Ship propulsion system and ship

Abstract

To provide a ship propulsion system and a ship which can appropriately actuate a bow thruster, a propulsion machine and a steering device in response to operation of a joy stick.SOLUTION: A ship propulsion system 100 includes a bow thruster BT capable of generating propulsion power in a right-and-left direction of a hull, an outboard motor OM capable of generating propulsion power in a front-and-back direction of the hull, a steering mechanism 26 for changing a course, and a steering actuator 25 for driving the steering mechanism. The ship propulsion system includes a joy stick 8 which enables tilting operation and twisting operation in an omnidirectional direction, and a main controller 50 for controlling the bow thruster, the outboard motor and the steering actuator, in response to operation of the joy stick. The main controller generates propulsion power in accordance with a right-and-left direction component of a tilting operation amount of the joy stick from the bow thruster, generates the propulsion power in accordance with a front-and-back direction component of the tilting operation amount from the outboard motor, and controls the steering actuator in response to the twisting operation of the joy stick.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a boat propulsion system and a boat equipped with the same. [Background technology]

[0002] Patent Document 1 discloses a propulsion control device for a ship equipped with a bow thruster and one outboard motor. A maneuvering pattern can be selected and set in advance for the operation of a lever (joystick) provided on a joystick unit. Specifically, for left and right tilting of the joystick, one of the following maneuvering patterns can be selected: turning while moving in an arc, translation diagonally forward, translation diagonally backward, turning in place, and translation straight to the side. For forward and backward tilting of the joystick, only one maneuvering pattern of movement in the forward and backward directions is available.

[0003] It is explained that when the joystick is tilted diagonally, the maneuvering pattern may be a combination of a maneuvering pattern for forward / reverse operation and a maneuvering pattern for left / right operation. More specifically, it is described that the amount of tilt of the joystick may be decomposed into a forward / reverse component and a left / right component, the magnitude of the propulsive force of the outboard motor may be determined according to the forward / reverse component, and the magnitude of the propulsive force of the bow thruster may be determined according to the left / right component.

[0004] In response to rotation (twist) of the joystick, one of the following maneuvering patterns can be selected: turning while moving in an arc, turning on the spot, or turning on the spot that generates a larger moment. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2014-34269 A (Fig. 7) Summary of the Invention [Problem to be solved by the invention]

[0006] Patent Document 1 does not provide any explanation as to how the joystick behaves when it is operated diagonally and also rotated, and there is room for further study.

[0007] Therefore, one embodiment of the present invention provides a vessel propulsion system and a vessel that can appropriately operate a bow thruster, a propulsion unit, and a steering device in response to joystick operation, thereby realizing hull behavior in accordance with the operator's intentions. [Means for solving the problem]

[0008] One embodiment of the present invention provides a ship propulsion system including a bow thruster disposed at a bow of a hull and capable of generating propulsive force in the left and right direction of the hull, a propulsion unit mounted on the hull and capable of generating propulsive force in the fore-aft direction of the hull, and a steering device for changing the course of the hull. The ship propulsion system includes a joystick that can be tilted in all directions from a neutral position and twisted left and right about an axis from a neutral rotation position, and a controller that controls the bow thruster, the propulsion unit, and the steering device in response to operation of the joystick. The controller generates a propulsive force from the bow thruster in response to a left-right component of the tilt operation amount of the joystick, generates a propulsive force from the propulsion unit in response to a forward-backward component of the tilt operation amount of the joystick, and controls the steering device in response to the twist operation of the joystick.

[0009] According to this configuration, the left-right component of the tilt operation amount of the joystick is assigned to the propulsive force of the bow thruster, the front-rear component of the tilt operation amount is assigned to the propulsive force of the propulsion unit, and the twist operation (rotation operation) of the joystick is assigned to the behavior of the steering device. This makes it possible to provide a marine vessel propulsion system that responds appropriately to the twist operation in addition to the tilt operation of the joystick. As a result, the bow thruster and the propulsion unit are appropriately operated in response to the joystick operation, and appropriate steering control is performed, thereby realizing the behavior of the hull according to the intention of the marine vessel operator.

[0010] In one embodiment of the present invention, when a forward / backward component of the tilt operation amount of the joystick is within a predetermined forward / backward dead zone and a left / right component of the tilt operation amount of the joystick is outside a predetermined left / right dead zone, the controller controls the thrust forces of both the bow thruster and the propulsion unit to zero.

[0011] According to this configuration, when the longitudinal component of the joystick tilt operation amount is within the longitudinal dead zone, neither the bow thruster nor the propulsion unit generates a propulsive force even if the lateral component of the joystick tilt operation amount is outside the lateral dead zone. This makes it possible to make the system unresponsive to a lateral (lateral) operation of the joystick. For example, in a vessel propulsion system that includes a single propulsion unit at the stern in addition to the bow thruster, it may not be possible to cause the combined propulsive force of the bow thruster and the single propulsion unit to act lateral on the hull. In such a case, by making the system unresponsive to a lateral operation of the joystick, it is possible to avoid hull behavior that differs from the intention of the vessel operator.

[0012] In one embodiment of the present invention, the controller has a number of control modes including a neutral mode in which no propulsive force is applied to the hull, a pivoting mode in which the hull is turned, and a fore-aft mode in which the hull is moved fore-aft, and the neutral mode is entered when the joystick is in the neutral position and the neutral rotation position, and when the joystick is twisted from the neutral rotation position while in the neutral position, the controller transitions from the neutral mode to the pivoting mode, and when the joystick is tilted from the neutral position while in the neutral rotation position, the controller transitions from the neutral mode to the fore-aft mode.

[0013] According to this configuration, the control modes of the controller include a neutral mode, a turning mode, and a longitudinal mode, and the bow thruster, the propulsion unit, and the steering device can be appropriately controlled while transitioning among these control modes. In particular, when a twisting operation is performed in the neutral mode, the bow thruster transitions to the turning mode, and when a tilting operation is performed in the neutral mode, the bow thruster transitions to the longitudinal mode. This makes it possible to realize hull behavior that corresponds to the intention of the operator.

[0014] In one embodiment of the present invention, in the forward / backward mode, the controller generates from the bow thruster a propulsive force corresponding to the left / right component of the tilt operation of the joystick, generates from the propulsion unit a propulsive force corresponding to the forward / backward component of the tilt operation of the joystick, and controls the steering device in response to the twisting operation of the joystick.

[0015] According to this configuration, when the control mode of the controller is the forward / reverse mode, the left / right component of the tilt operation amount of the joystick is assigned to the propulsive force of the bow thruster, the front / reverse component of the tilt operation amount is assigned to the propulsive force of the propulsion unit, and the twist operation of the joystick is assigned to the behavior of the steering device. As a result, in the forward / reverse mode, the bow thruster and the propulsion unit can be appropriately operated and appropriate steering control can be performed in accordance with the twist operation as well as the tilt operation of the joystick.

[0016] In one embodiment of the present invention, in the steering mode, the controller causes the bow thruster to generate a propulsive force corresponding to the twisting operation of the joystick, actuates the steering device in response to the twisting operation of the joystick, and causes the propulsion unit to generate a propulsive force corresponding to the fore-and-aft component of the tilt operation of the joystick.

[0017] According to this configuration, in the steering mode, the twisting operation of the joystick is assigned to the propulsive force of the bow thruster and the behavior of the steering device, and the longitudinal component of the tilting operation of the joystick is assigned to the propulsive force of the propulsion unit. This allows the bow thruster and the steering device to be operated appropriately in response to the twisting operation of the joystick, thereby realizing hull behavior that prioritizes steering.

[0018] In one embodiment of the present invention, the controller maintains the neutral mode when, in the neutral mode, the joystick is tilted left or right from the neutral position and the forward / backward component of the tilt operation amount of the joystick is within a predetermined forward / backward dead zone.

[0019] According to this configuration, when the longitudinal component of the joystick tilt operation amount is within the longitudinal dead zone, the neutral mode is maintained even if the lateral component of the joystick tilt operation amount is outside the lateral dead zone. Therefore, neither the bow thruster nor the propulsion unit generates a propulsive force. This makes it possible to make the system unresponsive to a lateral (lateral) operation of the joystick. For example, in a vessel propulsion system that has a single propulsion unit at the stern in addition to the bow thruster, it may not be possible to apply the combined propulsive force of the bow thruster and the single propulsion unit directly lateral to the hull. In such a case, by making the system unresponsive to a lateral operation of the joystick, it is possible to avoid hull behavior that differs from the intention of the vessel operator.

[0020] In one embodiment of the present invention, when the joystick is tilted diagonally in the heading mode, the controller transitions to the forward / backward mode.

[0021] According to this configuration, tilting the joystick diagonally transitions to the forward / reverse mode, which is a control mode that makes it easier to apply forward / reverse propulsive force to the hull. This allows the bow thruster, propulsion unit, and steering device to be appropriately controlled in response to tilting and twisting of the joystick, making it possible to realize hull behavior that conforms to the operator's intentions.

[0022] In one embodiment of the present invention, the controller continues the forward / backward mode when the forward / backward component of the tilt operation amount of the joystick is outside a predetermined forward / backward dead zone in the forward / backward mode, and also continues the forward / backward mode when the forward / backward component is within the forward / backward dead zone but the left / right component of the tilt operation amount is outside a predetermined left / right dead zone.

[0023] According to this configuration, even if the longitudinal component of the tilt operation amount of the joystick falls within the longitudinal insensitive zone during the longitudinal mode, the longitudinal mode is continued if the lateral component is outside the lateral insensitive zone. As described above, for example, in a vessel propulsion system having a single propulsion unit at the stern in addition to a bow thruster, there are cases where the composite propulsion force of the bow thruster and the single propulsion unit cannot be applied directly aside the hull. However, even in such a case, it is possible to move the hull in a diagonal direction (diagonally forward and diagonally backward), and such diagonal movement can be realized by the longitudinal mode. Therefore, even if the longitudinal component of the tilt operation amount falls within the longitudinal insensitive zone during the longitudinal mode, the longitudinal mode is maintained when the lateral component is outside the lateral insensitive zone, and movement in a diagonal direction is possible. For example, by alternately performing a joystick operation for moving diagonally forward and a joystick operation for moving diagonally backward, the hull can be moved to the right or left while moving in a zigzag manner. Therefore, by maintaining the fore-aft mode when the lateral component is outside the lateral dead zone, it is easy to achieve hull behavior that conforms to the operator's intentions.

[0024] In one embodiment of the present invention, the propulsion unit includes a single propulsion unit provided at the stern of the hull, or a plurality of propulsion units provided at the stern of the hull and configured to be steered at the same rudder angle.

[0025] Multiple propulsion units configured to be steered with the same rudder angle are equivalent to a single propulsion unit in that they apply propulsive forces in the same direction to the hull and cannot simultaneously apply propulsive forces in multiple directions to the hull. In this manner, in a configuration in which a propulsion unit that cannot simultaneously apply propulsive forces in multiple directions to the hull is provided at the stern and a bow thruster is provided at the bow, the bow thruster, propulsion unit, and steering device can be appropriately operated in appropriate response to tilting and twisting operations of the joystick, thereby achieving hull behavior that meets the intentions of the operator.

[0026] In one embodiment of the present invention, the bow thruster is fixed to the hull so as not to be steerable.

[0027] One embodiment of the present invention provides a vessel including a hull and a vessel propulsion system configured as described above. Effect of the Invention

[0028] According to the present invention, it is possible to provide a boat propulsion system and a boat that can appropriately operate a bow thruster, a propulsion unit, and a steering device in response to joystick operation, thereby realizing hull behavior in accordance with the operator's intentions. [Brief description of the drawings]

[0029] [Figure 1] FIG. 1 is a plan view for explaining an example of the configuration of a ship equipped with a ship propulsion system according to a preferred embodiment of the present invention. [Diagram 2] FIG. 2 is a block diagram for explaining an example configuration of the vessel propulsion system. [Diagram 3] FIG. 3 is a perspective view for explaining a configuration example of the joystick unit. [Figure 4] FIG. 4 is a diagram for explaining the neutral mode and the forward / backward mode, which are sub-modes of the joystick mode. [Diagram 5] FIG. 5 is a diagram for explaining the neutral mode and the turning mode, which are sub-modes of the joystick mode. [Figure 6]FIG. 6 is a diagram showing the front-back and left-right dead zones of a joystick. [Figure 7] FIG. 7 is a flowchart for explaining the main processing of the main controller in the joystick mode. [Figure 8] FIG. 8 is a diagram illustrating the configuration of a marine vessel propulsion system according to another preferred embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0030] Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

[0031] 1 is a plan view for explaining an example of the configuration of a boat 1 equipped with a boat propulsion system 100 according to one embodiment of the present invention. The boat 1 includes a hull 2, a bow thruster BT provided at the bow of the hull 2 ​​to generate propulsive force in the lateral direction, and an outboard motor OM, which is an example of a propulsion unit with a variable steering angle, provided at the stern 3 of the hull 2. In this embodiment, an example is shown in which one outboard motor OM is provided on a center line 2a extending in the fore-aft direction of the hull 2, but multiple outboard motors, more specifically, two or more outboard motors OM may be provided at the stern 3.

[0032] The outboard motor OM is equipped with a propeller 20 disposed underwater, and is configured to generate thrust by rotation of the propeller 20 and provide the thrust to the hull 2. The outboard motor OM is attached to the stern 3 so as to be rotatable left and right, thereby changing the direction of the thrust generated by the propeller 20 from left to right. For example, the steering angle is defined as the angle between the forward and backward direction parallel to the center line 2a and the direction of the thrust generated by the propeller 20 relative to the forward and backward direction. The outboard motor OM is configured to be rotated left and right by an attached steering mechanism 26 (see FIG. 2), thereby changing the steering angle. The steering angle may be expressed by taking the angle parallel to the forward and backward direction as zero, giving a positive sign to a steering angle in a direction in which the rear end of the outboard motor OM is turned to the right, and giving a negative sign to a steering angle in a direction in which the rear end of the outboard motor OM is turned to the left.

[0033] The bow thruster BT is equipped with a propeller 40 arranged in a cylindrical tunnel 41 that penetrates the hull 2 ​​from left to right at the bow of the hull 2. For example, a structure in which two propellers 40 are coupled to both ends of a rotating shaft may be used. The propeller 40 is rotatable in both forward and reverse directions, that is, in both directions, and thus the bow thruster BT can apply a propulsive force to the hull 2 ​​in the rightward or leftward direction. In this embodiment, the direction of the propulsive force generated by the bow thruster BT cannot be set other than to the left and right directions. That is, in this embodiment, the bow thruster BT is fixed to the hull 2 ​​so as not to be steerable.

[0034] A living space 4 for passengers is provided inside the hull 2. A pilot's seat 5 is provided within this living space 4. The pilot's seat 5 is equipped with a steering wheel 6, a remote control lever 7, a joystick 8, a gauge 9 (display panel), and the like. The steering wheel 6 is an operator operated by the user to change the course of the boat 1. The remote control lever 7 is an operator operated by the user to change the magnitude (output) of the thrust of the outboard motor OM and its direction (forward or reverse), and corresponds to an accelerator operator. The joystick 8 is an operator operated by the user to steer the boat, instead of the steering wheel 6 and the remote control lever 7. In addition to these operators, a dedicated operator 45 (see FIG. 2) for operating the bow thruster BT may be provided.

[0035] Fig. 2 is a block diagram for explaining an example of the configuration of a boat propulsion system 100 provided on the boat 1. The boat propulsion system 100 includes an outboard motor OM and a bow thruster BT. The outboard motor OM may be in the form of either an engine outboard motor or an electric outboard motor. Fig. 2 shows an example of an engine outboard motor.

[0036] The outboard motor OM includes an engine ECU (electronic control unit) 21, a steering ECU 22, an engine 23, a shift mechanism 24, a propeller 20, a steering mechanism 26, etc. Power generated by the engine 23 is transmitted to the propeller 20 via the shift mechanism 24. The steering mechanism 26 is a mechanism for changing the direction of the propulsive force generated by the outboard motor OM to the left or right, and turns the body of the outboard motor OM to the left or right relative to the hull 2 ​​(see FIG. 1). The shift mechanism 24 is configured to be able to select one of a forward position, a reverse position, and a neutral position. When the shift position is in the forward position, the propeller 20 rotates in the forward direction by transmitting the rotation of the engine 23, and the outboard motor OM is in a forward operation state in which it generates a propulsive force in the forward direction. When the shift position is in the reverse position, the propeller 20 rotates in the reverse direction by transmitting the rotation of the engine 23, and the outboard motor OM is in a reverse operation state in which it generates a propulsive force in the reverse direction. When in the neutral position, power transmission between the engine 23 and the propeller 20 is interrupted, and the outboard motor OM is in an idling state.

[0037] The outboard motor OM further includes a throttle actuator 27 and a shift actuator 28, which are controlled by the engine ECU 21. The throttle actuator 27 is an electric actuator (typically including an electric motor) that actuates a throttle valve (not shown) of the engine 23. The shift actuator 28 is an actuator for actuating the shift mechanism 24. The outboard motor OM further includes a steering actuator 25 controlled by the steering ECU 22. The steering actuator 25 is a drive source for the steering mechanism 26, and typically includes an electric motor. The steering actuator 25 may include an electric pump type hydraulic device. The steering actuator 25 and the steering mechanism 26 constitute an example of a steering device.

[0038] The bow thruster BT includes a propeller 40, an electric motor 42 that drives the propeller 40, and a motor controller 43 that controls the electric motor 42.

[0039] The marine vessel propulsion system 100 further includes a main controller 50. The main controller 50 includes a processor 50a and a memory 50b, and is configured to achieve a plurality of functions by the processor 50a executing a program stored in the memory 50b. The main controller 50 is connected to an in-ship network 55 (CAN: Control Area Network) constructed in the hull 2. The in-ship network 55 is connected to a remote control unit 17, a remote control ECU 51, a joystick unit 18, a GPS (Global Positioning System) receiver 52, a direction sensor 53, etc.

[0040] A remote control ECU 51 corresponding to the outboard motor OM is connected to the inboard network 55. The engine ECU 21 and steering ECU 22 of the outboard motor OM are connected to the remote control ECU 51 via an outboard motor control network 56. The main controller 50 exchanges signals with various units connected to the inboard network 55, thereby controlling the outboard motor OM and the bow thruster BT, as well as other units. The main controller 50 has a plurality of control modes, and controls each unit in a predetermined manner according to each control mode.

[0041] The steering wheel unit 16 is connected to the outboard motor control network 56. The steering wheel unit 16 outputs an operation angle signal indicating the operation angle of the steering wheel 6 to the outboard motor control network 56. The operation angle signal is received by the remote control ECU 51 and the steering ECU 22. The steering ECU 22 responds to the operation angle signal generated by the steering wheel unit 16 or the steering angle command generated by the remote control ECU 51, and controls the steering actuator 25 in accordance with either one, thereby controlling the steering angle of the outboard motor OM.

[0042] The remote control unit 17 generates an operation position signal that indicates the operation position of the remote control lever 7 .

[0043] The joystick unit 18 generates an operation position signal that indicates the operation position of the joystick 8 , and also generates an operation signal for an operation button 180 provided on the joystick unit 18 .

[0044] The remote control ECU 51 sends a thrust command to the engine ECU 21 via the outboard motor control network 56. The thrust command includes a shift command for commanding a shift position and an output command for commanding an engine output (specifically, an engine rotation speed). The remote control ECU 51 also sends a steering angle command to the steering ECU 22 via the outboard motor control network 56. A detection signal of a steering angle sensor (not shown) that detects the steering angle of the steering mechanism 26 is input to the steering ECU 22. The steering ECU 22 controls the steering actuator 25 so that the actual steering angle detected by the steering angle sensor coincides with the steering angle command commanded by the remote control ECU 51. The actual steering angle detected by the steering angle sensor is sent from the steering ECU 22 to the remote control ECU 51, and further sent from the remote control ECU 51 to the main controller 50.

[0045] The remote control ECU 51 executes different control operations according to the control mode of the main controller 50. For example, in a control mode for maneuvering the ship using the steering wheel 6 and the remote control lever 7, the remote control ECU 51 gives the engine ECU 21 a propulsive force command (shift command and output command) corresponding to the operation position signal generated by the remote control unit 17. The remote control ECU 51 also commands the steering ECU 22 to follow the operation angle signal generated by the steering wheel unit 16. On the other hand, in a control mode for maneuvering the ship without the operation of the steering wheel 6 and the remote control lever 7, the remote control ECU 51 follows the command of the main controller 50. That is, the remote control ECU 51 sends a propulsive force command (shift command and output command) to the engine ECU 21 and sends a steering angle command to the steering ECU 22 according to the propulsive force command (shift command and output command) and the steering angle command generated by the main controller 50. For example, in a control mode (joystick mode) for maneuvering with the joystick 8, the main controller 50 generates a propulsive force command (shift command and output command) and a steering angle command in response to signals generated by the joystick unit 18. In accordance with these, the magnitude and direction (forward or reverse) of the propulsive force of the outboard motor OM and the steering angle are controlled.

[0046] The engine ECU 21 drives the shift actuator 28 in response to a shift command to control the shift position, and drives the throttle actuator 27 in response to an output command to control the throttle opening. The steering ECU 22 controls the steering actuator 25 in response to a steering angle command to control the steering angle of the outboard motor OM.

[0047] The motor controller 43 of the bow thruster BT is connected to the in-ship network 55 and is configured to operate the electric motor 42 in response to a command from the main controller 50. The motor controller 43 may be connected to the in-ship network 55 via a gateway (not shown). The main controller 50 issues a thrust command to the motor controller 43. The thrust command includes a shift command (rotation direction command) and an output command (rotation speed command). The shift command is a rotation direction command that commands the propeller 40 to stop, rotate forward, or rotate backward. The output command is a command for the thrust to be generated, specifically, a target value of the rotation speed. The motor controller 43 controls the rotation direction and rotation speed of the electric motor 42 in response to the shift command (rotation direction command) and the output command.

[0048] In this example, a dedicated operator 45 for the bow thruster BT is connected to the motor controller 43. A user can also operate the operator 45 to adjust the rotation direction and rotation speed of the bow thruster BT.

[0049] The GPS receiver 52 is an example of a position detection device that receives radio waves from artificial satellites orbiting the Earth to identify the position of the ship 1 and outputs position data indicating the position of the ship 1 and speed data indicating the moving speed of the ship 1. These data are acquired by the main controller 50 and used for displaying and controlling the position and / or direction of the ship 1. GPS is a specific example of a GNSS (Global Navigation Satellite System).

[0050] The orientation sensor 53 detects the orientation of the ship 1 and generates orientation data. The orientation data is used by the main controller 50.

[0051] The inboard network 55 is further connected to a gauge 9. The gauge 9 is a display device for displaying various pieces of information for maneuvering the ship. The gauge 9 can communicate with, for example, the main controller 50, the remote control ECU 51, and the motor controller 43. As a result, the gauge 9 can display information such as the operating state of the outboard motor OM, the operating state of the bow thruster BT, and the position and / or direction of the ship 1. The gauge 9 may be provided with an input device 10 such as a touch panel or a button. When a user operates the input device 10, an operation signal may be sent to the inboard network 55, allowing various settings and commands to be performed. A network separate from the inboard network 55 may be constructed to transmit a display control signal related to the gauge 9.

[0052] An application switch panel 60 is further connected to the in-ship network 55. The application switch panel 60 includes a plurality of function switches 61 for commanding the execution of predefined functions. For example, the function switch 61 may include a switch for commanding automatic ship steering. More specifically, one function switch 61 may be assigned to command a heading hold mode (Heading Hold) for performing automatic steering to maintain the heading while moving forward. Another function switch 61 may be assigned to command a straight line hold mode (Course Hold) for performing automatic steering to maintain the heading while moving forward and to maintain a straight course. Still another function switch 61 may be assigned to command a way point tracking mode (Track Point) for performing automatic steering to navigate according to a route that passes through a plurality of designated way points in order. Still another function switch 61 may be assigned to command a pattern sailing mode (Pattern Steer) for performing automatic steering to navigate according to a predetermined sailing pattern (zigzag pattern, spiral pattern, etc.).

[0053] 3 is a perspective view for explaining a configuration example of the joystick unit 18. The joystick unit 18 includes a joystick 8 that can be tilted forward, backward, left, right (i.e., in all directions of 360 degrees) from a neutral position, and can also be twisted to rotate left and right about an axis from a neutral rotation position. In this example, the joystick unit 18 further includes a plurality of operation buttons 180. The plurality of operation buttons 180 includes a joystick button 181 and hold mode setting buttons 182 to 184.

[0054] The joystick button 181 is an operator that is operated by the boat operator when selecting a control mode (boat maneuvering mode) that uses the joystick 8, that is, the joystick mode.

[0055] The hold mode setting buttons 182, 183, 184 are operation buttons operated by the user to set a control mode (one of the automatic ship steering modes) of the position / heading hold system. More specifically, the hold mode setting button 182 is operated to set a fixed point hold mode (Stay Point) that holds the position and heading (or stern heading) of the ship 1. The hold mode setting button 183 is operated to set a position hold mode (Fish Point) that holds the position of the ship 1 but does not hold the heading (or stern heading). The hold mode setting button 184 is operated to set a heading hold mode (Drift Point) that holds the heading (or stern heading) but does not hold the position.

[0056] From the viewpoint of the operation system, the control modes of the main controller 50 can be classified into a normal mode, a joystick mode, and an automatic ship-piloting mode.

[0057] The normal mode is a control mode in which steering control is performed according to an operation angle signal generated by the steering wheel unit 16, and propulsion control is performed according to an operation signal (operation position signal) of the remote control lever 7. In this embodiment, the normal mode is a default control mode of the main controller 50. The steering control specifically refers to a control operation in which the steering ECU 22 drives the steering actuator 25 according to an operation angle signal generated by the steering wheel unit 16 or a steering angle command generated by the remote control ECU 51. As a result, the body of the outboard motor OM is steered left and right, and the direction of the propulsion force relative to the hull 2 ​​changes left and right. The propulsion force control specifically refers to a control operation in which the engine ECU 21 drives the shift actuator 28 and the throttle actuator 27 according to a propulsion force command (shift command and output command) given to the engine ECU 21 by the remote control ECU 51. As a result, the shift position of the outboard motor OM is set to a forward position, a reverse position, or a neutral position, and the engine output (specifically, the engine rotation speed) changes.

[0058] The joystick mode is a control mode in which steering control and propulsion force control are performed in response to an operation signal from the joystick 8 of the joystick unit 18.

[0059] In the joystick mode, the steering control and the propulsive force control of the outboard motor OM are performed. That is, the main controller 50 provides a steering angle command and a propulsive force command to the remote control ECU 51, and the remote control ECU 51 provides them to the steering ECU 22 and the engine ECU 21.

[0060] The automatic ship-steering mode is a control mode in which steering control and / or propulsion control are performed automatically by the main controller 50 and the like, without operation of the steering wheel 6, the remote control lever 7, and the joystick 8. In other words, automatic ship steering is performed. There are automatic ship steering of a navigation system used when sailing, and automatic ship steering of a position / heading holding system that maintains one or both of the position and the heading. An example of automatic ship steering of a navigation system is the aforementioned automatic steering commanded by operation of the function switch 61. Automatic ship steering of a position / holding system includes ship steering in a fixed position holding mode, a position holding mode, and a heading holding mode commanded by operation of the holding mode setting buttons 182, 183, and 184.

[0061] In this embodiment, further, in the joystick mode and the automatic ship-steering mode, a cooperation mode in which the outboard motor OM and the bow thruster BT are cooperated to achieve a desired hull behavior, and a non-cooperation mode in which such cooperation is not performed can be selected. A selection operator operated by the user to select the cooperation mode / non-cooperation mode may be assigned to, for example, any of the function switches 61 of the application switch panel 60. Also, the cooperation mode / non-cooperation mode may be selected by operating the input device 10 of the gauge 9. In the cooperation mode, the main controller 50 executes the propulsion force control for the bow thruster BT in addition to the steering control and propulsion force control for the outboard motor OM.

[0062] 4 and 5 are diagrams for explaining the joystick mode in the cooperation mode, and show the operation of the joystick 8 and the corresponding behavior of the hull 2. In the joystick mode, the main controller 50 has a plurality of sub-modes (control modes) including a neutral mode in which no propulsive force is applied to the hull 2, a stem turning mode in which the hull 2 ​​is turned, and a longitudinal mode in which the hull 2 ​​is moved forward and backward. The main controller 50 is in the neutral mode when the joystick 8 is in the neutral position and the neutral rotation position. In the neutral mode, the main controller 50 sets the propulsive force of the bow thruster BT to zero, sets the shift position of the outboard motor OM to the neutral position N, and sets the steering angle of the outboard motor OM to zero. When the joystick 8 is tilted from the neutral position with the joystick 8 in the neutral rotation position, the main controller 50 transitions from the neutral mode to the longitudinal mode. The operation in this case is shown in FIG. 4. Furthermore, when the joystick 8 is twisted from the neutral rotation position while in the neutral position, the main controller 50 transitions from the neutral mode to the turning mode. The operation in this case is shown in FIG.

[0063] 4, when the joystick 8 is operated in the forward / backward direction in the neutral mode, the main controller 50 transitions to the forward / backward mode. The main controller 50 determines that the joystick 8 has been operated in the forward / backward direction when the forward / backward component of the tilt operation amount (hereinafter simply referred to as "tilt operation amount") from the neutral position 80 (see FIG. 6) of the joystick 8 is outside a predetermined forward / backward dead zone 81 (see FIG. 6). The main controller 50 also determines that the joystick 8 has been operated in the left / right direction when the left / right component of the tilt operation amount of the joystick 8 is outside a left / right dead zone 82 (see FIG. 6).

[0064] In the forward / rearward mode, the main controller 50 causes the bow thruster BT to generate a propulsive force corresponding to the left / right component of the tilt operation amount of the joystick 8. The main controller 50 also causes the outboard motor OM to generate a propulsive force corresponding to the front / rear component of the tilt operation amount of the joystick 8. Furthermore, the main controller 50 controls the steering actuator 25 to drive the steering mechanism 26 in accordance with the twisting operation of the joystick 8, thereby controlling the steering angle of the outboard motor OM.

[0065] More specifically, when the joystick 8 is tilted straight forward from the neutral position, the main controller 50 sets the propulsive force of the bow thruster BT to zero, sets the shift position of the outboard motor OM to the forward position F, sets the magnitude of the propulsive force of the outboard motor OM to correspond to the amount of operation of the joystick 8, and sets the steering angle of the outboard motor OM to zero. When a twisting operation is then performed on the joystick 8, the main controller 50 steers the outboard motor OM so as to encourage the turning of the hull 2 ​​in the direction of the twisting operation (direction of rotation operation). In other words, the steering direction of the outboard motor OM corresponds to the direction of the twisting operation, and the steering amount of the outboard motor OM corresponds to the amount of operation of the twisting operation (amount of rotation operation). The amount of operation of the twisting operation is the amount of operation from the neutral rotation position (same below). The propulsive force of the bow thruster BT remains zero. Therefore, the operator can adjust the thrust of the outboard motor OM by tilting the joystick 8 forward, while adjusting the steering of the outboard motor OM by twisting the joystick 8.

[0066] When the joystick 8 is tilted diagonally forward to the right, the main controller 50 generates a rightward propulsive force from the bow thruster BT and makes the magnitude of the propulsive force correspond to the left-right component of the tilt operation amount of the joystick 8. The main controller 50 also sets the shift position of the outboard motor OM to the forward position F, makes the magnitude of the propulsive force of the outboard motor OM correspond to the front-rear component of the tilt operation amount of the joystick 8, and sets the steering angle of the outboard motor OM to zero. When a twisting operation is then performed on the joystick 8, the main controller 50 steers the outboard motor OM so that the hull 2 ​​is urged to turn in the direction of the twisting operation. In other words, the steering direction of the outboard motor OM corresponds to the direction of the twisting operation, and the steering amount of the outboard motor OM corresponds to the operation amount of the twisting operation. The rightward propulsive force generated by the bow thruster BT applies a rightward turning moment to the hull 2. Therefore, when the joystick 8 is twisted counterclockwise, the outboard motor OM is steered to the left relative to the neutral position (position where the steering angle is zero), and the propulsive force of the outboard motor OM applies a counterclockwise turning moment to the hull 2, so that the clockwise turning moment due to the propulsive force of the bow thruster BT can be reduced. When the joystick 8 is twisted clockwise, the outboard motor OM is steered to the right relative to the neutral position, and the propulsive force of the outboard motor OM applies a clockwise turning moment to the hull 2. Therefore, a clockwise turning moment can be added to the clockwise turning moment due to the propulsive force of the bow thruster BT. In this way, the boat operator can move the hull 2 ​​diagonally forward to the right by tilting the joystick 8, and adjust the turning of the hull 2 ​​by twisting the joystick 8. For example, while operating the joystick 8, the operator can find a twisting operation position at which the hull 2 ​​does not turn, thereby causing the hull 2 ​​to move diagonally in parallel to the right front.

[0067] When the joystick 8 is tilted diagonally forward to the left, the main controller 50 generates a leftward propulsive force from the bow thruster BT and makes the magnitude of the propulsive force correspond to the left-right component of the tilt operation amount of the joystick 8. The main controller 50 also sets the shift position of the outboard motor OM to the forward position F, makes the magnitude of the propulsive force of the outboard motor OM correspond to the front-rear component of the tilt operation amount of the joystick 8, and sets the steering angle of the outboard motor OM to zero. When a twisting operation is then performed on the joystick 8, the main controller 50 steers the outboard motor OM so that the hull 2 ​​is urged to turn in the direction of the twisting operation. In other words, the steering direction of the outboard motor OM corresponds to the direction of the twisting operation, and the steering amount of the outboard motor OM corresponds to the operation amount of the twisting operation. The leftward propulsive force generated by the bow thruster BT applies a leftward turning moment to the hull 2. Therefore, when the joystick 8 is twisted in the clockwise direction, the outboard motor OM is steered to the right with respect to the neutral position, and the propulsive force of the outboard motor OM applies a clockwise turning moment to the hull 2, so that the counterclockwise turning moment due to the propulsive force of the bow thruster BT can be reduced. When the joystick 8 is twisted in the counterclockwise direction, the outboard motor OM is steered to the left with respect to the neutral position, and the propulsive force of the outboard motor OM applies a counterclockwise turning moment to the hull 2. Thus, a counterclockwise turning moment can be added to the counterclockwise turning moment due to the propulsive force of the bow thruster BT. In this way, the helmsman can move the hull 2 ​​diagonally to the left front by tilting the joystick 8, and adjust the turning of the hull 2 ​​by twisting the joystick 8. For example, the helmsman can find a twisting operation position at which the hull 2 ​​does not turn while operating the joystick 8, and thereby move the hull 2 ​​diagonally in parallel to the left front.

[0068] When the joystick 8 is tilted straight backward from the neutral position, the main controller 50 sets the propulsive force of the bow thruster BT to zero, sets the shift position of the outboard motor OM to the reverse drive position R, makes the magnitude of the propulsive force of the outboard motor OM correspond to the amount of operation of the joystick 8, and sets the steering angle of the outboard motor OM to zero. When the joystick 8 is subsequently twisted, the main controller 50 steers the outboard motor OM so as to encourage the turning of the hull 2 ​​in the direction of the twisting operation. In other words, the steering direction of the outboard motor OM is opposite to the direction of the twisting operation, and the steering amount of the outboard motor OM corresponds to the amount of operation of the twisting operation. The propulsive force of the bow thruster BT remains zero. This allows the boat operator to adjust the propulsive force of the outboard motor OM by the amount of rearward tilt of the joystick 8, while adjusting the steering of the outboard motor OM by twisting the joystick 8.

[0069] When the joystick 8 is tilted diagonally backward to the right, the main controller 50 generates a rightward propulsive force from the bow thruster BT and makes the magnitude of the propulsive force correspond to the left-right component of the tilt operation amount of the joystick 8. The main controller 50 also sets the shift position of the outboard motor OM to the reverse drive position R, makes the magnitude of the propulsive force of the outboard motor OM correspond to the front-rear component of the tilt operation amount of the joystick 8, and sets the steering angle of the outboard motor OM to zero. After that, when a twisting operation is performed on the joystick 8, the main controller 50 steers the outboard motor OM so that the hull 2 ​​is urged to turn in the direction of the twisting operation. In other words, the steering direction of the outboard motor OM is opposite to the twisting operation, and the steering amount of the outboard motor OM corresponds to the operation amount of the twisting operation. The rightward propulsive force generated by the bow thruster BT applies a rightward turning moment to the hull 2. Therefore, when the joystick 8 is twisted counterclockwise, the outboard motor OM is steered to the right with respect to the neutral position, and the propulsive force of the outboard motor OM applies a counterclockwise turning moment to the hull 2, so that the clockwise turning moment due to the propulsive force of the bow thruster BT can be reduced. When the joystick 8 is twisted clockwise, the outboard motor OM is steered to the left, and the propulsive force of the outboard motor OM applies a clockwise turning moment to the hull 2. Thus, a clockwise turning moment can be added to the clockwise turning moment due to the propulsive force of the bow thruster BT. In this way, the helmsman can move the hull 2 ​​diagonally to the right rear by tilting the joystick 8, and adjust the turning of the hull 2 ​​by twisting the joystick 8. For example, the helmsman can find a twisting position at which the hull 2 ​​does not turn while operating the joystick 8, and can thereby move the hull 2 ​​diagonally in parallel to the right rear.

[0070] When the joystick 8 is tilted diagonally backward to the left, the main controller 50 generates a leftward propulsive force from the bow thruster BT and makes the magnitude of the propulsive force correspond to the left-right component of the tilt operation amount of the joystick 8. The main controller 50 also sets the shift position of the outboard motor OM to the reverse drive position R, makes the magnitude of the propulsive force of the outboard motor OM correspond to the front-rear component of the tilt operation amount of the joystick 8, and sets the steering angle of the outboard motor OM to zero. When a twisting operation is then performed on the joystick 8, the main controller 50 steers the outboard motor OM so that the hull 2 ​​is urged to turn in the direction of the twisting operation. In other words, the steering direction of the outboard motor OM is opposite to the direction of the twisting operation, and the steering amount of the outboard motor OM corresponds to the operation amount of the twisting operation. The leftward propulsive force generated by the bow thruster BT applies a leftward turning moment to the hull 2. Therefore, when the joystick 8 is twisted in the clockwise direction, the outboard motor OM is steered to the left relative to the neutral position, and the propulsive force of the outboard motor OM applies a clockwise turning moment to the hull 2, so that the counterclockwise turning moment due to the propulsive force of the bow thruster BT can be reduced. When the joystick 8 is twisted in the counterclockwise direction, the outboard motor OM is steered to the right relative to the neutral position, and the propulsive force of the outboard motor OM applies a counterclockwise turning moment to the hull 2. Thus, a counterclockwise turning moment can be added to the counterclockwise turning moment due to the propulsive force of the bow thruster BT. In this way, the helmsman can move the hull 2 ​​diagonally to the left rear by tilting the joystick 8, and adjust the turning of the hull 2 ​​by twisting the joystick 8. For example, the helmsman can find a twisting operation position at which the hull 2 ​​does not turn while operating the joystick 8, and thereby move the hull 2 ​​diagonally in parallel to the left rear.

[0071] During the forward / backward mode, even if the forward / backward component of the tilt operation amount of the joystick 8 is within the forward / backward insensitive zone 81 (see FIG. 6), the forward / backward mode is maintained as long as the left / right component is outside the left / right insensitive zone 82 (see FIG. 6). This feature is omitted in FIG. 4 to avoid complication, and will be described in detail later with reference to FIG. 7.

[0072] When the longitudinal component of the tilt operation amount of the joystick 8 is within the longitudinal dead zone 81 (see FIG. 6), even if the lateral component of the tilt operation amount is outside the lateral dead zone 82 (see FIG. 6), the main controller 50 maintains the neutral mode and controls the propulsive forces of the bow thruster BT and the outboard motor OM to zero. In other words, the bow thruster BT is not driven, and the shift position of the outboard motor OM is set to the neutral position N.

[0073] The main controller 50 determines that the joystick 8 is in the neutral position when the forward / backward component of the tilt operation amount of the joystick 8 is within the forward / backward insensitive zone 81 (see FIG. 6) and the left / right component is within the left / right insensitive zone 82 (see FIG. 6). The main controller 50 determines that the joystick 8 is in the neutral rotation position when the rotation operation amount of the joystick 8 is within a predetermined rotation insensitive zone. The main controller 50 is in the neutral mode when the joystick 8 is in the neutral position and the neutral rotation position. In the neutral mode, the main controller 50 maintains the neutral mode when the forward / backward component of the tilt operation amount of the joystick 8 is within the forward / backward insensitive zone 81 (see FIG. 6), even if the joystick 8 is tilted left / right from the neutral position beyond the left / right insensitive zone 82 (see FIG. 6).

[0074] Next, referring to FIG. 5, when the joystick 8 is rotated while in the neutral mode, the main controller 50 transitions to the turning mode.

[0075] In the stem turning mode, the main controller 50 causes the bow thruster BT to generate a propulsive force corresponding to the twisting operation of the joystick 8. The main controller 50 also steers the outboard motor OM in response to the twisting operation of the joystick 8, and causes the outboard motor OM to generate a propulsive force corresponding to the longitudinal component of the tilt operation amount of the joystick 8.

[0076] More specifically, when the joystick 8 is twisted from the neutral rotation position, the main controller 50 drives the bow thruster BT so as to encourage the turning of the hull 2 ​​in the direction of the twisting operation. That is, when the joystick 8 is twisted rightward from the neutral rotation position, the main controller 50 generates a rightward propulsive force from the bow thruster BT, and the magnitude of the force corresponds to the amount of rotation operation from the neutral rotation position of the joystick 8. As a result, a turning moment in the clockwise direction is applied to the hull 2. Also, when the joystick 8 is twisted leftward from the neutral rotation position, the main controller 50 generates a leftward propulsive force from the bow thruster BT, and the magnitude of the force corresponds to the amount of rotation operation from the neutral rotation position of the joystick 8. As a result, a turning moment in the counterclockwise direction is applied to the hull 2. As long as the fore-aft component of the tilt operation amount of the joystick 8 is within the fore-aft dead zone 81 (see FIG. 6), the main controller 50 sets the shift position of the outboard motor OM to the neutral position N, and does not generate propulsive force from the outboard motor OM. In this way, it is possible to perform on-the-spot turning using only the propulsive force of the bow thruster BT. However, the main controller 50 may also control the steering angle of the outboard motor OM in response to the twisting operation of the joystick 8 in the turning mode. The content of this steering angle control may be the same as when the joystick 8 is tilted forward in the fore-aft mode.

[0077] When the joystick 8 is further tilted straight forward while rotated to the right from the neutral position, the main controller 50 sets the shift position of the outboard motor OM to the forward position F, and causes the outboard motor OM to generate a propulsive force of a magnitude corresponding to the fore-aft component of the tilt operation amount. At this time, the main controller 50 steers the outboard motor OM in a direction corresponding to the twisting operation of the joystick 8, that is, to the right from the neutral position. The amount of steering corresponds to the amount of rotation operation from the neutral rotation position. As a result, the propulsive force of the outboard motor OM applies a rightward stemming moment to the hull 2, similar to the propulsive force of the bow thruster BT.

[0078] On the other hand, when the joystick 8 is rotated to the right from the neutral rotation position and the joystick 8 is further tilted straight rearward, the main controller 50 sets the shift position of the outboard motor OM to the reverse drive position R, and causes the outboard motor OM to generate a propulsive force of a magnitude corresponding to the fore-aft component of the tilt operation amount. At this time, the main controller 50 steers the outboard motor OM in the direction opposite to the twisting operation of the joystick 8, that is, to the left of the neutral position. The amount of steering corresponds to the amount of rotation operation from the neutral rotation position. As a result, the propulsive force of the outboard motor OM applies a rightward stemming moment to the hull 2, similar to the propulsive force of the bow thruster BT.

[0079] When the joystick 8 is further tilted straight forward while rotated left from the neutral position, the main controller 50 sets the shift position of the outboard motor OM to the forward position F, and causes the outboard motor OM to generate a propulsive force of a magnitude corresponding to the fore-aft component of the tilt operation amount. At this time, the main controller 50 steers the outboard motor OM in a direction corresponding to the twisting operation of the joystick 8, that is, to the left from the neutral position. The amount of steering corresponds to the amount of rotation operation from the neutral rotation position. As a result, the propulsive force of the outboard motor OM applies a counterclockwise turning moment to the hull 2, similar to the propulsive force of the bow thruster BT.

[0080] On the other hand, when the joystick 8 is further tilted straight rearward while rotated left from the neutral position, the main controller 50 sets the shift position of the outboard motor OM to the reverse drive position R, and causes the outboard motor OM to generate a propulsive force of a magnitude corresponding to the fore-aft component of the tilt operation amount. At this time, the main controller 50 steers the outboard motor OM in the direction opposite to the twisting operation of the joystick 8, that is, to the right from the neutral position. The amount of steering corresponds to the amount of rotation operation from the neutral rotation position. As a result, the propulsive force of the outboard motor OM applies a counterclockwise turning moment to the hull 2, similar to the propulsive force of the bow thruster BT.

[0081] In the heading mode, when the joystick 8 is tilted diagonally, that is, to the right front, right rear, left front, or left rear, the main controller 50 transitions to the forward / rearward mode. In the heading mode, as in the forward / rearward mode, steering control of the outboard motor OM is performed in response to twisting of the joystick 8, so that even if a transition occurs from the heading mode to the forward / rearward mode, the continuity of the maneuvering feeling is not lost.

[0082] 7 is a flowchart for explaining an example of processing of the main controller 50 in the joystick mode in the cooperation mode. When the joystick mode is commanded by the joystick button 181, the main controller 50 executes control processing according to the joystick mode. When the cooperation mode is commanded before the joystick mode command, or when the cooperation mode is commanded after the joystick mode command, the main controller 50 executes control of the joystick mode in the cooperation mode.

[0083] The initial sub-mode of the joystick mode in the cooperation mode is the neutral mode (step S1). In the neutral mode, the main controller 50 judges whether the forward / backward component of the tilt operation amount of the joystick 8 is outside the forward / backward dead zone (step S2), and if it is outside the forward / backward dead zone (step S2: YES), the mode transitions to the forward / backward mode (step S3). If the forward / backward component of the tilt operation amount is within the forward / backward dead zone (step S2: NO), the main controller 50 further judges whether the rotation operation amount of the joystick 8 is outside the rotation dead zone (step S6). If it is outside the rotation dead zone (step S6: YES), the mode transitions to the turning mode (step S7). If the rotation operation amount is within the rotation dead zone (step S6: NO), the mode is maintained in the neutral mode (step S1).

[0084] In the neutral mode (step S1), the bow thruster BT is not driven and the shift position of the outboard motor OM is set to the neutral position, so that neither the bow thruster BT nor the outboard motor OM generates a propulsive force.

[0085] In the forward / backward mode (step S3), the main controller 50 controls the bow thruster BT so as to generate a propulsive force whose direction and magnitude depend on the left / right component of the tilt operation amount of the joystick 8. The main controller 50 also controls the outboard motor OM so as to generate a propulsive force whose direction and magnitude depend on the forward / backward component of the tilt operation amount of the joystick 8. Furthermore, the main controller 50 controls the steering angle of the outboard motor OM based on the twisting operation of the joystick 8.

[0086] In the forward / rearward mode, if the forward / rearward component of the tilt operation amount of the joystick 8 is outside the forward / rearward dead zone (step S4: YES), the forward / rearward mode continues. On the other hand, if the forward / rearward component is within the forward / rearward dead zone (step S4: NO), it is determined whether the left / right component of the tilt operation amount of the joystick 8 is outside the left / right dead zone (step S5). If it is outside the left / right dead zone (step S5: YES), the forward / rearward mode continues. This maintains a state in which movement diagonally forward or diagonally backward is possible. For example, by alternately operating the joystick for movement diagonally forward and for movement diagonally backward, the hull 2 ​​can be moved to the right or left while moving in a zigzag pattern.

[0087] If it is determined in step S5 that the left / right operation is within the left / right dead zone, it is determined whether the rotation operation amount of the joystick 8 is outside the rotation dead zone (step S6). If it is outside the rotation dead zone, the mode transitions to the turning mode (step S7), and if it is within the rotation dead zone, the mode transitions to the neutral mode (step S1).

[0088] Although not shown in the figures, when the following conditions are met during the forward / backward mode, output of propulsive force from the bow thruster is prohibited even if the forward / backward component of the tilt operation amount of the joystick 8 is outside the forward / backward dead zone and the left / right component is outside the left / right dead zone.

[0089] Condition: The sign of the required steering angle due to twisting operation does not match the sign of the actual steering angle. This condition is met, for example, when switching is performed in the states shown by reference characters A1 and A2 in FIG. 4. Reference character A1 is a state in which the joystick 8 is tilted diagonally forward to the right while twisting it counterclockwise, thereby enabling the hull 2 ​​to translate diagonally forward to the right while suppressing the turning of the hull 2. Reference character A2 is a state in which the joystick 8 is tilted diagonally backward to the right while twisting it counterclockwise, thereby enabling the hull 2 ​​to translate diagonally backward to the right while suppressing the turning of the hull 2. By alternately switching between these states, the hull 2 ​​can be translated in a zigzag manner, and the hull 2 ​​can be moved substantially to the right. That is, by alternately tilting the joystick 8 diagonally forward and backward while twisting it counterclockwise, the hull 2 ​​can be translated in a zigzag manner to the right.

[0090] In the states indicated by reference characters A1 and A2, the outboard motor OM is steered to the left and right, respectively, with respect to the neutral position, and the shift positions are the forward and reverse positions, respectively. In the states indicated by reference characters A1 and A2, the requested steering angle (command value by the steering angle command) and the actual steering angle are the same, and in the state indicated by reference character A1, the signs of the requested steering angle and the actual steering angle are negative, and in the state indicated by reference character A2, the signs of the requested steering angle and the actual steering angle are positive. When a command is issued to switch between the states indicated by reference characters A1 and A2, the sign of the requested steering angle switches immediately, whereas an operating time for actual steering is required before the sign of the actual steering angle changes, resulting in a corresponding delay. During this delay time, the generation of propulsive force by the bow thruster BT is prohibited. As can be seen from Fig. 4, in the states indicated by reference marks A1 and A2, the propulsive force generated by the bow thruster BT applies a turning moment to the hull 2 ​​in the opposite direction to the direction of the twisting operation of the joystick 8, which is highly likely to be inconsistent with the intention of the vessel operator. This problem is solved by temporarily prohibiting the generation of propulsive force by the bow thruster BT.

[0091] In the stem turning mode (step S7), the main controller 50 controls the bow thruster BT to generate a propulsive force of a direction and magnitude according to the direction of the twisting operation and the amount of rotation of the joystick 8. The main controller 50 also controls the outboard motor OM to generate a propulsive force of a direction and magnitude according to the longitudinal component of the tilting operation of the joystick 8. Furthermore, the main controller 50 controls the steering angle of the outboard motor OM based on the direction of the twisting operation and the amount of rotation of the joystick 8.

[0092] In the turning mode, when the left-right component of the tilt operation amount of the joystick 8 falls outside the left-right dead zone (step S8: YES), the main controller 50 determines that the joystick 8 has been operated in an oblique direction and transitions to the forward-backward mode (step S3). If the left-right component is within the left-right dead zone (step S8: NO), the turning mode (step S7) continues.

[0093] If the cooperative mode has not been commanded, the main controller 50 executes control of the joystick mode in the non-cooperative mode. In the joystick mode in the non-cooperative mode, for example, the main controller 50 controls the shift position and output of the outboard motor OM so as to generate a direction and propulsive force according to the forward / rearward component of the tilt operation amount of the joystick 8. The main controller 50 also controls the steering angle of the outboard motor OM according to the direction of the twist operation and the amount of rotation operation of the joystick 8.

[0094] When a transition from the coordinated mode to the non-coordinated mode occurs, the mode transitions to the neutral mode or the forward / backward mode depending on the operation state of the joystick 8. For example, if the mode is in the neutral mode when the transition to the non-coordinated mode occurs, the neutral mode may be maintained, and if the mode is in the forward / backward mode when the transition to the non-coordinated mode occurs, the forward / backward mode may be maintained. Also, if the mode is in the neutral mode when the transition to the non-coordinated mode occurs, the mode transitions to the forward / backward mode, and if the mode is in the forward / backward mode when the transition to the non-coordinated mode occurs, the forward / backward mode may be maintained. If the mode is in the turning mode when the transition to the non-coordinated mode occurs, it is preferable to continue the turning mode (however, the limited turning mode that does not use the bow thruster BT). In particular, if the upper limit value of the propulsive force is different between the forward / backward mode and the turning mode, it is preferable to maintain the turning mode. This makes it possible to avoid an increase in the propulsive force even if the tilt operation amount of the joystick 8 is not changed. Also, a transition from the coordinated mode to the non-coordinated mode may occur, for example, due to a temporary drop in the battery voltage. In such a case, it is preferable to maintain the turning mode, since when the battery voltage recovers and the coordinated mode is restored, the propulsive force of the bow thruster BT can be immediately used for turning. During the turning mode (limited turning mode) in the non-coordinated mode, it is preferable to prohibit transition to the forward / backward mode by tilting the joystick 8 diagonally, so as to prevent a situation in which the propulsive force changes even if the tilt operation amount of the joystick 8 has not been changed. When the tilt operation amount of the joystick 8 disappears during the turning mode, the mode transitions to the neutral mode. Then, when the joystick 8 is tilted in the forward / backward direction thereafter, the mode transitions to the forward / backward mode.

[0095] As described above, the vessel propulsion system 100 of this embodiment includes a bow thruster BT disposed at the bow of the hull 2 ​​and capable of generating propulsive force in the left and right direction of the hull 2, and an outboard motor OM mounted on the hull 2 ​​as a propulsion unit capable of generating propulsive force in the fore-aft direction of the hull 2. The vessel propulsion system 100 also includes a steering mechanism 26 for changing the course of the hull 2, and a steering actuator 25 for driving the steering mechanism. The vessel propulsion system 100 further includes a joystick 8 that can be tilted in all directions from a neutral position and can be twisted left and right about an axis from a neutral rotation position, and a main controller 50 that controls the bow thruster BT, the outboard motor OM, and the steering mechanism in response to operation of the joystick 8.

[0096] The main controller 50 has, as sub-modes of the joystick mode, a neutral mode in which no propulsive force is applied to the hull 2, a stem turning mode in which the hull 2 ​​is turned, and a fore-aft mode in which the hull 2 ​​is moved forward and backward. The main controller 50 is in the neutral mode when the joystick 8 is in the neutral position and the neutral rotation position. In the neutral mode, when the joystick 8 is twisted, the main controller 50 transitions to the stem turning mode. Also, in the neutral mode, when the joystick 8 is tilted, the main controller 50 transitions to the fore-aft mode.

[0097] Therefore, the control mode of the main controller 50 can appropriately control the propulsive force of the bow thruster BT and the propulsive force and steering angle of the outboard motor OM while transitioning between the neutral mode, the stem turning mode, and the longitudinal mode. In particular, when a twisting operation is performed in the neutral mode, the mode transitions to the stem turning mode, and when a tilting operation is performed in the neutral mode, the mode transitions to the longitudinal mode. This makes it possible to realize hull behavior that corresponds to the intention of the operator.

[0098] In the forward / rearward mode, the main controller 50 causes the bow thruster BT to generate a propulsive force corresponding to the left / right component of the tilt operation amount of the joystick 8, and causes the outboard motor OM to generate a propulsive force corresponding to the forward / rearward component of the tilt operation amount of the joystick 8. Furthermore, in the forward / rearward mode, the main controller 50 controls the steering angle of the outboard motor OM in response to the twisting operation of the joystick 8.

[0099] In this way, the left-right component of the tilt operation amount of the joystick 8 is assigned to the propulsive force of the bow thruster BT, the front-rear component of the tilt operation amount is assigned to the propulsive force of the outboard motor OM, and the twisting operation (rotation operation) of the joystick 8 is assigned to control the steering angle of the outboard motor OM. This makes it possible to provide a vessel propulsion system 100 that responds appropriately to the twisting operation in addition to the tilting operation of the joystick 8. As a result, the bow thruster BT and the outboard motor OM are appropriately operated in response to the operation of the joystick 8, and appropriate steering control is performed, thereby achieving hull behavior in accordance with the intention of the vessel operator.

[0100] In addition, in the stem turning mode, the main controller 50 controls the bow thruster BT to generate a propulsive force corresponding to the twisting operation of the joystick 8, and controls the steering angle of the outboard motor OM according to the twisting operation of the joystick 8. In the stem turning mode, the main controller 50 controls the outboard motor OM to generate a propulsive force corresponding to the longitudinal component of the tilt operation amount of the joystick 8.

[0101] Thus, in the stem turning mode, the twisting operation of the joystick 8 is assigned to the propulsive force and steering control of the bow thruster BT, and the longitudinal component of the tilting operation of the joystick 8 is assigned to the propulsive force of the outboard motor OM. This allows the propulsive force of the bow thruster BT and the steering angle of the outboard motor OM to be appropriately controlled in response to the twisting operation of the joystick 8, thereby achieving hull behavior that prioritizes stem turning.

[0102] In the forward / backward mode, the main controller 50 continues the forward / backward mode when the forward / backward component of the tilt operation amount of the joystick 8 is outside the forward / backward dead zone. The main controller 50 also continues the forward / backward mode when the forward / backward component is within the forward / backward dead zone but the left / right component of the tilt operation amount is outside the left / right dead zone.

[0103] In this embodiment, the bow thruster BT is fixed to the bow of the hull 2 ​​in a state where it cannot be steered, and a single outboard motor OM is provided at the stern. In this configuration, the composite propulsive force of the bow thruster BT and the single outboard motor OM cannot be made to act directly abeam on the hull 2. However, even in such a case, it is possible to move the hull 2 ​​in a diagonal direction (diagonally forward and diagonally backward), and such diagonal movement can be realized by the fore-aft mode. Therefore, even if the fore-aft component of the tilt operation amount is within the fore-aft dead zone, movement in a diagonal direction is possible by holding the fore-aft mode when the left-right component is outside the left-right dead zone during the fore-aft mode. For example, by alternately performing a joystick operation for moving diagonally forward and a joystick operation for moving diagonally backward, the hull 2 ​​can be moved to the right or left while moving in a zigzag manner. Therefore, by holding the fore-aft mode when the left-right component is outside the left-right dead zone, it is easy to realize the hull behavior that conforms to the intention of the operator. To explain further, in the zigzag lateral movement, the helmsman typically repeats movements diagonally forward and diagonally backward while maintaining the bow heading. In this case, the helmsman repeats tilting operations diagonally forward and diagonally backward while twisting the joystick 8. When a transition occurs from the forward / reverse mode to the turning mode via the neutral mode in such an operating state, the behavior in response to the twisting operation changes. Specifically, in the forward / reverse mode, the steering angle of the outboard motor OM changes in response to the twisting operation of the joystick 8, whereas in the turning mode, not only the steering angle of the outboard motor OM but also the propulsive force of the bow thruster BT changes, which tends to cause fluctuations in the bow heading. Therefore, it is easier to realize the hull behavior that matches the intention of the helmsman by maintaining the forward / reverse mode.

[0104] In this embodiment, when the joystick 8 is tilted diagonally in the stem turning mode, the main controller 50 transitions to the fore-aft mode (step S8: YES). This results in a control mode that makes it easier to apply a fore-aft propulsive force to the hull 2. This allows the propulsive force of the bow thruster BT and the propulsive force and steering angle of the outboard motor OM to be appropriately controlled in response to the tilting and twisting operations of the joystick 8, thereby realizing hull behavior that conforms to the intention of the operator.

[0105] In this embodiment, even if the joystick 8 is tilted left or right from the neutral position in the neutral mode, if the longitudinal component of the tilt operation amount is within the longitudinal dead zone, the main controller 50 maintains the neutral mode (step S2: NO). Therefore, when the longitudinal component of the tilt operation amount of the joystick 8 is within the longitudinal dead zone and the lateral component of the tilt operation amount of the joystick 8 is outside the predetermined lateral dead zone, the propulsive forces of the bow thruster BT and the outboard motor OM are both controlled to zero.

[0106] This enables the system to be made unresponsive to lateral (left / right) operation of the joystick 8. The vessel propulsion system 100 of this embodiment is equipped with a single outboard motor OM propulsion unit at the stern in addition to a bow thruster BT fixed to the bow, and the combined propulsive force of the bow thruster BT and the single outboard motor OM cannot be caused to act lateral on the hull 2. Therefore, by making the system unresponsive to lateral operation of the joystick 8, hull behavior that differs from the intention of the vessel operator can be avoided.

[0107] Fig. 8 is a diagram for explaining the configuration of a marine vessel propulsion system according to another embodiment of the present invention. In the above-described embodiment, a configuration in which a single propulsion unit (a single outboard motor OM) is provided at the stern has been described, but the above-described embodiment may be applied to a configuration in which multiple propulsion units provided at the stern of the hull 2 ​​are steered at the same rudder angle. In the example shown in Fig. 8, steering levers 90 of multiple outboard motors OM provided at the stern are mechanically connected by a link 91, and multiple outboard motors OM (two in this example) are steered synchronously by one steering device, i.e., at the same rudder angle. In this example, the steering device includes a steering actuator 25 and a steering mechanism 26 driven thereby.

[0108] A plurality of propulsion units configured to be steered with the same rudder angle are equivalent to a single propulsion unit in that they apply propulsive forces in the same direction to the hull 2 ​​and cannot simultaneously apply propulsive forces in multiple directions to the hull 2. In this way, the above-described embodiment can be applied to a ship propulsion system configured such that a propulsion unit that cannot simultaneously apply propulsive forces in multiple directions to the hull 2 ​​is provided at the stern and a bow thruster BT is provided at the bow. This allows the bow thruster BT, the propulsion unit and the steering device to be appropriately operated in appropriate response to tilting and twisting operations of the joystick 8, thereby realizing hull behavior that meets the intentions of the ship operator.

[0109] Although the embodiment of the present invention has been described above, the present invention can be embodied in other forms.

[0110] For example, in the above-described embodiment, the bow thruster BT is fixed to the hull 2 ​​so that it cannot be steered, but a steerable propulsion device such as a trolling motor can also be used as the bow thruster BT, and in that case the above-described embodiment can also be applied.

[0111] In addition, in the above embodiment, the outboard motor OM has been described as an example of a propulsion unit, but the propulsion unit may be in other forms, such as an inboard motor, an inboard-outboard motor, a water jet propulsion unit, etc. Furthermore, the propulsion unit may be mounted on the hull at an appropriate position other than the stern.

[0112] In addition, various design modifications can be made within the scope of the claims. [Explanation of symbols]

[0113] 1: ship, 2: hull, 3: stern, 8: joystick, 18: joystick unit, 25: steering actuator, 26: steering mechanism, 50: main controller, 80: neutral position, 81: front / rear dead zone, 82: left / right dead zone, 100: ship propulsion system, BT: bow thruster, OM: outboard motor

Claims

1. A bow thruster positioned at the bow of the hull and capable of generating propulsion force in the lateral direction of the hull, A propulsion system mounted on the hull and capable of generating thrust in the longitudinal direction of the hull, The steering device for changing the course of the hull, A joystick that can be tilted in all directions from a neutral position, and can be twisted left and right around an axis from a neutral rotation position, The system includes a controller that controls the bow thruster, the propulsion system, and the steering device in response to the operation of the joystick, The controller generates thrust from the bow thruster in accordance with the left-right component of the tilt operation of the joystick, generates thrust from the propulsion unit in accordance with the front-rear component of the tilt operation of the joystick, and controls the steering device in accordance with the torsion operation of the joystick, in a ship propulsion system.

2. The ship propulsion system according to claim 1, wherein the controller controls the thrust of both the bow thruster and the propulsion machine to zero when the longitudinal component of the tilt operation amount of the joystick is within a predetermined longitudinal dead zone and the lateral component of the tilt operation amount of the joystick is outside a predetermined lateral dead zone.

3. The ship propulsion system according to claim 1, wherein the controller has a plurality of control modes, including a neutral mode in which no propulsion force is applied to the hull, a turning mode in which the hull is turned, and a forward / backward mode in which the hull is moved forward and backward, the system enters the neutral mode when the joystick is in the neutral position and the neutral rotation position, the system transitions from the neutral mode to the turning mode when the joystick is twisted from the neutral rotation position while in the neutral position, and the system transitions from the neutral mode to the forward / backward mode when the joystick is tilted from the neutral position while in the neutral rotation position.

4. The ship propulsion system according to claim 3, wherein the controller generates a thrust from the bow thruster corresponding to the left-right component of the tilt operation of the joystick in the forward / backward mode, generates a thrust from the propulsion unit corresponding to the forward / backward component of the tilt operation of the joystick, and controls the steering device in accordance with the torsion operation of the joystick.

5. The ship propulsion system according to claim 3, wherein the controller generates a thrust force from the bow thruster in accordance with the twisting operation of the joystick in the turning mode, activates the steering device in accordance with the twisting operation of the joystick, and generates a thrust force from the propulsion machine in accordance with the longitudinal component of the tilting operation of the joystick.

6. The ship propulsion system according to claim 3, wherein the controller maintains the neutral mode when the joystick is tilted from the neutral position in the left-right direction and the longitudinal component of the tilt amount of the joystick is within a predetermined longitudinal dead zone.

7. The ship propulsion system according to claim 3, wherein the controller transitions to the forward / backward mode when the joystick is tilted diagonally in the turning mode.

8. The ship propulsion system according to claim 3, wherein the controller continues the forward / backward mode when the forward / backward component of the tilt operation amount of the joystick is outside a predetermined forward / backward dead zone, and even if the forward / backward component is within the forward / backward dead zone, the forward / backward mode is also continued when the left / right component of the tilt operation amount is outside a predetermined left / right dead zone.

9. The ship propulsion system according to any one of claims 1 to 8, wherein the propulsion system includes a single propulsion system provided at the stern of the hull, or a plurality of propulsion systems provided at the stern of the hull and configured to steer at the same rudder angle.

10. The ship propulsion system according to any one of claims 1 to 8, wherein the bow thruster is fixed to the hull in a manner that prevents steering.

11. The hull and, A ship comprising a ship propulsion system according to any one of claims 1 to 8.

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