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

Abstract

To provide a ship propulsion system capable of improving turning performance while ensuring quietness.SOLUTION: A steerable outboard engine 4 with a skeg 23 is provided at a stern 2A and a steerable trolling motor 5 is provided at a bow 2B. The propulsion force of a trolling motor 5 is controlled based on an operation instruction in a trolling motor mode and the steering angle of the skeg 23 is controlled without generating the propulsion force in the outboard engine 4.SELECTED DRAWING: Figure 6

Description

[Technical field]

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

[0002] Conventionally, there is known a boat propulsion system that includes a propulsion unit arranged forward of the stern, in addition to a propulsion unit such as an outboard motor arranged at the stern. For example, the boat disclosed in Patent Document 1 includes an outboard motor at the stern and a trolling motor at the bow. By controlling the two propulsion units in coordination with the operation of a joystick, lateral movement, turning, and turning with lateral movement can be realized. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] U.S. Patent No. 9,988,134 Summary of the Invention [Problem to be solved by the invention]

[0004] Using a trolling motor in conjunction with an outboard motor improves turning performance. However, the operation of the outboard motor generates noise. In general, auxiliary propulsion devices such as trolling motors are used in situations where low speeds are expected, so quietness is often a requirement. For this reason, it is desirable to achieve both quietness and turning performance.

[0005] An object of the present invention is to provide a boat propulsion system that can improve turning performance while ensuring quietness. [Means for solving the problem]

[0006] A vessel propulsion system according to one embodiment of the present invention comprises a first propulsion unit arranged at the stern of a hull, having a rudder section and capable of being steered, a second propulsion unit arranged at a position forward of the stern of the hull and capable of being steered, and a control unit that, in a predetermined mode utilizing the propulsive force of the second propulsion unit, controls the propulsive force of the second propulsion unit based on steering instructions and, for the first propulsion unit, controls the steering angle of the rudder section without generating propulsive force.

[0007] According to this configuration, the vessel propulsion system includes a first propulsion unit that is disposed at the stern of the hull and has a rudder and is steerable, and a second propulsion unit that is disposed forward of the stern of the hull and is steerable. In a predetermined mode that utilizes the propulsive force of the second propulsion unit, the propulsive force of the second propulsion unit is controlled based on a steering command, and the steering angle of the rudder of the first propulsion unit is controlled without generating propulsive force. Effect of the Invention

[0008] According to the present invention, it is possible to improve turning performance while ensuring quietness. [Brief description of the drawings]

[0009] [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. [Figure 4] FIG. 2 is a view of the steering wheel seen from approximately the front. [Diagram 5] FIG. 1 is a block diagram of a marine vessel propulsion system. [Figure 6] 13 is a flowchart of a trolling motor mode process. [Figure 7] FIG. 13 is a schematic diagram showing an example of control according to a trolling motor mode. [Figure 8] 4 is a map for determining the steering amount of the trolling motor. [Figure 9]13A and 13B are schematic diagrams showing examples of control in other modes. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0011] 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.

[0012] 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.

[0013] 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.

[0014] 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.

[0015] 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.

[0016] FIG. 2 is a schematic side view of the bow and stern portions of the vessel 1. As shown in FIG.

[0017] 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.

[0018] 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.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] 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).

[0024] 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.

[0025] 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.

[0026] 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.

[0027] In this embodiment, a "trolling motor mode" (predetermined mode) can be specified as one of the linked modes. The trolling motor mode is a maneuvering mode that utilizes the propulsive force of the trolling motor 5 and does not generate propulsive force in the outboard motor 4. The trolling motor mode has a number of detailed modes, of which the first to fourth modes are representative examples. As for the outboard motor 4, the steering angle is controlled as necessary depending on the mode, but no propulsive force is generated. Therefore, in the trolling motor mode, the outboard motor body 20 is steered as necessary to obtain assistance in turning the hull 2 ​​from the skeg 23 that steers integrally with the outboard motor body 20. The outboard motor 4 does not generate propulsive force, so it is very quiet. Steering the skeg 23 ensures or enhances turning ability. The first to fourth modes will be described later with reference to FIG. 6 and subsequent figures.

[0028] 3 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.

[0029] 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.

[0030] 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.

[0031] 4 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.

[0032] 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.

[0033] 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.

[0034] In joystick mode and drive mode, parallel movement including lateral movement as well as turning on the spot are possible.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 5 is a block diagram of the 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] The actuator 61 moves the trolling motor 5 between a use position and a storage position. However, it is not essential to provide a function for transitioning the trolling motor 5 between the use position and the storage position by power.

[0050] 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.

[0051] Strictly speaking, the points at which the propulsion force of each propulsion unit acts are the points at which each propulsion unit is attached to the hull 2. However, for ease of explanation, it is considered that the propulsion force of the trolling motor 5 acts on the bow 2B, and the propulsion force of the outboard motor 4 acts on the position of the attachment mechanism 22 at the stern 2A.

[0052] 6 is a flowchart of the trolling motor mode process. This process is realized by the CPU 71 expanding a program stored in the ROM 72 into the RAM 73 and executing it. This process is started, for example, when an instruction to start the trolling motor mode is issued.

[0053] In step S101, the controller 70 executes other processing. For example, the controller 70 executes switching to a detailed mode in the trolling motor mode based on a user instruction. Alternatively, if there is an instruction to end the trolling motor mode processing, the controller 70 ends this processing.

[0054] In step S102, the controller 70 determines the detailed mode and branches to processes (S103 to S107) according to the detailed mode. As described above, the trolling motor mode includes the first to fourth modes and other modes as the detailed mode.

[0055] Here, in any of the detailed modes executed in steps S103 to S107, the controller 70 as a control unit acquires steering instructions and, based on the steering instructions, controls the propulsive force of the trolling motor 5, and also controls the steering angle of the skeg 23 (rudder unit) of the outboard motor 4 without generating propulsive force.

[0056] Here, ship steering instructions (propulsive force, propulsion direction, turning, steering, etc.) are input by operating the throttle operation unit 12, the joystick 13, the steering 11, various controls 16, a wireless remote control for the trolling motor 5, etc. The ship steering instructions include steering instructions. The steering instructions include instructions for propulsion direction, turning, steering, etc.

[0057] The trolling motor mode can be used in conjunction with the joystick mode, drive mode or autopilot mode.

[0058] For example, when the joystick mode is also used, maneuvering instructions are input by operating the joystick 13. The controller 70 as an acquisition unit acquires the propulsion direction from the tilt direction of the stick portion 13b, and acquires the required propulsive force from the tilt angle. Also, it acquires steering instructions such as turning (or pivoting) from the amount of twisting operation of the stick portion 13b.

[0059] When the drive mode is used in combination, the controller 70 as an acquisition unit acquires maneuvering instructions from one operation or a combination of two or more operations of the wheel unit 43, the first operation instruction unit, and the second operation instruction unit. Here, the switches 63, 64 correspond to the first operation instruction unit for instructing the hull 2 ​​to apply a lateral propulsive force, and the paddle units 67, 68 correspond to the second operation instruction unit for instructing the hull 2 ​​to apply a longitudinal propulsive force. For example, a target direction is input by a combination of the operations of the switches 63, 64 and the paddle units 67, 68, and a required propulsive force is input by a combination of the respective amounts of operation. Also, a steering instruction such as turning (or pivoting) is input by rotating the wheel unit 43.

[0060] It should be noted that when the automatic ship-steering mode is also applied, the ship-steering instructions include instructions determined and generated by the controller 70.

[0061] 7(a) to (d) are schematic diagrams showing examples of control according to the trolling motor mode. In each diagram, the steering angles of the trolling motor 5 and the outboard motor 4 are shown by their inclinations as viewed from above. The direction of the propulsive force of the trolling motor 5 is indicated by an arrow. The steering angle of the outboard motor 4 is synonymous with the steering angle of the skeg 23.

[0062] When the trolling motor mode is the first, second, third, fourth mode, or any other mode, steps S103, S104, S105, S106, and S107 are executed, respectively.

[0063] In step S103, the controller 70 controls the steering angle of the skeg 23 based on the steering command in the maneuvering command in the first mode, while maintaining the steering angle of the trolling motor 5 in the straight ahead direction.

[0064] For example, as shown in Fig. 7(a), in the first mode, the controller 70 sets the steering angle of the trolling motor 5 in the straight ahead direction regardless of the boat speed, and causes the trolling motor 5 to generate a propulsive force of a magnitude based on the required propulsive force. In parallel with this, the controller 70 changes only the steering angle of the skeg 23 based on a steering command, and does not generate propulsive force in the outboard motor 4. Since the skeg 23 is steered, turning ability is ensured, and since the outboard motor 4 does not generate propulsive force, quietness is ensured.

[0065] Since the outboard motor 4 is an engine type, not generating propulsive force in the outboard motor 4 usually means stopping the engine 84. If the effect of improving quietness is not particularly desired, propulsive force can also be prevented from being generated by shifting the shift lever to neutral without stopping the engine. If the outboard motor 4 is an electric motor type, the controller 70 will set the motor output to zero to prevent the generation of propulsive force. The same applies to the following controls.

[0066] In step S104, the controller 70 controls the steering angle of the trolling motor 5 and the steering angle of the skeg 23 in the second mode based on the steering command in the maneuvering command.

[0067] For example, as shown in Fig. 7(b), in the second mode, the controller 70 changes both the steering angle of the trolling motor 5 and the steering angle of the skeg 23 based on a steering command, regardless of the boat speed. Also, the controller 70 causes the trolling motor 5 to generate a propulsive force of a magnitude based on the required propulsive force, but does not cause the outboard motor 4 to generate propulsive force. Since both the trolling motor 5 and the skeg 23 are steered, maneuverability is improved.

[0068] In step S105, the controller 70 controls the steering angle of the trolling motor 5 in the third mode based on the steering command amount (the command amount of a turn command or a pivot command) indicated by the steering command in the ship maneuvering command.

[0069] In this case, the controller 70 first determines whether or not to use steering of the trolling motor 5 in addition to steering of the skeg 23, depending on the steering command amount, regardless of the boat speed. For example, when the steering command amount is larger than a predetermined amount, the controller 70 determines to use steering of the trolling motor 5 in addition. The steering command amount corresponds to the twisting operation amount (twist amount) of the stick unit 13b in the joystick mode, and corresponds to the rotation amount of the wheel unit 43 in the drive mode.

[0070] For example, in the third mode, when the steering command amount is less than a predetermined amount, the controller 70 sets the steering angle of the trolling motor 5 in the straight-ahead direction (determines not to use steering of the trolling motor 5 in combination) as shown in FIG. 7(a). When the steering command amount is equal to or greater than a predetermined amount, the controller 70 determines to use steering of the trolling motor 5 in combination as shown in FIG. 7(b), and controls the steering angle of the trolling motor 5 to an angle according to the steering command amount. The magnitude of the propulsive force generated by the trolling motor 5 corresponds to the required propulsive force. In the third mode, when the steering command amount is large, both the trolling motor 5 and the skeg 23 are steered, improving maneuverability.

[0071] In step S106, the controller 70 controls the steering angle of the skeg 23 based on the steering command in the maneuvering command in the fourth mode, and controls the trolling motor 5 based on the steering command amount indicated by the steering command and the boat speed.

[0072] FIG. 8 is a map for determining the steering amount of the trolling motor 5 based on the twist amount (%) of the stick portion 13b and the boat speed (km / h). This map is stored in advance in the ROM 72. In this map, the twist amount of the stick portion 13b is shown as an example of the steering command amount, but when the drive mode is also applied, a map in which the twist amount is replaced with the rotation amount of the wheel portion 43 is used. Note that the steering angle of the skeg 23 is set to a constant angle in a direction according to the steering command, but may be set to a steering angle according to the steering command amount. In the explanation of the fourth mode, it is assumed that a left turn is commanded as an example.

[0073] Each value of the steering amount of the trolling motor 5 in the map corresponds to the ratio (%) of the actual (actually instructed) steering amount to the steering instruction amount (due to operation, etc.) of the trolling motor 5. For example, when the boat speed is 4 or more and less than 5 and the twist amount is 20 or more and less than 40, the steering amount of the trolling motor is 47%.

[0074] For example, in the fourth mode, if the boat speed is equal to or greater than a predetermined speed (for example, 6 km / h) and the amount of twist is less than a predetermined amount (for example, 20%), the controller 70 determines the amount of steering of the trolling motor 5 to be 0%. In this case, as shown in FIG. 7(a), the steering angle of the trolling motor 5 is maintained in the straight ahead direction.

[0075] On the other hand, if the boat speed is equal to or greater than a predetermined speed and the amount of twist is equal to or greater than a predetermined amount, the controller 70 changes the amount of steering of the trolling motor 5 based on the amount of twist (see FIG. 7(b)). For example, when the boat speed is equal to or greater than 6 km / h, if the amount of twist is 20% or more and less than 40%, the amount of steering of the trolling motor 5 is determined to be 20%, and if the amount of twist is 40% or more and less than 60%, the amount of steering of the trolling motor 5 is determined to be 40%. In this case, as shown in FIG. 7(b), the trolling motor 5 is steered to the left.

[0076] Also, in the fourth mode, the controller 70 increases the amount of steering of the trolling motor 5 according to the steering command amount when the boat speed is below a predetermined speed, compared to when the boat speed is equal to or higher than the predetermined speed. For example, when comparing the amount of steering of the trolling motor 5 when the twist amount is the same between 20% or more and less than 40%, the amount of steering is larger when the boat speed is 4 km / h or more and less than 5 km / h (47% (see FIG. 7(d)) ​​than when the boat speed is 6 km / h or more (20% (see FIG. 7(c)).

[0077] In this way, in the fourth mode, the steering angle of the trolling motor 5 is controlled by the boat speed and the amount of twist. This allows turning close to the intention of the boat operator to be achieved according to the boat speed. For example, since a high turning effect can be expected from the outboard motor 4 in a relatively high speed range, the propulsive force in the fore-and-aft direction is mainly dependent on the trolling motor 5, and the turning force is mainly dependent on the steering of the skeg 23. This makes it possible to effectively utilize the forward thrust of the trolling motor 5 and to navigate efficiently.

[0078] The meaning of each value of the steering amount of the trolling motor 5 in the map is not limited to the example given, and may be, for example, a percentage relative to the maximum steering angle.

[0079] In step S107, the controller 70 controls the propulsive force and steering angle of the trolling motor 5 in response to the tilting operation of the stick portion 13b in other modes, and also controls the steering angle of the skeg 23 in response to the twisting operation of the stick portion 13b.

[0080] 9(a) and (b) are schematic diagrams showing examples of control in other modes. In Fig. 9(a) and (b), the steering angles of the trolling motor 5 and the outboard motor 4 and the direction of the propulsive force of the trolling motor 5 are indicated in the same way as in Fig. 7. In addition, the operating state of the stick portion 13b is shown.

[0081] In other modes, for example, when the stick portion 13b is tilted diagonally forward to the left and twisted in the left rotation direction, it is controlled as shown in Fig. 9(a). That is, the controller 70 sets both the trolling motor 5 and the skeg 23 to a steering angle corresponding to a left turn (forward rudder). This improves the left turning performance.

[0082] On the other hand, in other modes, when the stick portion 13b is tilted diagonally forward to the left and twisted in the right rotation direction, it is controlled as shown in Fig. 9(b). That is, the controller 70 sets the trolling motor 5 to a steering angle corresponding to a left turn, and sets the skeg 23 to a steering angle corresponding to a right turn (reverse rudder). This makes it possible to achieve parallel movement diagonally forward to the left.

[0083] In this way, in the other modes, a variety of maneuvers are possible that combine tilting and twisting operations of the stick portion 13b.

[0084] In addition, as another aspect in other modes, the controller 70 may control the steering angle of the skeg 23 in response to the twisting operation of the stick portion 13b, and may also control the propulsion force and steering angle of the trolling motor 5 in response to the tilting operation of the stick portion 13b.

[0085] In other modes, the controller 70 may return both the steering angle of the trolling motor 5 and the steering angle of the skeg 23 to the straight ahead direction when the stick portion 13b returns to the neutral position.

[0086] In addition, in other modes, when the drive mode is applied in combination, the tilting operation of the stick portion 13b may be replaced with one or a combination of the first operation instruction portion and the second operation instruction portion, and the twisting operation of the stick portion 13b may be replaced with the rotation operation of the wheel portion 43.

[0087] After steps S103 to S107, the controller 70 returns to step S101.

[0088] Although not shown, the boat 1 has a functional block for realizing the trolling motor mode process (FIG. 6). The functional units included in the functional block include a control unit. Furthermore, an acquisition unit may also be included. The functions of these functional units are realized mainly by cooperation between the CPU 71, ROM 72, RAM 73, sensors 15, 55, 60, 83, 86, 87, etc.

[0089] According to this embodiment, in the trolling motor mode, the propulsive force of the trolling motor 5 is controlled based on a steering command, and the steering angle of the skeg 23 of the outboard motor 4 is controlled without generating propulsive force. As a result, the outboard motor 4 does not generate propulsive force, ensuring quietness in cases where low-speed conditions are expected. In addition, the hull 2 ​​can be turned by steering the skeg 23. This makes it possible to improve turning performance while ensuring quietness.

[0090] In relation to the application of the present invention, 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 including an outboard motor. 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, and a jet boat, and may be an electric type instead of an engine type.

[0091] 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.

[0092] The present invention has been described above in detail based on preferred embodiments thereof, 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]

[0093] 4 outboard motor, 5 trolling motor, 11 steering, 13 joystick, 23 skeg, 70 controller

Claims

1. a first propulsion unit that is disposed at the stern of the hull, has a rudder and is steerable; a second propulsion unit that is disposed in a position forward of the stern of the hull and is steerable; a control unit that controls the propulsion force of the second propulsion unit based on a maneuvering instruction in a predetermined mode in which the propulsion force of the second propulsion unit is utilized, and that controls the steering angle of the rudder section of the first propulsion unit without generating propulsion force.

2. 2. The vessel propulsion system according to claim 1, wherein, in a first mode among the predetermined modes, the control unit controls the steering angle of the rudder section based on a steering command in the maneuvering commands while maintaining the steering angle of the second propulsion unit in a straight ahead direction.

3. 3. The marine vessel propulsion system according to claim 1, wherein in a second mode among the predetermined modes, the control unit controls a steering angle of the second propulsion unit and a steering angle of the rudder unit based on a steering instruction in the maneuvering instructions.

4. 4. The marine vessel propulsion system according to claim 1, wherein, in a third mode among the predetermined modes, the control unit controls the steering angle of the second propulsion unit based on a steering instruction amount indicated by a steering instruction in the maneuvering instructions.

5. 5. The marine vessel propulsion system according to claim 4, wherein, in the third mode, when the steering command amount is less than a predetermined amount, the control unit sets the steering angle of the second propulsion unit in a straight ahead direction, and when the steering command amount is equal to or greater than the predetermined amount, sets the steering angle of the second propulsion unit to an angle corresponding to the steering command amount.

6. 6. A vessel propulsion system according to claim 1, wherein in a fourth mode among the predetermined modes, the control unit controls the steering angle of the rudder section based on a steering instruction in the maneuvering instructions, and controls the second propulsion unit based on a steering instruction amount indicated by the steering instruction and a vessel speed.

7. 7. The vessel propulsion system according to claim 6, wherein, in the fourth mode, the control unit maintains the steering angle of the second propulsion unit in a straight ahead direction when the vessel speed is equal to or greater than a predetermined speed and the steering command amount is less than a predetermined amount, and changes the steering angle of the second propulsion unit based on the steering command amount when the vessel speed is equal to or greater than the predetermined speed and the steering command amount is equal to or greater than the predetermined amount.

8. 7. The vessel propulsion system according to claim 6, wherein in the fourth mode, when the vessel speed is less than a predetermined speed, the control unit changes the steering angle of the second propulsion unit based on the steering command amount.

9. 9. The vessel propulsion system according to claim 8, wherein, in the fourth mode, the control unit increases the steering angle of the second propulsion unit corresponding to the steering command amount when the vessel speed is less than the predetermined speed, compared to when the vessel speed is equal to or greater than the predetermined speed.

10. The marine vessel propulsion system according to claim 1 , wherein the marine vessel maneuvering instructions are obtained based on an operation of a joystick.

11. 11. The vessel propulsion system according to claim 10, wherein the control unit controls the thrust and the steering angle of the second propulsion unit in response to a tilting operation of the joystick, and controls the steering angle of the rudder unit in response to a twisting operation of the joystick.

12. The vessel propulsion system according to claim 10 or 11, wherein the control unit adjusts both the steering angle of the second propulsion unit and the steering angle of the rudder unit to a straight ahead direction when the joystick returns to a neutral position.

13. An acquisition unit for acquiring an operation of a steering wheel, the steering wheel includes at least a wheel section which issues a turning command to the hull by a rotational operation, a first operation command section which issues a command to apply a lateral propulsive force to the hull, and a second operation command section which issues a command to apply a longitudinal propulsive force to the hull, 10. The vessel propulsion system according to claim 1 , wherein the acquisition unit acquires the maneuvering instructions from one operation or a combination of two or more operations of the wheel unit, the first operation instruction unit, and the second operation instruction unit.

14. The vessel propulsion system according to claim 1 , wherein the second propulsion unit is disposed at a bow.

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

16. The hull and A marine vessel comprising a marine vessel propulsion system according to any one of claims 1 to 15.

17. A control method for a marine vessel propulsion system having a first propulsion unit that is disposed at a stern of a hull, has a rudder, and is steerable, and a second propulsion unit that is disposed at a position forward of the stern of the hull and is steerable, comprising the steps of: A control method for a ship propulsion system, comprising: controlling the propulsion force of the second propulsion unit based on a maneuvering instruction in a predetermined mode in which the propulsion force of the second propulsion unit is utilized; and controlling the steering angle of the rudder section of the first propulsion unit without generating propulsion force.

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