System for propelling watercraft, watercraft, method of propelling watercraft, and controller

Abstract

The watercraft propulsion system (100) includes first and second propulsion devices (3, 4), a joystick (6), a joystick button (61), and a main controller (101). The first and second propulsion devices (3, 4) are attached to a hull (2) of a watercraft. The joystick (6) operates the first and second propulsion devices (3, 4). The joystick button (61) is operated for issuing a command of transitioning to a joystick mode (M2) for operating the first and second propulsion devices (3, 4) with the joystick (6). The main controller (101) deactivates the joystick mode (M2) based on change in state of the first and second propulsion devices (3, 4) between a stopped state and a started state under the joystick mode (M2).

Description

BACKGROUNDField of the Invention

[0001] The present invention relates to a system for propelling a watercraft, a watercraft, a method of propelling a watercraft, and a controller.Background Information

[0002] There is a type of watercraft in which an operating device is disposed to be operated by a watercraft operator or user; then, it has been proposed to use a joystick as the operating device (e.g., see Japan Laid-open Patent Application Publication No. 2023-103075).

[0003] It is made possible to operate a propulsion device, installed in or attached to the hull of the watercraft, by operating the joystick. For example, the watercraft is enabled to move forward by tilting the joystick forward, while being enabled to turn rightward by twisting the joystick rightward.

[0004] However, if the propulsion device is started or stopped, while the user is operating the watercraft by operating the joystick, it is concerned that the watercraft behaves in a manner not intended by the user. Suppose the watercraft is configured to be provided with two propulsion devices installed in or attached to a rear part of the hull thereof. When one of the propulsion devices is herein stopped, the watercraft has chances of starting to perform bow turning even though the joystick is being tilted forward.SUMMARY

[0005] It is an object of the present invention to provide a system for propelling a watercraft, a watercraft, and a method of propelling a watercraft, whereby the watercraft can be inhibited from behaving in a manner not intended by a user of the watercraft.

[0006] This object is achieved by a system for propelling a watercraft according to claim 1 and a method according to claim 11. Preferred embodiments are laid down in the dependent claims. A system for propelling a watercraft according to an aspect includes a propulsion device, a joystick, a mode command portion, and a controller. The propulsion device is configured to be attached to a hull of the watercraft. The joystick is configured to operate the propulsion device. The mode command portion is configured to be operated for issuing a command of transitioning to a joystick mode for operating the propulsion device with the joystick. The controller is configured to deactivate the joystick mode based on change in state of the propulsion device between a stopped state and a started state under the joystick mode.

[0007] A method of propelling a watercraft according to another aspect includes transitioning to a joystick mode for operating a propulsion device, attached to a hull of the watercraft, with a joystick and deactivating the joystick mode based on change in state of the propulsion device between a stopped state and a started state under the joystick mode. The method may be executed by a system for propelling the watercraft. A further aspect provides a controller configured to perform the aforementioned method, in particular, when coupled to the components of the system. A controller disclosed herein may be configured to perform respective control steps by being configured in hardware and / or software. When being configured by software, the controller can be said to be programmed to perform respective control steps.

[0008] Under the joystick mode for operating the propulsion device with the joystick, the joystick mode is deactivated by change in state of the propulsion device; hence, the operation with the joystick can be stopped in change of the state of the propulsion device. Thus, the operation with the joystick is stopped; hence, the watercraft can be inhibited from behaving in a manner not intended by a user of the watercraft.BRIEF DESCRIPTION OF THE DRAWINGS

[0009] FIG. 1 is a plan view of a watercraft in which a watercraft propulsion system according to a preferred embodiment is installed. FIG. 2 is a side view of the watercraft. FIG. 3 is a diagram showing a configuration of a first propulsion device. FIG. 4 is a rear view of the first propulsion device seen from behind the watercraft. FIG. 5 is a schematic diagram showing a configuration of a drive unit. FIG. 6 is a diagram showing a configuration of the watercraft propulsion system installed in the watercraft. FIG. 7 is a perspective view of a joystick unit. FIG. 8 is a diagram showing transitioning between modes. FIG. 9 is a diagram for explaining a specific example of transitioning from a joystick mode to a normal mode. FIG. 10 is a diagram for explaining a specific example of transitioning from the joystick mode to the normal mode. FIG. 11 is a flowchart showing a series of control actions performed by the watercraft propulsion system according to the preferred embodiment. FIG. 12 is a flowchart showing the series of control actions performed by the watercraft propulsion system according to the preferred embodiment. DETAILED DESCRIPTION OF EMBODIMENTS

[0010] A preferred embodiment will be hereinafter explained with reference to drawings.

[0011] FIG. 1 is a plan view of a watercraft 1 in which a watercraft propulsion system (system for propelling a watercraft) 100 according to the preferred embodiment is installed. FIG. 2 is a side view of the watercraft 1 in which the watercraft propulsion system 100 according to the preferred embodiment is installed.

[0012] The watercraft 1 includes a hull 2, a first propulsion device 3, and a second propulsion device 4. Each of the first and second propulsion devices 3 and 4 is an electric propulsion device using an electric motor as a power source thereof. Each of the first and second propulsion devices 3 and 4 is an outboard motor. The first and second propulsion devices 3 and 4 are attached to a stern 2a of the hull 2. The first and second propulsion devices 3 and 4 are disposed to be aligned on the stern 2a in the right-and-left direction of the hull 2. The first and second propulsion devices 3 and 4 are disposed line-symmetric to each other with respect to an imaginary center line of the hull 2 that extends perpendicular to the width direction of the hull 2. In the present preferred embodiment, the first propulsion device 3 is disposed on the left side, while the second propulsion device 4 is disposed on the right side. The first and second propulsion devices 3 and 4 are comparable in configuration to each other.

[0013] The hull 2 includes an operating seat 5, a joystick 6, and a gauge 7. The operating seat 5 serves as a seat on which a user (or watercraft operator) is seated for operating the hull 2. The joystick 6 serves as an operating device operated by the user for changing the route of the watercraft 1 and changing the magnitude (output) and the direction (forward or rearward moving direction) of a thrust generated by each of the first and second propulsion devices 3 and 4. The gauge 7 serves as a display device for displaying a variety of information for operating the watercraft 1.

[0014] FIG. 3 is a diagram showing a configuration of the first propulsion device 3. The first and second propulsion devices 3 and 4 are comparable in configuration to each other; hence, the first propulsion device 3 will be exemplified for explaining the configuration of each propulsion device 3, 4. FIG. 4 is a rear view of the first propulsion device 3 seen from behind the watercraft 1.

[0015] The watercraft 1 includes a bracket 11 for attaching the first propulsion device 3 therethrough to the hull 2. The bracket 11 is attached to the stern 2a of the hull 2. The first propulsion device 3 is supported by the bracket 11.

[0016] The first propulsion device 3 includes a base 12, an upper housing 13, a lower housing 14, a cover 15, a cowl 16, a drive unit 17, and a steering unit 18. The base 12 is supported by the bracket 11. The upper housing 13 extends downward from the base 12. The lower housing 14 is made in the shape of a tube (duct) and is disposed below the upper housing 13. The cover 15 covers the base 12 from below. The cowl 16 covers the base 12 from above.

[0017] The drive unit 17 is disposed inside the lower housing 14. FIG. 5 is a schematic diagram showing a configuration of the drive unit 17. The drive unit 17 includes a propeller 19 and an electric motor 20. The propeller 19 generates the thrust. The electric motor 20 drives the propeller 19. The electric motor 20 includes a rotor 21 and a stator 22.

[0018] The rotor 21 is made in the shape of a tube to which the propeller 19 is fixed on the radially inner side thereof. The rotor 21 is rotatably supported by the lower housing 14. The rotor 21 includes a plurality of permanent magnets 23. The permanent magnets 23 are disposed along the circumferential direction of the rotor 21. It should be noted that in FIG. 5, the reference numeral 23 is assigned to only one of the permanent magnets without being assigned to the remaining thereof.

[0019] The stator 22 encloses the rotor 21 from radially outside. The stator 22 is fixed to the lower housing 14. The stator 22 includes a plurality of coils 24. The coils 24 are disposed along the circumferential direction of the stator 22. When the coils 24 are electrified, electromagnetic forces are generated, whereby the rotor 21 is rotated. The propeller 19 is rotated in accordance with the rotation of the rotor 21, whereby the thrust can be generated. It should be noted that in FIG. 5, the reference numeral 24 is assigned to only one of the coils without being assigned to the remaining thereof.

[0020] As shown in FIG. 3, the steering unit 18 is disposed in a space between the cover 15 and the cowl 16. The steering unit 18 changes right and left the direction of the thrust generated by the drive unit 17. The steering unit 18 includes a steering shaft 25 and a steering motor 26. The steering shaft 25 is joined to upper and lower housings 13 and 14. The steering motor 26 generates a driving force for rotating the steering shaft 25 about the axis thereof. The steering unit 18 may include a reduction gear that reduces the speed of the rotation of the steering motor 26 and transmits the rotation reduced in speed to the steering shaft 25. When the steering motor 26 is driven, the upper and lower housings 13 and 14 are rotated about the steering shaft 25, whereby the direction of the thrust generated by the drive unit 17 is enabled to be changed right and left.

[0021] The watercraft 1 includes a tilt unit 30 and a tilt angle sensor 31. The tilt unit 30 includes a tilt cylinder 32. The tilt cylinder 32 may be a hydraulic cylinder of an electric pump type that an electric pump is caused to flow a hydraulic oil. The tilt cylinder 32 is rotatably joined at one end thereof to a lower support portion 11a of the bracket 11. The tilt cylinder 32 is rotatably joined at the other end thereof to the base 12 through a cylinder coupling bracket 33. The bracket 11 supports a tilt shaft 34 at an upper support portion 11b thereof. The base 12 is joined to the bracket 11 through the tilt shaft 34, while being rotatable about the tilt shaft 34. The tilt shaft 34 extends in the right-and-left direction of the hull 2. The base 12 is configured to be rotatable with respect to the bracket 11 in the up-and-down direction. Accordingly, the first propulsion device 3 is made movable up and down by rotating about the tilt shaft 34 with respect to the hull 2.

[0022] FIG. 6 is a diagram showing a configuration of the watercraft propulsion system 100 installed in the watercraft 1. The watercraft propulsion system 100 includes the first and second propulsion devices 3 and 4 described above.

[0023] The watercraft propulsion system 100 includes a main controller 101 (exemplary controller), an intra-watercraft network (CAN (Controller Area Network)) 102, a joystick unit 60, a GPS (Global Positioning System) receiver 103, and a compass sensor 104. The main controller 101 controls the watercraft 1 as a whole. The main controller 101 includes a processor such as a CPU (Central Processing Unit) and memories such as a RAM (Random Access Memory) and a ROM (Read-Only Memory). The main controller 101 has stored programs and data for controlling the watercraft 1 as a whole. The main controller 101 is connected to the intra-watercraft network 102 established in the watercraft 1.

[0024] The joystick unit 60, the GPS receiver 103, the compass sensor 104, the first propulsion device 3, and the second propulsion device 4 are connected to the intra-watercraft network 102.

[0025] The joystick unit 60 includes the joystick 6. The joystick unit 60 generates an operating position signal indicating the operating position of the joystick 6. The joystick unit 60 includes operating buttons 61 to 65 (see FIG. 7 to be described). The joystick unit 60 generates operating signals of the operating buttons 61 to 65 disposed thereon. The joystick unit 60 will be described in detail in paragraphs below.

[0026] The first propulsion device 3 includes a motor controller 35 and a steering controller 36. The motor controller 35 and the steering controller 36 are connected to the intra-watercraft network 102.

[0027] The motor controller 35 and the steering controller 36 cause the first propulsion device 3 to actuate in response to commands outputted from the main controller 101. The main controller 101 outputs a thrust command and a rudder angle command to the first propulsion device 3. The thrust command includes a shift command (rotational direction command) and an output command. The shift command serves as a rotational direction command for causing the propeller 19 to stop, rotate in a forward moving rotational direction, or rotate in a rearward moving rotational direction. The output command serves as a command for instructing a magnitude at which the thrust should be generated, i.e., a target value for the thrust (as well as the rotational speed). The rudder angle command serves as a command for instructing a target value for a rudder angle.

[0028] The motor controller 35 controls the electric motor 20 in accordance with the shift command (rotational direction command) and the output command. The motor controller 35 includes a processor such as a CPU and memories such as a RAM and a ROM. The motor controller 35 has stored programs and data for controlling the electric motor 20 in accordance with the shift command and the output command.

[0029] The steering controller 36 controls the steering motor 26 in accordance with the rudder angle command. The steering controller 36 includes a processor such as a CPU and memories such as a RAM and a ROM. The steering controller 36 has stored programs and data for controlling the steering motor 26 in accordance with the rudder angle command.

[0030] The main controller 101 outputs a tilt command to the motor controller 35 through the intra-watercraft network 102. The motor controller 35 causes the tilt cylinder 32 to extend and contract in response to a tilt command signal, whereby the first propulsion device 3 is caused to tilt up or down.

[0031] The motor controller 35 receives a detection signal inputted thereto from the tilt angle sensor 31. Accordingly, the motor controller 35 obtains information regarding the tilt angle of the first propulsion device 3 and is enabled to transmit the information regarding the tilt angle to the main controller 101. As with the first propulsion device 3, the second propulsion device 4 also includes the motor controller 35 and the steering controller 36. Besides, as with the first propulsion device 3, the second propulsion device 4 is also enabled to change the tilt angle by the tilt cylinder 32; then, the information regarding the tilt angle is transmitted to the main controller 101 by the tilt angle sensor 31.

[0032] The GPS receiver 103 receives radio waves from artificial satellites circulating about the Earth, specifies the position of the watercraft 1, and outputs not only position data indicating the position of the watercraft 1 but also velocity data indicating the moving speed of the watercraft 1. The position data and the velocity data are obtained by the main controller 101 and are used for displaying or controlling at least either the position or the compass direction of the watercraft 1.

[0033] The compass sensor 104 detects the compass direction of the watercraft 1 and creates compass direction data. The compass direction data are obtained by the main controller 101.

[0034] The gauge 7 is connected to the main controller 101. The gauge 7 serves as a display device for displaying a variety of information for operating the watercraft 1. The gauge 7 is connected to the motor controller 35 and the steering controller 36 in the first propulsion device 3 and the motor controller 35 and the steering controller 36 in the second propulsion device 4. The gauge 7 displays a variety of information regarding the operating state of the first propulsion device 3, that of the second propulsion device 4, the position or the compass direction of the watercraft 1, and so forth. The gauge 7 may be provided with an input device 7a such as a touchscreen, one or more buttons, and so forth. When operated by the user, the input device 7a may be configured to output an operating signal to the main controller 101, whereby the main controller 101 is enabled to make various settings or issue various commands.

[0035] The watercraft propulsion system 100 includes a power switch unit 40. The power switch unit 40 is connected to the first and second propulsion devices 3 and 4 to power on or power off the first and second propulsion devices 3 and 4. The power switch unit 40 includes a first power switch 41 (exemplary propulsion device command portion) and a second power switch 42 (exemplary propulsion device command portion). When the first power switch 41 is operated to be turned on or turned off, a circuit between the first propulsion device 3 and a battery 110 for electrifying the first propulsion device 3 is closed or opened, whereby the first propulsion device 3 is enabled to be powered on or powered off. The motor controller 35 in the first propulsion device 3 outputs first propulsion device state information, indicating whether or not the first propulsion device 3 is in a powered-on state, i.e., whether or not the first propulsion device 3 is in a drivable state, to the main controller 101 through the intra-watercraft network 102. When the second power switch 42 is operated to be turned on or turned off, a circuit between the second propulsion device 4 and the battery 110 for electrifying the second propulsion device 4 is closed or opened, whereby the second propulsion device 4 is enabled to be powered on or powered off. The motor controller 35 in the second propulsion device 4 outputs second propulsion device state information, indicating whether or not the second propulsion device 4 is in a powered-on state, i.e., whether or not the second propulsion device 4 is in a drivable state, to the main controller 101 through the intra-watercraft network 102.

[0036] The watercraft propulsion system 100 includes an application switch panel 105. The application switch panel 105 is connected to the intra-watercraft network 102. The application switch panel 105 includes a plurality of function switches 106 for issuing commands for executing preliminarily defined functions, respectively. For example, the function switches 106 may include a switch for issuing a command for operating the watercraft 1 in an automated manner. More specifically, the function switches 106 may include a switch associated with automated steering for keeping the compass direction of the watercraft 1, a switch associated with automated steering for keeping the route of the watercraft 1, a switch associated with automated steering for causing the watercraft 1 to sequentially pass through a plurality of specified spots, a switch associated with automated steering for moving the watercraft 1 in a predetermined sailing pattern (a zigzag pattern, a spiral pattern, etc.), and so forth. Besides, the function switches 106 may include one or more switches associated with tilting up or tilting down the first and second propulsion devices 3 and 4.

[0037] FIG. 7 is a perspective view of the joystick unit 60. The joystick unit 60 includes the joystick 6 enabled to not only tilt forward, rearward, rightward, and leftward (i.e., in all the compass directions of 360 degrees) but also turn (twist) about the axis thereof. The joystick unit 60 includes a joystick button 61 (exemplary mode command portion), keeping mode setting buttons 62 to 64, and a thrust setting button 65. The joystick button 61 serves as an operating device to be operated by the user when a joystick mode, which is a control mode (watercraft operating mode) with the joystick 6, is selected by the user.

[0038] The keeping mode setting buttons 62 to 64 serve as operating buttons to be operated by the user for setting control modes related to keeping the position or the compass direction (exemplary fixed spot keeping function). Specifically, the keeping mode setting button 62 is operated for setting a fixed spot keeping mode (called "Stay Point" mode) for keeping both the position of the watercraft 1 and the compass direction of the bow (or the stern) of the watercraft 1. The keeping mode setting button 63 is operated for setting a position keeping mode (called "Fish Point" mode) for keeping the position of the watercraft 1 without keeping the compass direction of the bow (or the stern) of the watercraft 1. The keeping mode setting button 64 is operated for setting a compass direction keeping mode (called "Drift Point" mode) for keeping the compass direction of the bow (or the stern) of the watercraft 1 without keeping the position of the watercraft 1.

[0039] When each of the keeping mode setting buttons 62 to 64 is operated by the user, a signal for starting a keeping mode associated therewith is outputted to the main controller 101; then, when each of the keeping mode setting buttons 62 to 64 is operated again by the user, a signal for stopping the keeping mode associated therewith is outputted to the main controller 101. For example, when the keeping mode setting button 62 is operated by the user, the fixed spot keeping mode is executed; then, when the keeping mode setting button 62 is operated again by the user, a signal for stopping the fixed spot keeping mode is outputted to the main controller 101.

[0040] The thrust setting button 65 serves as an operating button to be operated by the user for setting the thrust of the first propulsion device 3. The thrust setting button 65 includes a plus button 65a and a minus button 65b. For example, the magnitude of the thrust is set in a plurality of stages. When the plus button 65a is operated, the thrust is increased in magnitude. When the minus button 65b is operated, the thrust is reduced in magnitude. The setting, made by the thrust setting button 65, is outputted as an output signal to the main controller 101.

[0041] The main controller 101 transitions to three modes. FIG. 8 is a diagram showing transitioning among modes of the main controller 101. The main controller 101 transitions to any of a normal mode (M1), the joystick mode (M2), and the keeping mode (M3).

[0042] When the watercraft propulsion system 100 is powered on, the main controller 101 transitions to the normal mode M1. Under the normal mode M1, even when the first and second propulsion devices 3 and 4 are in started states by operating the first and second power switches 41 and 42 to be turned on, the electric motor 20 cannot be driven, while the steering motor 26 keeps the propeller 19 in a neutral position. The neutral position refers to a position in which the propeller 19 is oriented behind the hull 2. Under the normal mode M1, even if the joystick 6 is operated by the user, the main controller 101 disables the thrust command and the rudder angle command issued by the operation for the joystick 6. Because of this, even if the joystick 6 is operated by the user under the normal mode M1, the first and second propulsion devices 3 and 4 are not driven.

[0043] Under the joystick mode M2, when the joystick 6 is tilted in the back-and-forth direction, the main controller 101 interprets the tilt operation for the joystick 6 as the thrust command (the shift command and the output command). The main controller 101 ignores tilting the joystick 6 in the right-and-left direction. In other words, when the joystick 6 is operated to tilt, only a back-and-forth directional component of the tilt operation for the joystick 6 is accepted as an effective input; then, the back-and-forth directional component is interpreted as the thrust command. Specifically, the back-and-forth directional component is interpreted as a forward moving shift command when having a value to be obtained when the joystick 6 is tilted forward; contrarily, the back-and-forth directional component is interpreted as a rearward moving shift command when having a value to be obtained when the joystick 6 is tilted rearward. Then, the magnitude of the back-and-forth directional component is interpreted as a command for instructing the magnitude of the thrust (the output command). The thrust command, interpreted as described above, is outputted from the main controller 101 to the motor controller 35 in the first propulsion device 3 and the motor controller 35 in the second propulsion device 4. On the other hand, under the joystick mode M2, when the joystick 6 is turned (twisted) about the axis thereof, the main controller 101 interprets the twist operation for the joystick 6 as the rudder angle command. In other words, the main controller 101 outputs the rudder angle command, depending on the direction and the amount of twisting the joystick 6 about the axis thereof, to the steering controller 36 in the first propulsion device 3 and the steering controller 36 in the second propulsion device 4.

[0044] The keeping mode M3 is composed of the fixed spot keeping mode (Stay Point mode), the position keeping mode (Fish Point mode), and the compass direction keeping mode (Drift Point mode), which are set as described above by operating the keeping mode setting buttons 62, 63, and 64, respectively. Under the keeping mode M3, the output and the rudder angle of the first propulsion device 3 and the output and the rudder angle of the second propulsion device 4 are controlled without any manual operation by the watercraft operator. Under the keeping mode M3, even if the joystick 6 is operated, the main controller 101 disables both the thrust command and the rudder angle command issued by the operation for the joystick 6.

[0045] For example, under the fixed spot keeping mode (Stay Point mode), the main controller 101 controls the output and the rudder angle of the first propulsion device 3 and the output and the rudder angle of the second propulsion device 4 based on not only the position data and the velocity data, both of which are generated by the GPS receiver 103, but also the compass direction data outputted from the compass sensor 104. Accordingly, the hull 2 is inhibited from fluctuating in position and compass direction.

[0046] On the other hand, under the position keeping mode (Fish Point mode), the main controller 101 controls the output and the rudder angle of the first propulsion device 3 and the output and the rudder angle of the second propulsion device 4 based on the position data and the velocity data, both of which are generated by the GPS receiver 103. Accordingly, the hull 2 is inhibited from fluctuating in position.

[0047] Yet on the other hand, under the compass direction keeping mode (Drift Point mode), the main controller 101 controls the output and the rudder angle of the first propulsion device 3 and the output and the rudder angle of the second propulsion device 4 based on the compass direction data generated by the compass sensor 104. Accordingly, the hull 2 is inhibited from fluctuating in compass direction.

[0048] Next, conditions for transitioning among three modes will be explained. It should be noted that in the following explanation, the "started" state of each propulsion device refers to a state that each propulsion device is in the powered-on state as a result of an operation performed for turning on each power switch associated with each propulsion device. Specifically, the "started" state of each propulsion device is exemplified by a state that the first propulsion device 3 is in the powered-on state as a result of an operation for turning on the first power switch 41. The "started" state of each propulsion device is also exemplified by a state that the second propulsion device 4 is in the powered-on state as a result of an operation performed for turning on the second power switch 42. The "started" state of each propulsion device includes an "undriven" state and a "driven" state. The "undriven" state of each propulsion device refers to a state that each propulsion device is in the powered-on state but is not being driven. Specifically, the state that each propulsion device is not being driven refers to a state that the electric motor 20 and the steering motor 26 are being stopped in each propulsion device. The "driven" state of each propulsion device refers to a state that each propulsion device is in the powered-on state and is being driven. Specifically, the state that each propulsion device is being driven refers to a state that the electric motor 20 and the steering motor 26 are being actuated in each propulsion device. A "stopped" state of each propulsion device refers to a state that each propulsion device is in a powered-off state as a result of an operation performed for turning off each power switch associated with each propulsion device. Specifically, the "stopped" state of each propulsion device is exemplified by a state that the first propulsion device 3 is in the powered-off state as a result of an operation performed for turning off the power switch 41. The "stopped" state of each propulsion device is also exemplified by a state that the second propulsion device 4 is in the powered-off state as a result of an operation performed for turning off the power switch 42.

[0049] When a condition (1) is satisfied, the main controller 101 deactivates the normal mode M1 and transitions to the keeping mode M3. The condition (1) is satisfied when both the first and second propulsion devices 3 and 4 are in the undriven states, and simultaneously, any of the keeping mode setting buttons 62 to 64 is pressed down. Under the keeping mode M3, an automated operation is executed for the first and second propulsion devices 3 and 4 in accordance with one of the modes composing the keeping mode M3, which is associated with the one pressed down among the keeping mode setting buttons 62 to 64 in transitioning to the keeping mode M3.

[0050] When a condition (2) or (3) is satisfied, the main controller 101 deactivates the keeping mode M3 and transitions to the normal mode M1. The condition (2) is satisfied when any of the keeping mode setting buttons 62 to 64 is pressed down. When any of the keeping mode setting buttons 62 to 64 is pressed down by the user under the keeping mode M3, the main controller 101 transitions from the keeping mode M3 to the normal mode M1. The condition (3) is satisfied when either the first or second propulsion device 3, 4 is in the undriven state. Specifically, the condition (3) is satisfied when driving of at least one of the first and second propulsion devices 3 and 4 is stopped due to some reason under the keeping mode M3. It should be noted that the condition (3) may be satisfied when at least one of the first and second power switches 41 and 42 is operated to be turned off by the user, whereby at least one of the first and second propulsion devices 3 and 4 is in the stopped state. Besides, when the main controller 101 transitions to the normal mode M1, if one of the first and second propulsion devices 3 and 4 is being driven, the main controller 101 outputs stop commands to both the motor controller 35 and the steering controller 36 in the driven one of the first and second propulsion devices 3 and 4. When receiving the stop command, the motor controller 35 stops the electric motor 20. On the other hand, when receiving the stop command, the steering controller 36 drives the steering motor 26 to move the propeller 19 to the neutral position and thereafter stops the steering motor 26.

[0051] When a condition (4) is satisfied, the main controller 101 deactivates the keeping mode M3 and transitions to the joystick mode M2. The condition (4) is satisfied when at least one of the first and second propulsion devices 3 and 4 is in the started state, and simultaneously, the joystick button 61 is pressed down.

[0052] When a condition (5) is satisfied, the main controller 101 deactivates the joystick mode M2 and transitions to the keeping mode M3. The condition (5) is satisfied when both the first and second propulsion devices 3 and 4 are in the started states, and simultaneously, any of the keeping mode setting buttons 62 to 64 is pressed down.

[0053] When a condition (6) is satisfied, the main controller 101 deactivates the normal mode M1 and transitions to the joystick mode M2. The condition (6) is satisfied when at least one of the first and second propulsion devices 3 and 4 is in the started state, and simultaneously, the joystick button 61 is pressed down. For example, when both the first and second propulsion devices 3 and 4 are in the powered-on states, if the joystick button 61 is pressed down, the main controller 101 transitions from the normal mode M1 to the joystick mode M2. In this case, both the first and second propulsion devices 3 and 4 are driven by operating the joystick 6 under the joystick mode M2. On the other hand, even when the first propulsion device 3 is in the powered-on state but the second propulsion device 4 is in the powered-off state, for instance, if the joystick button 61 is pressed down, the main controller 101 transitions from the normal mode M1 to the joystick mode M2 as well. In this case, only the first propulsion device 3 is driven by operating the joystick 6 under the joystick mode M2.

[0054] When a condition (7) or (8) is satisfied, the main controller 101 deactivates the joystick mode M2 and transitions to the normal mode M1. The condition (7) is satisfied when the joystick button 61 is pressed down. When the joystick button 61 of the joystick unit 60 is pressed down by the user under the joystick mode M2, the main controller 101 deactivates the joystick mode M2 and transitions to the normal mode M1. At this time, when either the first or second propulsion device 3, 4 is being driven, the main controller 101 outputs stop commands to both the motor controller 35 and the steering controller 36 in the driven one of the first and second propulsion devices 3 and 4. When receiving the stop command, the motor controller 35 stops the electric motor 20. On the other hand, when receiving the stop command, the steering controller 36 drives the steering motor 26 to move the propeller 19 to the neutral position and thereafter stops the steering motor 26.

[0055] A condition (8) is satisfied when at least one of the first and second propulsion devices 3 and 4 has been changed in state between the started state and the stopped state. The condition (8) will be explained below.

[0056] FIGS. 9 and 10 are diagrams for explaining specific examples of transitioning from the joystick mode M2 to the normal mode M1. FIG. 9(a) shows a state that both the first and second propulsion devices 3 and 4 are being driven under the joystick mode M2. FIG. 9(b) shows a state obtained when the power switch 41 is operated by the user to power off the first propulsion device 3 in the state shown in FIG. 9(a). In FIG. 9, the first propulsion device 3, turned to the stopped state, is illustrated with hatches. By thus powering off the first propulsion device 3, the first propulsion device 3 is changed in state from the started state to the stopped state; hence, the condition (8) is satisfied, whereby the main controller 101 deactivates the joystick mode M2 and transitions to the normal mode M1. It should be noted that, when both the first and second propulsion devices 3 and 4 are being driven under the joystick mode M2, if the power switch 42 is operated by the user to power off the second propulsion device 4, the main controller 101 deactivates the joystick mode M2 and transitions to the normal mode M1 as well.

[0057] FIG. 10(a) shows a state that the first propulsion device 3 is in the started state but the second propulsion device 4 is in the stopped state under the joystick mode M2. In FIG. 10, the second propulsion device 4 in the stopped state is illustrated with hatches. FIG. 10(b) shows a state obtained when the power switch 42 is operated by the user to power on the second propulsion device 4 in the state shown in FIG. 10(a). By thus powering on the second propulsion device 4, the second propulsion device 4 is changed in state from the stopped state to the started state; hence, the condition (8) is satisfied, whereby the main controller 101 deactivates the joystick mode M2 and transitions to the normal mode M1. It should be noted that, when the first propulsion device 3 is in the stopped state but the second propulsion device 4 is in the started state under the joystick mode M2, if the power switch 41 is operated by the user to power on the first propulsion device 3, the main controller 101 deactivates the joystick mode M2 and transitions to the normal mode M1 as well.

[0058] Thus, when either the first or second propulsion device 3, 4 has been changed in state between the started state and the stopped state under the joystick mode M2, the main controller 101 deactivates the joystick mode M2 and then transitions to the normal mode M1, whereby it is made possible to stop the operation with the joystick 6; hence, the watercraft 1 can be inhibited from behaving in a manner not intended by the user of the watercraft 1. It should be noted that when the main controller 101 transitions to the normal mode M1, if either the first or second propulsion device 3, 4 is being driven, the main controller 101 outputs the stop commands to both the motor controller 35 and the steering controller 36 in the driven one of the first and second propulsion devices 3 and 4. When receiving the stop command, the motor controller 35 stops the electric motor 20. On the other hand, when receiving the stop command, the steering controller 36 drives the steering motor 26 to move the propeller 19 to the neutral position and thereafter stops the steering motor 26.

[0059] Next, a series of control actions performed by the watercraft propulsion system 100 according to the present preferred embodiment will be explained; simultaneously, a method of propelling a watercraft will be described as well.

[0060] FIG. 11 is a flowchart showing the series of control actions performed by the watercraft propulsion system 100 according to the present preferred embodiment.

[0061] When a power supply is operated to be powered on in the watercraft propulsion system 100, the main controller 101 transitions to the normal mode M1 in step S1. Under the normal mode M1, even if the joystick 6 is operated by the user of the watercraft 1, the first and second propulsion devices 3 and 4 cannot be driven.

[0062] Next, in step S2, the main controller 101 determines whether or not the condition (1) is satisfied. When it is determined that the condition (1) is satisfied in step S2, the main controller 101 deactivates the normal mode M1 and then transitions to the keeping mode M3 in step S3. Under the keeping mode M3, one of the modes composing the keeping mode M3 is executed that is associated with the one pressed down among the keeping mode setting buttons in transitioning to the keeping mode M3; then, an automated operation is executed for the first and second propulsion devices 3 and 4.

[0063] Next, in step S4, the main controller 101 determines whether or not the condition (2) is satisfied. When it is determined that the condition (2) is satisfied in step S4, the control processing returns to step S1; then, the main controller 101 deactivates the keeping mode M3, transitions to the normal mode M1, and executes the normal mode M1.

[0064] Contrarily, when it is determined that the condition (2) is not satisfied in step S4, the main controller 101 determines whether or not the condition (3) is satisfied in step S5. When it is determined that the condition (3) is satisfied in step S5, the control processing returns to step S1; then, the main controller 101 deactivates the keeping mode M3, transitions to the normal mode M1, and executes the normal mode M1.

[0065] Contrarily, when the condition (3) is not satisfied in step S5, the main controller 101 determines whether or not the condition (4) is satisfied in step S6. When it is determined that the condition (4) is not satisfied in step S6, the control processing returns to step S3; then, the main controller 101 maintains the keeping mode M3.

[0066] Contrarily, when it is determined that the condition (4) is satisfied in step S6, the main controller 101 deactivates the keeping mode M3, transitions to the joystick mode M2, and executes the joystick mode M2 in step S8. Under the joystick mode M2, each or either of the first and second propulsion devices 3 and 4 is driven in accordance with operating the joystick 6 when in the started state. Specifically, when both of the first and second propulsion devices 3 and 4 are in the started states, both are driven in accordance with operating the joystick 6. On the other hand, when only one of the first and second propulsion devices 3 and 4 is in the started state, the one in the started state is driven in accordance with operating the joystick 6.

[0067] When the condition (1) is not satisfied in step S2, the control processing proceeds to step S7; then, the main controller 101 determines whether or not the condition (6) is satisfied in step S7. When it is determined that the condition (6) is not satisfied in step S7, the control processing returns to step S1; then, the main controller 101 maintains the normal mode M1.

[0068] On the other hand, when it is determined that the condition (6) is satisfied in step S7, the main controller 101 deactivates the normal mode M1 and transitions to the joystick mode M2 in step S8.

[0069] Next, the main controller 101 determines whether or not the condition (7) is satisfied in step S9. When it is determined that the condition (7) is satisfied in step S9, the control processing returns to step S1; then, the main controller 101 deactivates the joystick mode M2 and transitions to the normal mode M1.

[0070] Contrarily, when it is determined that the condition (7) is not satisfied in step S9, the main controller 101 determines whether or not the condition (8) is satisfied in step S10. When it is determined that the condition (8) is satisfied in step S10, the control processing returns to step S1; then, the main controller 101 deactivates the joystick mode M2 and transitions to the normal mode M1. Contrarily, when it is determined that the condition (8) is not satisfied in step S10, the control processing proceeds to step S11.

[0071] Step S10 will be hereinafter described in detail. FIG. 12 is a flowchart showing the determination processes executed in step S10. Step S10 is composed of step S21 and step S22. As shown in FIG. 12, when it is determined that the condition (7) is not satisfied in step S9, the main controller 101 determines whether or not the first propulsion device 3 has been changed in state between the started state and the stopped state in step S21. Specifically, the main controller 101 determines whether or not the first propulsion device 3 has been changed in state from the stopped state to the started state as a result of an operation performed by the user for turning on the power switch 41 when the first propulsion device 3 is in the stopped state, or alternatively, whether or not the first propulsion device 3 has been changed in state from the started state to the stopped state as a result of an operation performed by the user for turning off the power switch 41 when the first propulsion device 3 is in the started state. The main controller 101 is enabled to detect the change in state of the first propulsion device 3 between the started state and the stopped state based on the operating signal outputted from the power switch 41 or the first propulsion device state information.

[0072] When it is determined that the first propulsion device 3 has been changed in state between the started state and the stopped state in step S21, the control processing returns to step S1; then, the main controller 101 deactivates the joystick mode M2, transitions to the normal mode M1, and disables the operation with the joystick 6.

[0073] When it is determined that the first propulsion device 3 has not been changed in state between the started state and the stopped state in step S21, the control processing proceeds to step S22. The main controller 101 determines whether or not the second propulsion device 4 has been changed in state between the started state and the stopped state in step S22. Specifically, the main controller 101 determines whether or not the second propulsion device 4 has been changed in state from the stopped state to the started state as a result of an operation performed by the user for turning on the power switch 42 when the second propulsion device 4 is in the stopped state, or alternatively, whether or not the second propulsion device 4 has been changed in state from the started state to the stopped state as a result of an operation performed by the user for turning off the power switch 42 when the second propulsion device 4 is in the started state. The main controller 101 is enabled to detect the change in state of the second propulsion device 4 between the started state and the stopped state based on the operating signal outputted from the power switch 42 or the second propulsion device information.

[0074] In step S22, when it is determined that the second propulsion device 4 has been changed in state between the started state and the stopped state, the control processing returns to step S1; then, the main controller 101 deactivates the joystick mode M2, transitions to the normal mode M1, and disables the operation with the joystick 6.

[0075] Contrarily, when it is determined that the second propulsion device 4 has not been changed in state between the started state and the stopped state in step S22, the control processing proceeds to step S11.

[0076] As shown in FIG. 11, the main controller 101 determines whether or not the condition (5) is satisfied in step S11. When it is determined that the condition (5) is not satisfied in step S11, the control processing returns to step S8; then, the main controller 101 maintains the joystick mode M2.

[0077] Contrarily, when it is determined that the condition (5) is satisfied in step S11, the control processing proceeds to step S3; then, the main controller 101 deactivates the joystick mode M2 and transitions to the keeping mode M3.

[0078] The watercraft 1 and the watercraft propulsion system 100 according to the present preferred embodiment have the following features.

[0079] The joystick mode M2 is deactivated based on the change in state of the propulsion device 3 or 4 between the stopped state and the started state under the joystick mode M2. Accordingly, when the propulsion device 3 or 4 has been changed in state, it is made possible to stop the operation with the joystick 6. By thus stopping the operation with the joystick 6, the watercraft 1 can be inhibited from behaving in a manner not intended by the user.

[0080] When the propulsion device 3 or 4 has been changed in state between the stopped state and the started state in accordance with the operation for the power switch 41 or 42 by the user, it is made possible to deactivate the joystick mode M2.

[0081] The joystick mode M2 is deactivated when at least one of the first and second propulsion devices 3 and 4 has been changed in state from the started state to the stopped state under the joystick mode M2. Accordingly, the watercraft 1 can be inhibited from behaving in such a manner not intended by the user as follows: one of the first and second propulsion devices 3 and 4 has been changed in state from the started state to the stopped state, whereby the watercraft 1 starts performing bow turning even though the joystick 6 is being tilted forward.

[0082] The joystick mode M2 is deactivated when at least one of the first and second propulsion devices 3 and 4 has been changed in state from the stopped state to the started state under the joystick mode M2. Accordingly, even when one of the first and second propulsion devices 3 and 4 has been changed in state from the stopped state to the started state, the watercraft 1 can be inhibited from behaving in a manner not intended by the user.

[0083] When at least one of the first and second propulsion devices 3 and 4 is operating in deactivation of the joystick mode M2, the operating propulsion device is stopped. Accordingly, the watercraft 1 can be stopped so as not to behave in a manner not intended by the user.

[0084] The main controller 101 deactivates the joystick mode M2 and thereafter transitions to the normal mode M1 that makes inexecutable a manual operation for the watercraft 1, whereby the watercraft 1 can be prevented from behaving in a manner not intended by the user even when the joystick 6 is operated.

[0085] The main controller 101 deactivates the joystick mode M2 and thereafter transitions to the joystick mode M2 in response to the command issued thereto from the joystick button 61. Even if the main controller 101 transitions from the joystick mode M2 to the normal mode M1 due to satisfaction of the condition (8), the user herein grasps the states of the propulsion devices and the watercraft 1 does not behave in a manner not intended by the user; hence, the main controller 101 is enabled to transition to the joystick mode M2 again.

[0086] One preferred embodiment of the present invention has been explained above. However, the present invention is not limited to the preferred embodiment described above, and a variety of changes can be made without departing from the gist of the present invention.

[0087] In the preferred embodiment described above, the watercraft propulsion system 100 includes two propulsion devices 3 and 4; alternatively, the watercraft propulsion system 100 may include only one propulsion device. In this case, when the only one propulsion device has been changed in state from the started state to the stopped state in accordance with the operation for the power switch by the user under the joystick mode M2, it is determined that the condition (8) described above is satisfied, whereby the main controller 101 deactivates the joystick mode M2 and transitions to the normal mode M1.

[0088] In the preferred embodiment described above, the watercraft propulsion system 100 includes two propulsion devices 3 and 4; alternatively, the watercraft propulsion system 100 may include three or more propulsion devices. In this case, when at least one of the plural propulsion devices has been changed in state between the started state and the stopped state in accordance with the operation by the user for the power switch associated with the at least one propulsion device under the joystick mode M2, it is determined that the condition (8) described above is satisfied, whereby the main controller 101 deactivates the joystick mode M2 and transitions to the normal mode M1.

[0089] In the preferred embodiment described above, each of the first and second propulsion devices 3 and 4 includes the electric motor as the power source thereof; alternatively, each or either of the first and second propulsion devices 3 and 4 may include the engine as the power source thereof.INDUSTRIAL APPLICABILITY

[0090] According to the present invention, it is made possible to provide a system for propelling a watercraft, a watercraft, and a method of propelling a watercraft, whereby the watercraft can be inhibited from behaving in a manner not intended by a user of the watercraft.REFERENCE SIGNS LIST

[0091] 1: Watercraft, 2: Hull, 2a: Stern, 3: First propulsion device, 4: Second propulsion device, 5: Operating seat, 6: Joystick, 7: Gauge, 7a: Input device, 11: Bracket, 11a: Lower support portion, 11b: Upper support portion, 12: Base, 13: Upper housing, 14: Lower housing, 15: Cover, 16: Cowl, 17: Drive unit, 18: Steering unit, 19: Propeller, 20: Electric motor, 21: Rotor, 22: Stator, 23: Permanent magnet, 24: Coil, 25: Steering shaft, 26: Steering motor, 30: Tilt unit, 31: Tilt angle sensor, 32: Tilt cylinder, 33: Cylinder coupling bracket, 34: Tilt shaft, 35: Motor controller, 36: Steering controller, 40: Power switch unit, 41: First power switch, 42: Second power switch, 60: Joystick unit, 61: Joystick button, 62: Keeping mode setting button, 63: Keeping mode setting button, 64: Keeping mode setting button, 65: Thrust setting button, 65a: Plus button, 65b: Minus button, 100: Watercraft propulsion system, 101: Main controller, 102: Intra-watercraft network, 103: GPS receiver, 104: Compass sensor, 105: Application switch panel, 106: Function switch, 110: Battery, M1: Normal mode, M2: Joystick mode, M3: Keeping mode

Claims

1. A system (100) for propelling a watercraft (1), the system comprising: a propulsion device (3, 4) configured to be attached to a hull (2) of the watercraft (1); a joystick (6) configured to operate the propulsion device (3, 4); a mode command portion (61) configured to be operated for issuing a command of transitioning to a joystick mode for operating the propulsion device (3, 4) with the joystick (6); and a controller (102) configured to deactivate the joystick mode based on change in state of the propulsion device (3, 4) between a stopped state and a started state under the joystick mode.

2. The system (100) according to claim 1, further comprising: a propulsion device command portion (41, 42) configured to be operated for issuing a command of changing the propulsion device (3, 4) in state between the stopped state and the started state.

3. The system (100) according to claim 1 or 2, wherein the controller (102) is further configured to deactivate the joystick mode when the propulsion device (3, 4) has been changed in state from the started state to the stopped state under the joystick mode.

4. The system (100) according to any one of claims 1 to 3, wherein a plurality of propulsion devices (3, 4) including the propulsion device (3, 4) are configured to be attached to the hull (2), and the controller (102) is further configured to deactivate the joystick mode when at least one of the plurality of propulsion devices (3, 4) has been changed in state from the started state to the stopped state under the joystick mode.

5. The system (100) according to any one of claims 1 to 4, wherein a plurality of propulsion devices (3, 4) including the propulsion device are configured to be attached to the hull (2), and the controller (102) is further configured to deactivate the joystick mode when at least one of the plurality of propulsion devices (3, 4) has been changed in state from the stopped state to the started state under the joystick mode.

6. The system (100) according to claim 4 or 5, wherein when at least one of the plurality of propulsion devices (3, 4) is operating in deactivation of the joystick mode, the controller (102) is further configured to cause the at least one of the plurality of propulsion devices (3, 4) to stop operating.

7. The system (100) according to any one of claims 1 to 6, wherein the controller (102) is further configured to deactivate the joystick mode and thereafter transition to a mode making inexecutable a manual operation for the watercraft (1).

8. The system (100) according to any one of claims 1 to 7, wherein the controller (102) is further configured to deactivate the joystick mode and thereafter transition to the joystick mode in response to a command issued thereto from the mode command portion (61).

9. The system (100) according to any one of claims 1 to 8, wherein the propulsion device (3, 4) uses an electric motor (20) as a power source thereof.

10. A watercraft (1) comprising: a hull (2); and the system (100) recited in any one of claims 1 to 9, the system (100) disposed in the hull (2).

11. A method of propelling a watercraft (1), the method comprising: transitioning to a joystick mode for operating a propulsion device (3, 4) with a joystick (6), the propulsion device (3, 4) being attached to a hull of the watercraft (1); and deactivating the joystick mode based on change in state of the propulsion device (3, 4) between a stopped state and a started state under the joystick mode.

12. A controller (101) configured to perform the method according to claim 11.

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