Ship propulsion system, control method of the same, and ship

Abstract

To provide a ship propulsion system capable of reducing delay in the propulsion start of a propeller.SOLUTION: A controller 70 starts the process of moving a trolling motor 5 to a use position and acquires the latest ship maneuvering instruction content according to acceptance of a use start instruction specifying a maneuvering mode capable of using the trolling motor 5. The controller 70 determines the direction of the trolling motor 5 based on the maneuvering mode specified in the use start instruction and on the latest ship maneuvering instruction content, and starts a steering process so that the direction of the trolling motor 5 becomes the determined direction before the trolling motor 5 completes its movement to the use position.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present invention relates to a ship propulsion system, a control method thereof, and a ship. [Background technology]

[0002] 2. Description of the Related Art In a marine vessel propulsion system equipped with a trolling motor, a system is known in which the trolling motor can be moved electrically or otherwise between a use position and a storage position (Patent Documents 1, 2, and 3).

[0003] Generally, when maneuvering a ship using the propulsive force of a trolling motor, the trolling motor is lowered to the position of use and steered in a direction (steering angle) according to the maneuvering instructions by a steering operation, after which a propulsive force of the desired magnitude and direction is obtained. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] U.S. Patent No. 6,447,347 [Patent Document 2] U.S. Pat. No. 3,965,844 [Patent Document 3] U.S. Pat. No. 3,980,039 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the steering angle when the trolling motor is lowered to the use position is usually fixed. Therefore, immediately after the trolling motor is lowered to the use position, the deviation between the direction of the trolling motor corresponding to the intention of the boat operator or the control unit and the actual direction of the trolling motor may become large. If the deviation is too large, a propulsive force of the desired magnitude and direction cannot be obtained until the trolling motor moves to the direction corresponding to the boat operation command. Therefore, the start of propulsion by the trolling motor may be substantially delayed.

[0006] An object of the present invention is to provide a boat propulsion system that can reduce the delay in starting propulsion by a propulsion unit. [Means for solving the problem]

[0007] A marine propulsion system according to one embodiment of the present invention comprises a propulsion unit that can be moved between a use position and a stored position and whose orientation can be changed by a steering operation, a reception unit that receives a start-of-use instruction specifying a steering mode to be executed from among a plurality of steering modes available for the propulsion unit, a control unit that moves the propulsion unit to the use position in response to the reception of the start-of-use instruction, an acquisition unit that acquires latest steering instructions in response to the reception of the start-of-use instruction, and a determination unit that determines an orientation of the propulsion unit based on the steering mode specified in the start-of-use instruction and the latest steering instructions, and when moving the propulsion unit to the use position in response to the reception of the start-of-use instruction, the control unit initiates a process of steering the propulsion unit to the determined orientation before the propulsion unit has completed moving to the use position.

[0008] According to this configuration, in response to receiving a start-of-use instruction that specifies a maneuvering mode to be executed from among multiple maneuvering modes in which the propulsion unit can be used, the propulsion unit is moved to a use position, the latest maneuvering instructions are obtained, and the orientation of the propulsion unit is determined based on the maneuvering mode specified in the start-of-use instruction and the latest maneuvering instructions. When the propulsion unit is moved to the use position in response to receiving the start-of-use instruction, a process of steering the propulsion unit to the determined orientation is started before the movement of the propulsion unit to the use position is completed. Effect of the Invention

[0009] According to the present invention, it is possible to reduce the delay in the start of propulsion by the propulsion unit. [Brief description of the drawings]

[0010] [Figure 1]1 is a schematic top view of a vessel to which a vessel propulsion system is applied; [Diagram 2] FIG. 1 is a schematic side view of bow and stern portions of a ship. [Diagram 3] FIG. 2 is a schematic side view of the front of the watercraft with the trolling motor in a stowed position. [Figure 4] FIG. [Diagram 5] FIG. 2 is a view of the steering wheel seen from approximately the front. [Figure 6] FIG. 1 is a block diagram of a marine vessel propulsion system. [Figure 7] 4 is a flowchart of lifting / steering processing. [Figure 8] 4 is a flowchart of lifting / steering processing. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0012] 1 is a schematic top view of a boat 1 to which a boat propulsion system according to an embodiment of the present invention is applied.

[0013] In the figure, the forward direction (bow direction) of the ship 1 is indicated by an arrow FWD, and the astern direction (stern direction) is indicated by an arrow BWD. Furthermore, the starboard side direction of the ship 1 is indicated by an arrow R, and the port side direction is indicated by an arrow L.

[0014] The centerline C of the hull 2 ​​passes through the center of the stern 2A and the tip of the bow 2B. The centerline C passes through the center of gravity G (center of turning) of the ship 1. The fore-aft direction is a direction parallel to the centerline C. The forward direction is the direction upward along the centerline C in Figure 1 (the direction of the bow 2B when viewed from the stern 2A). The rearward direction is the direction downward along the centerline C in Figure 1. The left-right direction is based on the view of the hull 2 ​​from the rear. The up-down direction is a direction perpendicular to the fore-aft direction and the left-right direction.

[0015] The boat 1 is equipped with a steerable outboard motor 4 (first propulsion unit) and a steerable trolling motor 5 (second propulsion unit) as propulsion units for propelling the hull 2. The outboard motor 4 is disposed at the stern 2A, and the trolling motor 5 is disposed at the bow 2B. The trolling motor 5 only needs to be disposed at a predetermined position in front of the stern 2A of the hull 2, and its position is not limited to the bow 2B. The outboard motor 4 and the trolling motor 5 may be the main propulsion unit and the auxiliary propulsion unit of the boat 1, respectively. One outboard motor 4 is provided at the center in the left-right direction of the stern 2A.

[0016] The boat 1 is equipped with a steering wheel 11 that is operated mainly for steering, a throttle operation unit 12 that is operated mainly for adjusting the output of the outboard motor 4, and a joystick 13 that is operated mainly for steering and adjusting the output of the outboard motor 4. The layout of these components is not limited to that shown in the figure.

[0017] FIG. 2 is a schematic side view of the bow and stern portions of the vessel 1. As shown in FIG.

[0018] The outboard motor 4 has an outboard motor body 20. A propeller 21 and a skeg 23 (rudder) are arranged on the lower part of the outboard motor body 20. The outboard motor body 20 is attached to the stern 2A by an attachment mechanism 22. The attachment mechanism 22 includes a clamp bracket that is detachably fixed to the stern 2A, and a swivel bracket that is connected to the clamp bracket so as to be rotatable about a tilt axis. The outboard motor body 20 is attached to the swivel bracket so as to be rotatable about a steering axis center K (FIG. 1). The steering angle of the outboard motor 4 changes as the outboard motor body 20 rotates about the steering axis center K.

[0019] Unlike a bow thruster (not shown), the trolling motor 5 is an aftermarket part that can be attached later to the completed boat 1. The trolling motor 5 is designed to provide the hull 2 ​​with a propulsive force in any direction about a rotation axis J (FIG. 1), which is the center line of the rotation shaft 52.

[0020] The trolling motor 5 is electrically powered. The trolling motor 5 includes an electric motor 50 and a propeller 51 that generates propulsive force by being rotationally driven by the electric motor 50. The trolling motor 5 further includes a rotating shaft 52 that extends upward from the electric motor 50 through the rotation axis J, and a bracket 53 that is fixed to the bow 2B and supports the rotating shaft 52 rotatably around the rotation axis J. The electric motor 50 rotates around the rotation axis J together with the rotating shaft 52.

[0021] The upper part of the rotating shaft 52 protrudes upward beyond the bracket 53. A control panel 54 having an indicator (not shown) that indicates the direction of the propeller 51 in water and the like is provided at the upper end of the rotating shaft 52. An operation unit (not shown) such as a foot pedal that allows the operator to directly operate the trolling motor 5 is provided on the bracket 53. In addition, a wireless remote control (not shown) that allows the operator to operate the trolling motor 5 may be provided. Note that the control panel 54 is not shown in FIG. 1.

[0022] The trolling motor 5 includes, for example, an electric steering unit 56 built into the bracket 53 and rotating the rotating shaft 52 and the electric motor 50 around the rotation axis J, and an ECU (not shown) built into the operation panel 54 and controlling the electric motor 50 and the steering unit 56.

[0023] The steering unit 56 is composed of, for example, a servo motor. The orientation of the trolling motor 5 can be changed by a steering operation by the steering unit 56. First, the steering unit 56 changes the direction of the propulsive force generated by the rotating propeller 51 by rotating the electric motor 50 around the rotation axis J to change the orientation of the electric motor 50 within a range of 360 degrees or more. This changes the steering angle of the trolling motor 5, and changes the direction of the propulsive force that the trolling motor 5 applies to the hull 2.

[0024] The bracket 53 is capable of rotating up and down relative to the hull 2 ​​by a rotating shaft 59. The bracket 53 rotates about the rotating shaft 59, thereby allowing the trolling motor 5 to move between a use position and a stored position. Figures 1 and 2 show the trolling motor 5 in the use position. When the trolling motor 5 is in the use position, the electric motor 50 and the propeller 51 are positioned below the waterline (not shown).

[0025] FIG. 3 is a schematic side view of the front part of the boat 1 with the trolling motor 5 in the stowed position.

[0026] The trolling motor 5 can be moved manually between the use position and the storage position. In addition, the trolling motor 5 can also be moved automatically between the use position and the storage position by, for example, electric or hydraulic power. When moving automatically, it is controlled by a controller 70 (FIG. 6) described later.

[0027] The rotating shaft 52 is driven by an actuator 61 (described later in FIG. 6 ) and is slidable in the direction of the rotation axis J relative to the bracket 53. The bracket 53 is rotatable about a rotation axis 59 by the actuator 61. In the use position, the electric motor 50 is located at a position farthest from the bracket 53. To move the electric motor 50 from the use position to the storage position, the controller 70 controls the actuator 61 to slide the rotating shaft 52 in the direction of the rotation axis J relative to the bracket 53, thereby bringing the electric motor 50 closer to the bracket 53. In parallel with this, the controller 70 controls the actuator 61 to rotate the bracket 53 clockwise in FIG. 2 about the rotation axis 59. When the trolling motor 5 rotates to the storage position shown in FIG. 3 , it is in a stored state.

[0028] The mechanism for transitioning the trolling motor 5 between the use position and the stowed position is not limited to the one illustrated. The stowed position may be any position suitable for when the trolling motor 5 is not in use, and may be any position in which the electric motor 50 and the propeller 51 are positioned above the waterline.

[0029] In this embodiment, the multiple maneuvering modes are roughly divided into an outboard motor mode in which the trolling motor 5 is not used, and a linked mode in which the trolling motor 5 is used in combination with the outboard motor 4. The outboard motor mode is a maneuvering mode in which the outboard motor 4 is controlled mainly based on the rotational operation of the steering wheel 11 and the operation of the throttle operating unit 12.

[0030] The linked modes include an automatic ship-steering mode, a joystick mode, and a drive mode (steering wheel ship-steering mode). The joystick mode is a ship-steering mode in which the outboard motor 4 and the trolling motor 5 are controlled based on the operation of the joystick 13. The drive mode is a ship-steering mode in which the outboard motor 4 and the trolling motor 5 are controlled based on the operation of various switches and paddles on the steering wheel 11 (described later) and the rotation of the steering wheel 11.

[0031] The automatic ship-steering mode is a mode in which, when a target position or a target heading of the hull 2 ​​is specified, the outboard motor 4 and the trolling motor 5 are controlled to automatically maintain the trajectory, heading or position of the hull 2. Typical examples of the automatic ship-steering mode include a stay point, a fish point, and a drift point.

[0032] 4 is a perspective view of the joystick 13. The joystick 13 includes a main body portion 13a and a columnar stick portion 13b extending upward from the main body portion 13a.

[0033] The main body 13a is provided with a stay point button 13c, a fish point button 13d, a drift button 13e, and a joystick button 13f. The stay point button 13c accepts an operation to switch the stay point on and off. The fish point button 13d accepts an operation to switch the fish point on and off. The drift button 13e accepts an operation to switch the drift point on and off. The joystick button 13f accepts an operation to switch the joystick mode on and off.

[0034] The stay point is an automatic ship steering mode in which the heading of the bow 2B of the hull 2 ​​is maintained at a set target heading, and the position of the hull 2 ​​is maintained at a set target point. The fish point is an automatic ship steering mode in which the hull 2 ​​is turned to face a set target point, and the moving direction of the hull 2 ​​is maintained at the target point. The drift point is an automatic ship steering mode in which the hull 2 ​​is moved by receiving external forces including wind and water flow, while the heading of the bow 2B of the hull 2 ​​is maintained at the target heading by turning the hull 2. It is not essential that the main body 13a has all of the above-mentioned buttons.

[0035] 5 is a view of the steering wheel 11 seen substantially from the front. The steering wheel 11 has a central portion 44, an annular wheel portion 43, and three spoke portions (a first spoke portion 45, a second spoke portion 46, and a third spoke portion 47). The steering wheel 11 is supported by the hull 2 ​​so as to be rotatable about a rotation fulcrum C0.

[0036] The steering wheel 11 includes a plurality of switches. For example, a changeover switch 69, a left switch 63, and a right switch 64 are arranged on the surface of the steering wheel 11. The steering wheel 11 also includes a left paddle section 67 and a right paddle section 68. The left paddle section 67 and the right paddle section 68 are rotatable in the front-rear direction. The left paddle section 67 and the right paddle section 68 are operation sections for instructing the hull 2 ​​to apply rearward and forward propulsive forces, respectively.

[0037] When the left paddle unit 67 is operated, the controller 70 changes the magnitude of the rearward propulsive force in accordance with the amount of operation of the left paddle unit 67, and when the right paddle unit 68 is operated, the controller 70 changes the magnitude of the forward propulsive force in accordance with the amount of operation of the right paddle unit 68. Mainly in the drive mode, the controller 70 controls the trolling motor 5 and the outboard motor 4 based on operation signals from the switches 63, 64 and the paddle units 67, 68.

[0038] In joystick mode and drive mode, parallel movement including lateral movement as well as turning on the spot are possible.

[0039] Here, translation means that the hull 2 ​​moves horizontally around the center of gravity G (Figure 1) without rotating in the yaw direction. For example, in lateral movement, the hull 2 ​​moves left or right without turning. It is also possible to translate the hull 2 ​​diagonally (diagonally left / right and front / rear) by applying a propulsive force in the fore / aft direction during lateral movement. In on-the-spot turning, the hull 2 ​​rotates in the yaw direction around the center of gravity G. There are also cases where a combination of translation and turning is applied.

[0040] Regarding operation, for example, when parallel movement is performed in joystick mode, the hull 2 ​​moves parallel in the direction in which the stick unit 13b is tilted. When parallel movement is performed in drive mode, the hull 2 ​​moves laterally to the left and right when the left switch 63 and right switch 64 are operated, respectively. When the paddle units 67 and 68 are operated, the hull 2 ​​moves backward and forward, respectively. Note that when either the paddle units 67 and 68 are operated in parallel with the operation of the left switch 63 or the right switch 64, forward and backward movement is added to the lateral movement, and the hull 2 ​​moves parallel in an oblique direction.

[0041] The stick portion 13b can be twisted (or rotated) around the axis of the stick portion 13b, and in the joystick mode, a turning (or pivoting) command can be issued by twisting the stick portion 13b. In the drive mode, a turning (or pivoting) command can be issued by rotating the wheel portion 43.

[0042] A biasing portion (not shown) is provided in the tilting and twisting directions of the stick portion 13b of the joystick 13, and the joystick 13 is always biased toward the neutral position. Therefore, when the operator releases the joystick 13, the joystick 13 automatically returns to the neutral position.

[0043] In this embodiment, the "multiple ship maneuvering modes in which the trolling motor 5 (propulsion unit) can be used" include the joystick mode, drive mode, and automatic ship maneuvering mode, as well as a motor-only mode in which the ship is steered only with the trolling motor 5 without using the outboard motor 4. Furthermore, the normal coordinated mode in which the ship pilot operates each of the outboard motor 4 and the trolling motor 5 individually is also included in the multiple ship maneuvering modes in which the trolling motor 5 can be used. However, the ship maneuvering modes in which the trolling motor 5 can be used are not limited to these modes.

[0044] Note that the joystick mode and drive mode may be applicable even in the motor only mode. In that case, the trolling motor 5 is controlled based on the operation of the joystick 13. Alternatively, the trolling motor 5 is controlled based on the rotation operation of the steering wheel 11 and the operation of the throttle operation unit 12.

[0045] 6 is a block diagram of a boat propulsion system. The boat propulsion system includes a controller 70, an outboard motor 4, a trolling motor 5, a steering wheel 11, a throttle operation unit 12, a joystick 13, a display unit 14, various sensors 15, various operators 16, and a memory 17.

[0046] The controller 70 includes a CPU 71, a ROM 72, a RAM 73, and a timer (not shown). The ROM 72 stores a control program. The CPU 71 realizes various control processes by expanding the control program stored in the ROM 72 into the RAM 73 and executing it. The RAM 73 provides a work area when the CPU 71 executes the control program.

[0047] The various sensors 15 include a hull speed sensor, a hull acceleration sensor, a direction sensor, a distance sensor, an attitude sensor, a position sensor, and a GNSS (Global Navigation Satellite System) sensor. The various sensors 15 also include a sensor that detects the operation of the throttle operation unit 12, a sensor that detects the rotation angle position of the steering wheel 11, a sensor that detects the operation of each switch and paddle unit in the steering wheel 11, and a sensor that detects the operation of the joystick 13. The hull speed sensor detects the traveling speed (ship speed) of the ship 1 (hull 2). The ship speed may be obtained from a GNSS signal received by a GNSS sensor. Detection signals from the various sensors 15 are supplied to the controller 70.

[0048] The various operators 16 include operators for performing operations related to maneuvering the vessel, setting operators for making various settings, and input operators for inputting various instructions. Some of the various operators 16 may be disposed on the steering wheel 11. The various operators 16 are operated by the vessel operator, and the operation signals thereof are supplied to the controller 70. The memory 17 is a readable and writable non-volatile storage medium.

[0049] The controller 70 may establish predetermined communications with the various sensors 15 and the various operators 16 to exchange information with them. The display unit 14 displays various types of information.

[0050] The outboard motor 4 has an ECU (engine control unit) 81, an SCU (steering control unit) 82, a rotation speed sensor 83, an engine 84, a steering mechanism 85, various sensors 86, a steering angle sensor 87, and various actuators 88. The ECU 81 and the SCU 82 each include a CPU (not shown). The ECU 81 controls the operation of the engine 84 based on commands from the controller 70. The SCU 82 controls the operation of the steering mechanism 85 based on commands from the controller 70.

[0051] The steering mechanism 85 changes the left and right direction of the outboard motor body 20 by rotating the outboard motor body 20 about the steering axis center K (FIG. 1). This changes the direction of the propulsive force acting on the stern 2A where the outboard motor body 20 is attached. The steering mechanism 85 may be either electric or hydraulic. The various actuators 88 may include a power trim and tilt mechanism (PTT mechanism) that rotates the outboard motor 4 about a tilt axis.

[0052] The rotation speed sensor 83 detects the rotation speed per unit time of the engine 84. The various sensors 86 include a throttle opening sensor and the like. The steering angle sensor 87 detects the actual steering angle of the outboard motor 4. The controller 70 may obtain the actual steering angle from a steering command value output to the steering mechanism 85.

[0053] The trolling motor 5 includes, in addition to the electric motor 50 and the steering unit 56, an MCU (motor control unit) 57, an SCU (steering control unit) 58, a steering angle sensor 55, various sensors 60, and an actuator 61.

[0054] Each of the MCU 57 and the SCU 58 includes a CPU (not shown). The MCU 57 controls the driving of the electric motor 50 based on commands from the controller 70. The maximum output of the electric motor 50 may be smaller than the maximum output of the engine 84 of the outboard motor 4. The SCU 58 controls the driving of the steering unit 56 based on commands from the controller 70, thereby changing the direction of the propulsive force acting on the bow 2B where the trolling motor 5 is attached.

[0055] The actuator 61 includes a slide drive unit (not shown) that slides the rotation shaft 52 in the direction of the rotation axis J (FIG. 2) relative to the bracket 53. The actuator 61 also includes a rotation drive unit (not shown) that rotates the bracket 53 about the rotation shaft 59 relative to the hull 2. This allows the trolling motor 5 to move between the use position and the storage position. Moving the trolling motor 5 from the storage position toward the use position is referred to as "lowering the trolling motor 5," and moving the trolling motor 5 from the use position toward the storage position is referred to as "raising the trolling motor 5." Thus, the trolling motor 5 can be raised and lowered.

[0056] The various sensors 60 include a slide position sensor that detects the slide position of the rotation shaft 52 in the direction of the rotation axis J relative to the bracket 53. The various sensors 60 also include a rotation position sensor that detects the rotation position of the bracket 53 about the rotation shaft 59 relative to the hull 2. The configuration of these sensors is not important, and contact type, optical type, or other sensors can be used.

[0057] The steering angle sensor 55 detects the steering angle of the trolling motor 5 by the steering unit 56. Detection signals by the steering angle sensor 55 and the various sensors 60 are supplied to a controller 70. It is not essential that the outboard motor 4 and the trolling motor 5 are provided with all of the above-mentioned sensors and actuators.

[0058] 7 and 8 are flowcharts of the lifting / lowering and steering processing. This processing is realized by the CPU 71 expanding a program stored in the ROM 72 into the RAM 73 and executing it. This processing is started, for example, when the marine vessel propulsion system is started. Note that if an instruction to end this processing is given during the lifting / lowering and steering processing, the controller 70 ends this processing.

[0059] In step S101, the controller 70 executes other processes. Here, processes are executed to accept inputs such as designation and switching of a maneuvering mode, an instruction to end a maneuvering mode, and maneuvering instructions (propulsive force, propulsion direction, turning, pivoting, etc.). The maneuvering mode is designated by, for example, operating a button on the joystick 13, operating various switches and paddles on the steering wheel 11, operating various operators 16, etc. Maneuvering instructions are input by operating the throttle operation unit 12, the joystick 13, the steering wheel 11, various operators 16, a wireless remote control for the trolling motor 5, etc. Note that maneuvering instructions when the automatic maneuvering mode is designated also include instructions determined and generated by the controller 70.

[0060] In step S102, the controller 70 monitors the inputted ship-steering instructions. The controller 70 stores the ship-steering instructions in the RAM 73, and whenever a new ship-steering instruction is inputted, updates the stored contents of the RAM 73 relating to the ship-steering instructions to the latest ones.

[0061] In step S103, the controller 70 determines whether or not a maneuvering mode to be executed among a plurality of maneuvering modes in which the trolling motor 5 can be used has been specified and an instruction to start using the trolling motor 5 has been received. The instruction to start using the trolling motor 5 is input, for example, by operating the various controls 16, a wireless remote control for the trolling motor 5, or the like. In addition, when an automatic maneuvering mode is specified, the instruction to start using may be input based on the judgment of the controller 70. Then, when a start use instruction specifying a maneuvering mode in which the trolling motor 5 can be used has been received, the controller 70 as the receiving unit proceeds to step S104. However, when a start use instruction specifying a maneuvering mode in which the trolling motor 5 can be used has not been received, the controller 70 returns to step S101.

[0062] In step S104, the controller 70 as a control unit controls the actuator 61 to start lowering the trolling motor 5. That is, the controller 70 starts an operation to move the trolling motor 5 to the use position.

[0063] In step S105, the controller 70 as an acquisition unit acquires the latest ship-steering instruction contents stored in the RAM 73. The latest ship-steering instructions may be stored before or after the descent of the trolling motor 5 has started. Therefore, if the ship-steering instructions are updated even after the descent has started, the updated ship-steering instructions are acquired. At this point, the updated ship-steering instructions become the latest ship-steering instructions.

[0064] In step S106, the controller 70 as a determination unit determines the direction (steering direction) of the trolling motor 5 (electric motor 50) based on the maneuvering mode specified in the command to start use and the latest acquired maneuvering command content. As will be described next, the determined direction of the trolling motor 5 differs depending on the maneuvering mode.

[0065] First, when the specified maneuvering mode is the joystick mode, the controller 70 determines the orientation of the trolling motor 5 to be the orientation corresponding to the most recent operation of the joystick 13. For example, the controller 70 determines the orientation of the trolling motor 5 taking into consideration the steering angle of the outboard motor 4 so that the hull 2 ​​moves parallel to the tilting direction of the stick portion 13b.

[0066] Furthermore, when the specified maneuvering mode is the drive mode, the controller 70 determines the orientation of the trolling motor 5 to be an orientation corresponding to the most recent operation of a plurality of operation instruction units in the steering 11. The plurality of operation instruction units here includes at least the left switch 63, the right switch 64, the left paddle unit 67, and the right paddle unit 68. For example, the switches 63, 64 correspond to a first operation instruction unit for instructing the hull 2 ​​to apply a propulsive force in the lateral direction, and the paddle units 67, 68 correspond to a second operation instruction unit for instructing the hull 2 ​​to apply a propulsive force in the longitudinal direction.

[0067] For example, the controller 70 determines the orientation of the trolling motor 5 taking into consideration the steering angle of the outboard motor 4 so that the hull 2 ​​moves parallel to a direction determined comprehensively by the operations of the first operation instruction unit and the second operation instruction unit. Note that the operation of an operation instruction unit other than the switches 63, 64 and the paddle units 67, 68 of the steering 11, for example, the operation of the wheel unit 43, may also be involved in determining the orientation of the trolling motor 5.

[0068] Furthermore, when the specified maneuvering mode is an automatic maneuvering mode, the controller 70 determines the orientation of the trolling motor 5 according to the position and / or direction specified in the automatic maneuvering mode. For example, the controller 70 determines the current state of the hull 2, such as the position, direction, and speed, from the detection results of the various sensors 15. The controller 70 then comprehensively determines the appropriate orientations and required propulsive force of the outboard motor 4 and the trolling motor 5 to match the current state with the specified target position and target direction of the hull 2. The controller 70 then determines the orientation of the trolling motor 5 according to the result of the determination. Note that in the automatic maneuvering mode, information such as hull information, wind, and waves may also be used as factors in determining the orientation of the trolling motor 5.

[0069] After determining the direction in this manner, in step S107, the controller 70 controls the steering unit 56 to change the steering angle so that the trolling motor 5 faces the determined direction. Note that the trolling motor 5 actually faces the determined direction regardless of whether the trolling motor 5 actually faces before or after it reaches the use position.

[0070] In step S108, the controller 70 determines, from the detection signals of various sensors 60 and the steering angle sensor 55, whether or not the lowering of the tilting motor 5 and the movement of its orientation are completed. That is, based on the detection signal of the various sensors 60, when it is determined that the rotating shaft 52 has reached a predetermined slide position with respect to the bracket 53 and the bracket 53 has reached a predetermined rotation position about the rotation axis 59 with respect to the hull 2, it is determined that the tilting motor 5 has reached the use position (that is, the lowering is completed). Also, based on the detection signal of the steering angle sensor 55, when it is determined that the orientation of the tilting motor 5 matches the determined orientation, it is determined that the movement of the orientation is completed.

[0071] As a result of the determination in step S108, if the lowering of the tilting motor 5 is not completed or the movement of the orientation is not completed, the controller 70 returns to step S105. Therefore, until the lowering and the movement of the orientation are completed, if there is a change in the operation instruction, the determined orientation may change. On the other hand, if the lowering of the tilting motor 5 is completed and the movement of the orientation is completed, the controller 70 proceeds to step S109.

[0072] In step S109, the controller 70 executes other processes. Here, for example, a ship operation process according to the operation mode is executed. Alternatively, reception of a switching of the operation mode, an end instruction of the operation mode, etc. and corresponding processes are executed. For example, if there is an end instruction of the specified operation mode or an instruction to cancel the start of use of the tilting motor 5 (end-of-use instruction), a process of moving the tilting motor 5 to the storage position is executed.

[0073] In step S110, the controller 70 determines whether or not the ship speed V detected by the various sensors 15 exceeds a predetermined speed V1 (V1 < V). Then, if the ship speed V does not exceed the predetermined speed V1, the controller 70 returns to step S109, and if the ship speed V exceeds the predetermined speed V1, the controller 70 proceeds to step S111.

[0074] In step S111, the controller 70 controls the actuator 61 to start raising the rolling motor 5. That is, the controller 70 forcibly moves the rolling motor 5 in the direction of the storage position to retract it from the use position. Thereby, even during the execution of the specified steering mode, if V1 < V holds, the rolling motor 5 retracts from the use position, so that a high load due to the water flow is avoided from being applied to the rolling motor 5.

[0075] In step S112, the controller 70 determines whether or not the raising of the rolling motor 5 to the storage position has been completed based on the detection signals of the various sensors 60. Then, the controller 70 waits until the raising of the rolling motor 5 to the storage position is completed, and when the raising is completed, proceeds to step S113.

[0076] Note that in order to prevent the rolling motor 5 from receiving a high load, it is sufficient to get out of the water surface, so it is not always necessary to move the rolling motor 5 to the storage position, and it may be moved to an intermediate position from the use position to the storage position. Note that the process of retracting the rolling motor 5 due to the establishment of V1 < V may also be applied during the lowering of the rolling motor 5 (S104 to S108).

[0077] In step S113, the controller 70 executes other processes. Here, for example, switching of the steering mode, reception of an instruction to end the use of the rolling motor 5, and processes corresponding thereto are executed.

[0078] In step S114, the controller 70 monitors the steering instruction in the same manner as in step S102. In step S115, the controller 70 determines whether or not the ship speed V detected by the various sensors 15 has become equal to or less than a predetermined speed V1 (V ≤ V1). If V ≤ V1 does not hold, the controller 70 returns to step S113. On the other hand, if V ≤ V1 holds, the controller 70 proceeds to step S116.

[0079] In step S116, the controller 70 determines whether any of the available steering modes using the trolling motor 5 is specified and the end-of-use instruction for the trolling motor 5 has not been received.

[0080] And, if any of the above steering modes is in the specified state and the end-of-use instruction has not been received, the controller 70 proceeds to step S104. In this case, since the ship speed V became high (V1 < V) and the trolling motor 5 was once retracted, but the ship speed V returned to low speed (V ≤ V1) again, the trolling motor 5 automatically returns to the use position. Therefore, the operator can resume the use of the trolling motor 5 without troublesome re-operation. At that time, a change in direction based on the steering instruction content is executed after the resumption of use. Therefore, if the steering instruction is changed after the resumption, the direction of the trolling motor 5 is determined and changed again based on the latest steering instruction content.

[0081] On the other hand, if any of the above steering modes is not in the specified state or the end-of-use instruction has been received, the controller 70 returns to step S101. In this case, in order to resume the use of the trolling motor 5, a start-of-use instruction needs to be received again.

[0082] In step S106, if the latest steering instruction content has not been acquired, the controller 70 may determine the direction of the trolling motor 5 to a predetermined direction (for example, straight ahead).

[0083] According to this embodiment, the controller 70 starts a process of moving the trolling motor 5 to the use position in response to receiving a start-of-use instruction specifying a maneuvering mode in which the trolling motor 5 can be used (S104). The controller 70 also determines the orientation of the trolling motor 5 based on the maneuvering mode specified in the start-of-use instruction and the latest maneuvering instruction content (S106). The controller 70 then starts a process of steering the trolling motor 5 to the determined orientation before the movement of the trolling motor 5 to the use position is completed (S107).

[0084] This makes it possible to reduce the difference between the orientation of the trolling motor 5 corresponding to the intention of the operator or the controller 70 and the actual orientation of the trolling motor 5 when the trolling motor 5 is moved to the use position. This makes it possible to reduce the delay in starting propulsion by the trolling motor 5.

[0085] Although the descent of the trolling motor 5 was started immediately after the command to start use was accepted, it may be started after the command to start use was accepted. In other words, the orientation may be determined and changed while the trolling motor 5 is being lowered. Also, it is sufficient to start changing the orientation before the descent of the trolling motor 5 is completed. In this embodiment, the orientation change is started immediately after the orientation is determined, and thereafter, feedback control of the orientation change is continued until the descent of the trolling motor 5 is completed.

[0086] Moreover, when the joystick mode is specified, the orientation of the trolling motor 5 is determined to be an orientation corresponding to the most recent operation of the joystick 13. Moreover, when the drive mode is specified, the orientation of the trolling motor 5 is determined to be an orientation corresponding to the most recent operation of the multiple operation instruction units in the steering 11. Moreover, when the automatic ship maneuvering mode is specified, the orientation of the trolling motor 5 is determined to be an orientation corresponding to a specified position or direction (or a target position or the target direction).

[0087] In addition, even if a specified maneuvering mode is being executed, if the vessel speed V exceeds a predetermined speed V1, the trolling motor 5 is retracted from the usage position, thereby avoiding a high load being placed on the trolling motor 5 (S111).

[0088] In addition, when the vessel speed V becomes equal to or lower than a predetermined speed V1 after the trolling motor 5 is evacuated from the use position, the trolling motor 5 automatically returns to the use position (S116→S104) under conditions such as the continued designation of a maneuvering mode in which the trolling motor 5 can be used. Moreover, after use is resumed, the direction is changed again based on the maneuvering instructions. These features improve usability.

[0089] Although not shown, the boat 1 has a functional block for realizing the lifting / lowering / steering process (FIGS. 7 and 8). The functional units included in the functional block include a reception unit, a control unit, an acquisition unit, and a determination unit. The functions of these functional units are mainly realized by cooperation between the CPU 71, ROM 72, RAM 73, sensors 15, 55, 60, 83, 86, 87, etc.

[0090] (Modification) Next, a modified example will be described, in which the content of step S103 in the flow charts of Figures 7 and 8 is changed and step S116 is eliminated.

[0091] Specifically, in step S103, the controller 70 determines whether a movement start trigger has been input instead of determining whether a use start command specifying a vessel maneuvering mode in which the trolling motor 5 can be used has been received. It is not necessary to specify a vessel maneuvering mode. The controller 70 detects an command or action to move the trolling motor 5 to a use position as a movement start trigger. For example, when an intention to lower the trolling motor 5 is input by operating the various controls 16, a foot pedal for the trolling motor 5, a wireless remote control, or the like, the controller 70 as a detection unit detects this as a movement start trigger. In addition, a movement start trigger may be input based on a determination made by the controller 70 in the automatic vessel maneuvering mode.

[0092] Then, when it is determined that the movement start trigger has been input, the controller 70 executes the processes in and after step S104. Also, when it is determined that the result in step S115 is Yes (V≦V1), the process may return to step S104.

[0093] In relation to the application of the present invention, the propulsion unit that can be moved between a use position and a storage position and whose orientation can be changed by a steering operation is not limited to the trolling motor 5, but may be an auxiliary propulsion unit such as an outboard motor. In other words, the propulsion unit disposed at a predetermined position in front of the stern 2A is not limited to an electric propulsion unit such as the trolling motor 5, but may be an engine-type propulsion unit. Furthermore, the propulsion unit disposed at the stern 2A is not limited to the outboard motor 4, but may be any of an inboard motor, an inboard-outboard motor, or a jet boat, and may be an electric type rather than an engine type.

[0094] The present invention can also be realized by supplying a program that realizes one or more of the functions of the above-mentioned embodiments to a system or device via a network or a non-transitory storage medium, and having one or more processors of a computer in the system or device read and execute the program. The above program and the storage medium that stores the above program constitute the present invention. The present invention can also be realized by a circuit (e.g., ASIC) that realizes one or more of the functions.

[0095] The present invention has been described above in detail based on its preferred embodiments, but the present invention is not limited to these specific embodiments, and various forms that do not deviate from the gist of the present invention are also included in the present invention. [Explanation of symbols]

[0096] 4 outboard motor, 5 trolling motor, 11 steering, 13 joystick, 56 steering unit, 61 actuator, 70 controller

Claims

1. A propulsion device that can be moved between a use position and a storage position and can change its direction by a steering operation; a reception unit that receives a use start instruction that specifies a ship maneuvering mode to be executed from among a plurality of ship maneuvering modes in which the propulsion unit can be used; a control unit that moves the propulsion unit to the use position in response to the command to start use being received; an acquisition unit that acquires the latest ship-steering instruction content in response to the reception of the instruction to start use; a determination unit that determines a direction of the propulsion unit based on a maneuvering mode specified in the start command and the latest maneuvering command content, a control unit that, when moving the propulsion unit to the use position in response to receiving the start use instruction, starts a process of steering the propulsion unit to the determined orientation before the propulsion unit has completed moving to the use position.

2. the plurality of marine vessel maneuvering modes includes a joystick mode in which the propulsion unit is controlled based on an operation of a joystick, The vessel propulsion system according to claim 1 , wherein, when the joystick mode is specified, the determination unit determines the orientation of the propulsion unit to be an orientation that corresponds to a most recent operation of the joystick.

3. the plurality of vessel maneuvering modes includes a steering wheel maneuvering mode in which the propulsion unit is controlled based on the operation of a steering wheel having a plurality of operation instruction units including at least a first operation instruction unit for instructing the vessel to apply a lateral propulsive force to the vessel body and a second operation instruction unit for instructing the vessel body to apply a longitudinal propulsive force to the vessel body, 3 . The marine vessel propulsion system according to claim 1 , wherein, when the steering wheel maneuvering mode is specified, the determination unit determines the orientation of the propulsion unit to be an orientation corresponding to a most recent operation of the plurality of operation instruction units.

4. the plurality of ship steering modes includes an automatic ship steering mode that specifies a ship hull position to be maintained or a ship hull heading to be maintained; 4 . The vessel propulsion system according to claim 1 , wherein, when the automatic vessel steering mode is specified, the determination unit determines the orientation of the propulsion unit to be an orientation that corresponds to the specified position or the specified orientation.

5. the plurality of ship steering modes includes an automatic ship steering mode that specifies a target position or a target heading of the ship; 4. The vessel propulsion system according to claim 1, wherein, when the automatic vessel maneuvering mode is specified, the determination unit determines the orientation of the propulsion unit to be an orientation according to the specified target position or target orientation.

6. 6. A vessel propulsion system according to claim 1, wherein the control unit, even when the specified vessel maneuvering mode is being executed, retreats the propulsion unit from the usage position by forcibly moving the propulsion unit toward the stored position when the vessel speed exceeds a predetermined speed.

7. 7. The vessel propulsion system according to claim 6, wherein, after the control unit has moved the propulsion unit away from the use position, if the vessel speed becomes equal to or lower than the predetermined speed and any one of the plurality of vessel maneuvering modes is specified, the control unit moves the propulsion unit back to the use position.

8. When the control unit moves the propulsion unit to the use position again, The acquisition unit acquires the latest ship-steering instruction content, the determination unit determines an orientation of the propulsion unit based on the specified ship maneuvering mode and the latest ship maneuvering instruction content, The vessel propulsion system according to claim 7 , wherein the control unit initiates a process of steering the propulsion unit to the determined orientation before the propulsion unit has completely moved to the use position.

9. The vessel propulsion system according to claim 1 , wherein the determination unit determines the orientation of the propulsion unit to be a predetermined orientation when the latest vessel-steering instruction content has not been acquired.

10. The vessel propulsion system according to claim 1 , wherein the control unit moves the propulsion device to the stowed position in response to an instruction to end the specified vessel maneuvering mode.

11. The marine vessel propulsion system according to claim 1 , wherein the propulsion device is a trolling motor.

12. The marine vessel propulsion system according to claim 1 , wherein the propulsion unit is disposed in a bow.

13. A propulsion device that can be moved between a use position and a storage position and can change its direction by a steering operation; a detection unit that detects an instruction or an action to move the propulsion device to the use position as a movement start trigger; a control unit that moves the propulsion unit to the stowed position in response to detection of the movement start trigger; an acquisition unit that acquires the latest ship-steering instruction content in response to detection of the movement start trigger; a determination unit that determines a direction of the propulsion unit based on the latest maneuvering instruction content, a control unit that, when moving the propulsion unit to the use position in response to detection of the movement start trigger, starts a process of steering the propulsion unit to the determined orientation before completion of movement of the propulsion unit to the use position.

14. The hull and A marine vessel comprising a marine vessel propulsion system according to any one of claims 1 to 13.

15. A method for controlling a marine vessel propulsion system including a propulsion unit that is movable between a use position and a storage position and that is capable of changing a direction by a steering operation, comprising the steps of: receiving a start instruction that specifies a maneuvering mode to be executed from among a plurality of maneuvering modes in which the propulsion unit can be used; moving the propulsion machine to the use position in response to the command to start use being received; In response to the reception of the command to start using the vessel, the latest ship-maneuvering command content is acquired; and determining an orientation of the propulsion unit based on a maneuvering mode specified in the start command and the latest maneuvering command content; A control method for a marine vessel propulsion system, in which, when the propulsion unit is moved to the use position in response to the acceptance of the start use instruction, a process of steering the propulsion unit to the determined orientation is started before the movement of the propulsion unit to the use position is completed.

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