 13 (B). During the first period from time (movement end time) t1 to time t2, a first propulsive force (a small propulsive force that translates the ship 1 to the left, forward left, or backward left) is generated in the ship propulsion devices 12 and 13. Let me. Then, during the second period after time t2, a second propulsive force larger than the first propulsive force (a large propulsive force that translates the ship 1 to the left, forward left, or backward left) (propulsive force equivalent to the value F1). ) Is generated in the ship propulsion devices 12 and 13.
When the operation unit 11D (the tip of the joystick lever) is moved from the position P1 to any of the positions P5 to P7 and maintained at the positions P5 to P7, the position P1 to the position P5 to When the time required to move the operation unit 11D to P7 is equal to or less than the threshold value (second threshold value) (quick start mode), the ship propulsion device control device 14 is shown in FIG. 12 (C) or FIG. 13 (C). As described above, at the time (movement end time) t1 when the operation unit 11D is moved from the position P1 to the positions P5 to P7, the second propulsive force (a large propulsive force that translates the ship 1 to the left, forward left, or backward left) ) (Propulsion force equivalent to the value F1) is generated in the ship propulsion devices 12 and 13. Next, the second propulsion force is continuously generated in the ship propulsion devices 12 and 13 during the period after the time t1.

Further, in the control device 14 for the ship propulsion device of the fifth embodiment, the control shown in FIG. 12 or 13 is also applied to the control when the ship 1 moves in the front-rear direction (control to move the ship 1 forward or backward). The ship.
In the ship 1 to which the control device 14 for the ship propulsion device of the fifth embodiment is applied, the operation unit 11D (the tip of the lever of the joystick) is moved from the position P1 (see FIG. 3A) to the position P8 (FIG. 3 (FIG. 3). H)) and maintained at position P8, and the time required to move the operation unit 11D from position P1 to position P8 is longer than the threshold (second threshold) (slow start mode). ), As shown in FIG. 12 (B) or FIG. 13 (B), the ship propulsion device control device 14 starts from the time (movement end time) t1 when the operation unit 11D is moved from the position P1 to the position P8. During the first period up to time t2, the first propulsion force (small propulsion force for advancing the ship 1) is generated in the ship propulsion devices 12 and 13. Next, during the second period after time t2, a second propulsive force (a large propulsive force for advancing the ship 1) (a propulsive force equivalent to the value F1) larger than the first propulsive force is applied to the ship propulsion devices 12 and 13. generate.
When the operation unit 11D (the tip of the joystick lever) is moved from the position P1 to the position P8 and maintained at the position P8, the time required to move the operation unit 11D from the position P1 to the position P8 When it is equal to or less than the threshold value (second threshold value) (quick start mode), in the ship propulsion device control device 14, the operation unit 11D is positioned from the position P1 as shown in FIG. 12 (C) or FIG. 13 (C). At the time when the ship is moved to P8 (movement end time) t1, a second propulsive force (a large propulsive force for advancing the ship 1) (a propulsive force equivalent to the value F1) is generated in the ship propulsion devices 12 and 13. Next, the second propulsion force is continuously generated in the ship propulsion devices 12 and 13 during the period after the time t1.

In the ship 1 to which the control device 14 for the ship propulsion device of the fifth embodiment is applied, the operation unit 11D (the tip of the lever of the joystick) is moved from the position P1 (see FIG. 3A) to the position P9 (FIG. 3 (FIG. 3). I) Moved to (see) and maintained at position P9, and the time required to move the operation unit 11D from position P1 to position P9 is longer than the threshold (second threshold) (slow start mode) ), As shown in FIG. 12B or FIG. 13B, the ship propulsion device control device 14 starts from the time (movement end time) t1 when the operation unit 11D is moved from the position P1 to the position P9. During the first period up to time t2, the first propulsion force (small propulsion force for moving the ship 1 backward) is generated in the ship propulsion devices 12 and 13. Next, during the second period after time t2, a second propulsive force (a large propulsive force for moving the ship 1 to move backward) (a propulsive force equivalent to the value F1) larger than the first propulsive force is applied to the ship propulsion devices 12 and 13. generate.
When the operation unit 11D (the tip of the joystick lever) is moved from the position P1 to the position P9 and maintained at the position P9, the time required to move the operation unit 11D from the position P1 to the position P9 When it is equal to or less than the threshold value (second threshold value) (quick start mode), in the ship propulsion device control device 14, the operation unit 11D is positioned from the position P1 as shown in FIG. 12 (C) or FIG. 13 (C). A second propulsion force (a large propulsion force for moving the ship 1 backward) (a propulsion force equivalent to the value F1) is generated in the ship propulsion devices 12 and 13 at the time (movement end time) t1 when the ship is moved to P9. Next, the second propulsion force is continuously generated in the ship propulsion devices 12 and 13 during the period after the time t1.

Further, in the control device 14 for the ship propulsion device of the fifth embodiment, the control shown in FIG. 12 or 13 also serves as a control for turning the ship 1 clockwise (control for turning the ship 1 clockwise on the spot). Applies.
In the ship 1 to which the control device 14 for the ship propulsion device of the fifth embodiment is applied, the operation unit 11D (joystick lever) is moved from the position P1 (see FIG. 3 (A)) to the position P10 (see FIG. 3 (J)). ), And the time required to move the operation unit 11D from the position P1 to the position P10 is longer than a predetermined threshold (second threshold) (slow start mode). In addition, as shown in FIG. 12B or FIG. 13B, the ship propulsion device control device 14 starts from the time (movement end time) t1 when the operation unit 11D is moved from the position P1 to the position P10. During the first period up to t2, a first propulsive force (a small propulsive force that turns the ship 1 clockwise) is generated in the ship propulsion devices 12 and 13. Next, during the second period after time t2, the ship propulsion device 12 applies a second propulsion force (a large propulsion force that turns the ship 1 clockwise) (a propulsion force equivalent to the value F1) that is larger than the first propulsion force. , 13 to generate.
When the operation unit 11D (joystick lever) is moved from the position P1 to the position P10 and maintained at the position P10, the time required for the operation unit 11D to move from the position P1 to the position P10 is a threshold value (third). When it is less than or equal to (2 threshold values) (quick start mode), in the ship propulsion device control device 14, the operation unit 11D moves from the position P1 to the position P10 as shown in FIG. 12 (C) or FIG. 13 (C). At the set time (movement end time) t1, a second propulsive force (a large propulsive force for turning the ship 1 clockwise) (a propulsive force equivalent to the value F1) is generated in the ship propulsion devices 12 and 13. Next, the second propulsion force is continuously generated in the ship propulsion devices 12 and 13 during the period after the time t1.

Further, in the control device 14 for the ship propulsion device of the fifth embodiment, the control shown in FIG. 12 or 13 is a control for turning the ship 1 counterclockwise (control for turning the ship 1 counterclockwise on the spot). Also applies to.
In the ship 1 to which the control device 14 for the ship propulsion device of the fifth embodiment is applied, the operation unit 11D (joystick lever) is moved from the position P1 (see FIG. 3 (A)) to the position P11 (see FIG. 3 (K)). ), And the time required to move the operation unit 11D from the position P1 to the position P11 is longer than the threshold (second threshold) (slow start mode). As shown in FIG. 12B or FIG. 13B, the control device 14 for the ship propulsion device is from the time (movement end time) t1 to the time t2 when the operation unit 11D is moved from the position P1 to the position P11. During the first period of the above, the first propulsion force (small propulsion force for turning the ship 1 counterclockwise) is generated in the ship propulsion devices 12 and 13. Next, during the second period after time t2, a second propulsion force (a large propulsion force that turns the ship 1 counterclockwise) (a propulsion force equivalent to the value F1) that is larger than the first propulsion force is applied to the ship propulsion device. It is generated at 12 and 13.
When the operation unit 11D (joystick lever) is moved from the position P1 to the position P11 and maintained at the position P11, the time required for the operation unit 11D to move from the position P1 to the position P11 is a threshold value (third). When it is less than or equal to (2 threshold values) (quick start mode), in the ship propulsion device control device 14, the operation unit 11D moves from the position P1 to the position P11 as shown in FIG. 12 (C) or FIG. 13 (C). A second propulsive force (a large propulsive force for turning the ship 1 counterclockwise) (a propulsive force equivalent to the value F1) is generated in the ship propulsion devices 12 and 13 at the time (movement end time) t1. Next, the second propulsion force is continuously generated in the ship propulsion devices 12 and 13 during the period after the time t1.

<Sixth Embodiment>
Hereinafter, a sixth embodiment of the control device for a ship propulsion device, the control method for a ship propulsion device, and the program of the present invention will be described.
The ship 1 to which the control device 14 for the ship propulsion device of the sixth embodiment is applied is the ship 1 to which the control device 14 for the ship propulsion device 14 of the first to fifth embodiments described above is applied, except for the points described later. It is configured in the same way. Therefore, according to the ship 1 of the sixth embodiment, the same effect as that of the ship 1 of the first to fifth embodiments described above can be obtained except for the points described later.

The ship 1 (see FIGS. 1, 7 and 11) to which the ship propulsion device control device 14 of the first to fifth embodiments is applied is provided with two ship propulsion devices 12 and 13.
On the other hand, the ship 1 to which the control device 14 for the ship propulsion device of the sixth embodiment is applied is provided with three or more ship propulsion devices (not shown).

The control device 14 for the ship propulsion device of the sixth embodiment has a first propulsion force during the first period from time t1 to time t2 when the operation unit 11D is moved from the position P1 to any of the positions P2 to P11. Is generated in three or more ship propulsion devices, and then a second propulsion force larger than the first propulsion force is generated in three or more ship propulsion devices during the second period after time t2.

<7th Embodiment>
Hereinafter, a seventh embodiment of the ship propulsion device control device, the ship propulsion device control method, and the program of the present invention will be described.
The ship 1 to which the control device 14 for the ship propulsion device of the seventh embodiment is applied is the ship 1 to which the control device 14 for the ship propulsion device 14 of the first to fifth embodiments described above is applied, except for the points described later. It is configured in the same way. Therefore, according to the ship 1 of the seventh embodiment, the same effect as that of the ship 1 of the first to fifth embodiments described above can be obtained except for the points described later.

FIG. 14 is a diagram showing an example of a ship 1 to which the control device 14 for a ship propulsion device of the seventh embodiment is applied.
As described above, in the ship 1 of the first embodiment (examples shown in FIGS. 1 and 2), the operation unit 11D is configured by a joystick having a lever.
On the other hand, in the ship 1 of the seventh embodiment (example shown in FIG. 14), the operation unit 11D is configured by a touch panel. By operating the steering device 11A (steering wheel) and the remote control devices 11B and 11C (remote control lever), the operator can not only operate the propulsion units 12A1 and 13A1 and the steering actuators 12A2 and 13A2, but also the operation unit. The propulsion units 12A1 and 13A1 and the steering actuators 12A2 and 13A2 can also be operated by operating the 11D (touch panel).
In another example, the hull 11 may not include the steering device 11A, the remote control device 11B, and the remote control device 11C.

In the example shown in FIG. 14, the ship propulsion device control device 14 has the steering actuator 12A2 and the propulsion unit 12A1 of the ship propulsion device 12 and the steering actuator 13A2 and the propulsion of the ship propulsion device 13 based on the input operation to the operation unit 11D. It controls the unit 13A1.
Specifically, the control device 14 for the ship propulsion device has a magnitude of the propulsive force of the ship 1 generated by the propulsion units 12A1 and 13A1 and the steering actuators 12A2 and 13A2 based on, for example, a flick input operation to the operation unit 11D (touch panel). And the direction and the magnitude and direction of the rotational moment are controlled.
In the flick input operation, the operator, for example, presses the touch panel and slides the finger pressing the touch panel in a desired direction.
The movement route calculation unit 14A calculates the movement route of the operation unit 11D. Specifically, the movement route calculation unit 14A calculates the movement route of the finger that the operator slides while pressing the touch panel.
The elapsed time calculation unit 14B calculates the elapsed time from the time when the operation unit 11D (the finger of the operator who presses the touch panel) is moved to a certain position.
The propulsion force calculation unit 14C has a movement path of the operation unit 11D calculated by the movement path calculation unit 14A (a movement path of a finger slid while pressing the touch panel) and an elapsed time calculated by the elapsed time calculation unit 14B. Based on the above, the propulsive force generated in the ship propulsion devices 12 and 13 is calculated.
Further, the propulsion force calculation unit 14C is used by the ship propulsion devices 12 and 13 based on the movement path of the operation unit 11D calculated by the movement route calculation unit 14A and the elapsed time calculated by the elapsed time calculation unit 14B. Calculate the rotational moment generated in 1.

In the example shown in FIG. 14, the operation unit 11D is configured so that the flick input operation can be performed on the operation unit 11D (touch panel) and the rotation input operation can be performed.
The operator performs a rotation input operation by, for example, sliding one finger in the circumferential direction while pressing the touch panel in a state where one finger is brought into contact with the touch panel and fixed as a center point.
When the ship operator performs a clockwise rotation input operation on the operation unit 11D (touch panel), the ship propulsion device control device 14 steers the propulsion units 12A1, 13A1 and steering so that the hull 11 turns to the right. It controls the actuators 12A2 and 13A2. On the other hand, when the ship operator performs a counterclockwise rotation input operation with respect to the operation unit 11D (touch panel), the ship propulsion device control device 14 controls the propulsion units 12A1 and 13A1 so that the hull 11 turns to the left. And the steering actuators 12A2 and 13A2 are controlled.
Further, when the ship operator performs a flick input operation on the operation unit 11D (touch panel), the ship operator's finger is slid on the ship propulsion device control device 14 while the hull 11 maintains the attitude. The propulsion units 12A1, 13A1 and the steering actuators 12A2, 13A2 are controlled so as to move in the direction. That is, when the operator performs a flick input operation on the operation unit 11D (touch panel), the front portion 111 of the hull 11 and the rear portion 112 of the hull 11 are translated.

When the operator does not perform a flick input operation on the operation unit 11D (touch panel) (that is, when the operator's finger does not touch the touch panel), the operation unit 11D is in the state shown in FIG. 3 (A). It becomes the same state as. As a result, the ship propulsion device control device 14 does not generate the propulsive force of the ship 1 in the propulsion units 12A1 and 13A1 and the steering actuators 12A2 and 13A2.

Although the embodiments for carrying out the present invention have been described above using the embodiments, the present invention is not limited to these embodiments, and various modifications and substitutions are made without departing from the gist of the present invention. Can be added. The configurations described in each of the above-described embodiments and examples may be combined.

In addition, all or a part of the functions of each part included in the control device 14 for the ship propulsion device in the above-described embodiment is recorded on a computer-readable recording medium with a program for realizing these functions, and the recording medium. It may be realized by loading the program recorded in the computer system into a computer system and executing the program. The term "computer system" as used herein includes hardware such as an OS and peripheral devices.
Further, the "computer-readable recording medium" refers to a portable medium such as a flexible disk, a magneto-optical disk, a ROM, or a CD-ROM, or a storage unit such as a hard disk built in a computer system. Further, a "computer-readable recording medium" is a communication line for transmitting a program via a network such as the Internet or a communication line such as a telephone line, and dynamically holds the program for a short period of time. It may also include a program that holds a program for a certain period of time, such as a volatile memory inside a computer system that serves as a server or a client in that case. Further, the above-mentioned program may be for realizing a part of the above-mentioned functions, and may further realize the above-mentioned functions in combination with a program already recorded in the computer system.

1 ... Ship, 11 ... Hull, 111 ... Front, 112 ... Rear, 11A ... Steering device, 11B ... Remote control device, 11C ... Remote control device, 11D ... Operation unit, 11E ... First period setting unit, 11F ... Mode setting unit , P1 ... position, P2 ... position, P3 ... position, P4 ... position, P5 ... position, P6 ... position, P7 ... position, P8 ... position, P9 ... position, 12 ... ship propulsion device, 12A ... ship propulsion device body, 12A1 ... Propulsion unit, 12A2 ... Steering actuator, 12AX ... Steering shaft, 12B ... Bracket, 13 ... Ship propulsion device, 13A ... Ship propulsion device body, 13A1 ... Propulsion unit, 13A2 ... Steering actuator, 13AX ... Steering shaft, 13B ... Bracket , 14 ... Ship propulsion device control device, 14A ... Movement route calculation unit, 14B ... Elapsed time calculation unit, 14C ... Propulsion force calculation unit, 14D ... First period length change unit

Claims (12)

1. A control device for a ship propulsion device that controls a plurality of ship propulsion devices.
   Each of the plurality of ship propulsion devices includes a propulsion unit driven by an engine to generate propulsive force of the ship, and a steering actuator.
   The ship
   The operation unit for operating the propulsion unit and the steering actuator is provided.
   The operation unit includes a first position where at least the plurality of ship propulsion devices do not generate propulsive force for the ship.
   The plurality of ship propulsion devices can be located at a second position, which is a position where the propulsive force of the ship is generated.
   When the operating unit is moved from the first position to the second position and maintained at the second position,
   The control device for the ship propulsion device is
   During the first period from the first time to the second time when the operation unit is moved from the first position to the second position, a first propulsive force is generated in the plurality of ship propulsion devices.
   Next, during the second period after the second time, a second propulsive force larger than the first propulsive force is generated in the plurality of ship propulsion devices.
   Control device for ship propulsion device.
2. The second position includes a left-right position, which is a position where the plurality of ship propulsion devices generate a propulsive force for translating the ship to the right or left.
   The control device for a ship propulsion device according to claim 1.
3. The second position includes a front-rear position, which is a position where the plurality of ship propulsion devices generate a propulsive force for moving the ship forward or backward.
   The control device for a ship propulsion device according to claim 1.
4. The second position includes an oblique position, which is a position where the plurality of ship propulsion devices generate a propulsive force for translating the ship in the right front direction, the right rear direction, the left front direction, or the left rear direction.
   The control device for a ship propulsion device according to claim 1.
5. The second position includes a rotation position, which is a position where the plurality of ship propulsion devices generate a propulsive force for turning the ship clockwise or counterclockwise.
   The control device for a ship propulsion device according to claim 1.
6. When the operating unit is moved from the second position to the first position and maintained at the first position,
   The control device for the ship propulsion device is
   During the third period from the third time to the fourth time when the operation unit is moved from the second position to the first position, the plurality of third propulsive forces larger than zero and smaller than the second propulsive force are applied. Generated in the ship propulsion device of
   Next, during the fourth period after the fourth time, no propulsive force is generated in the plurality of ship propulsion devices.
   The control device for a ship propulsion device according to any one of claims 1 to 5.
7. The ship further includes a first period setting unit that receives a request for changing the length of the first period.
   The control device for the ship propulsion device is
   When the first period setting unit receives the request for extension of the length of the first period, the length of the first period for generating the first propulsive force in the plurality of ship propulsion devices is extended.
   When the first period setting unit receives the request for shortening the length of the first period, the length of the first period for generating the first propulsive force in the plurality of ship propulsion devices is shortened.
   The control device for a ship propulsion device according to any one of claims 1 to 5.
8. The ship further includes a mode setting unit that accepts selection of either a first mode or a second mode.
   The control device for the ship propulsion device is
   When the mode setting unit accepts the selection of the first mode, the first propulsive force is generated in the plurality of ship propulsion devices during the first period, and then the second propulsion force is generated during the second period. Propulsive force is generated in the plurality of ship propulsion devices,
   When the mode setting unit accepts the selection of the second mode, the second propulsive force is applied to the plurality of ships at the first time when the operation unit is moved from the first position to the second position. It is generated in the propulsion device, and the second propulsive force is continuously generated in the plurality of ship propulsion devices during the period after the first time.
   The control device for a ship propulsion device according to any one of claims 1 to 5.
9. At the second position
   A first region in which the amount of movement of the operation unit from the first position is equal to or less than the first threshold value, and
   A second region in which the amount of movement of the operation unit from the first position is larger than the first threshold value is included.
   When the operating unit is moved from the first position to one of the first region and the second region and maintained in one of the first region and the second region.
   The control device for the ship propulsion device is
   During the first period from the first time to the second time when the operation unit is moved from the first position to one of the first region and the second region, the first propulsive force is applied. Generated in multiple ship propulsion devices
   Then, during the second period after the second time, the second propulsion force is generated in the plurality of ship propulsion devices.
   When the operating unit is moved from the first position to the other of the first region and the second region and maintained in the other of the first region and the second region.
   The control device for the ship propulsion device is
   At the first time when the operating unit is moved from the first position to the other of the first region and the second region, the second propulsive force is generated in the plurality of ship propulsion devices.
   The second propulsion force is continuously generated in the plurality of ship propulsion devices during the period after the first time.
   The control device for a ship propulsion device according to any one of claims 1 to 5.
10. When the operation unit is moved from the first position to the second position and maintained at the second position, the operation unit needs to be moved from the first position to the second position. If the time is longer than the second threshold
    The control device for the ship propulsion device is
    During the first period from the first time to the second time, which is the time when the operation unit is moved from the first position to the second position, the first propulsion force is applied to the plurality of ship propulsion devices. Generated in
    Then, during the second period after the second time, the second propulsion force is generated in the plurality of ship propulsion devices.
    When the operation unit is moved from the first position to the second position and maintained at the second position, the operation unit needs to be moved from the first position to the second position. When the time is equal to or less than the second threshold value
    The control device for the ship propulsion device is
    At the first time, the second propulsion force is generated in the plurality of ship propulsion devices.
    The second propulsion force is continuously generated in the plurality of ship propulsion devices during the period after the first time.
    The control device for a ship propulsion device according to any one of claims 1 to 5.
11. A control method for ship propulsion devices that controls multiple ship propulsion devices.
    Each of the plurality of ship propulsion devices includes a propulsion unit driven by an engine to generate propulsive force of the ship, and a steering actuator.
    The ship
    The operation unit for operating the propulsion unit and the steering actuator is provided.
    The operation unit includes a first position where at least the plurality of ship propulsion devices do not generate propulsive force for the ship.
    The plurality of ship propulsion devices can be located at a second position, which is a position where the propulsive force of the ship is generated.
    When the operating unit is moved from the first position to the second position and maintained at the second position,
    During the first period from the first time to the second time when the operation unit is moved from the first position to the second position, a first propulsive force is generated in the plurality of ship propulsion devices.
    Next, during the second period after the second time, a second propulsive force larger than the first propulsive force is generated in the plurality of ship propulsion devices.
    Control method for ship propulsion devices.
12. A program that controls multiple ship propulsion devices
    Each of the plurality of ship propulsion devices includes a propulsion unit driven by an engine to generate propulsive force of the ship, and a steering actuator.
    The ship
    The operation unit for operating the propulsion unit and the steering actuator is provided.
    The operation unit includes a first position where at least the plurality of ship propulsion devices do not generate propulsive force for the ship.
    The plurality of ship propulsion devices can be located at a second position, which is a position where the propulsive force of the ship is generated.
    When the operating unit is moved from the first position to the second position and maintained at the second position,
    On the computer
    The first step in which the plurality of ship propulsion devices generate a first propulsive force during the first period from the first time to the second time when the operation unit is moved from the first position to the second position. When,
    A program for causing the plurality of ship propulsion devices to execute a second step of generating a second propulsion force larger than the first propulsion force during the second period after the second time.

Images