Ship propulsion systems, ships, and ship propulsion methods

Abstract

To provide a ship propulsion system capable of improving the performance of the holding function. [Solution] The ship propulsion system 100 includes a main propulsion unit 3, an auxiliary propulsion unit 4, a tilt cylinder 62, hold mode setting buttons 82, 83, 84, and a main controller 101. The main propulsion unit 3 is attached to the hull 2. The auxiliary propulsion unit 4 is attached to the hull 2 ​​and is powered by an electric motor. The tilt cylinder 62 changes the tilt angle θ of the auxiliary propulsion unit 4 relative to the hull 2. The hold mode setting buttons 82, 83, 84 command the execution of a hold mode to hold the hull 2 ​​at a predetermined target position Tp or target heading Td. When the main controller 101 is commanded to execute a hold mode by the hold mode setting buttons 82, 83, 84, it sets the target position Tp or target heading Td based on the tilt angle θ of the auxiliary propulsion unit 4 and executes the hold mode.

Description

Technical Field

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

Background Art

[0002] A configuration in which a ship is provided with a plurality of propulsion units has been disclosed (see, for example, Patent Document 1). In Patent Document 1, a main propulsion unit with a large output and an auxiliary propulsion unit with a small output are provided on the hull. An engine propulsion unit is used as the main propulsion unit, and an electric propulsion unit is used as the auxiliary propulsion unit. For example, when sailing at high speed toward a destination, the main propulsion unit is used, and near the destination, the auxiliary propulsion unit is used for fine adjustment of the position and orientation of the hull.

[0003] In addition, a ship may be provided with a fixed-point holding function used when fishing or the like. In the fixed-point holding function, the ship is held at a predetermined target position.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] As described above, the main propulsion unit is used when sailing at high speed toward the destination. At this time, the auxiliary propulsion unit is tilted up so as not to become a running resistance. Therefore, when the holding function for reaching the target position and holding the position or orientation is executed in a state where the auxiliary propulsion unit is tilted up, if the ship moves too far from the target position or deviates too much from the target orientation due to disturbance before the auxiliary propulsion unit tilts down and starts operating, the holding function may not be executed, or the ship may continue to move toward the target position.

[0006] The object of the present invention is to provide a ship propulsion system, a ship, and a ship propulsion method that can improve the performance of the holding function. [Means for solving the problem]

[0007] A ship propulsion system according to one embodiment includes a main propulsion unit, an auxiliary propulsion unit, a tilt mechanism, an execution command unit, and a controller. The main propulsion unit is mounted on the hull. The auxiliary propulsion unit is mounted on the hull and is powered by an electric motor. The tilt mechanism changes the tilt angle of the auxiliary propulsion unit relative to the hull. The execution command unit commands the execution of a holding function to maintain the hull at a predetermined target position or target bearing. When the execution command unit commands the execution of the holding function, the controller sets the target position or target bearing based on the tilt angle of the auxiliary propulsion unit and executes the holding function.

[0008] Another embodiment of a ship propulsion method is a ship propulsion system comprising a main propulsion engine attached to the hull, an auxiliary propulsion engine attached to the hull and powered by an electric motor, and a tilt mechanism for changing the tilt angle of the auxiliary propulsion engine relative to the hull. The ship propulsion method includes being commanded to perform a holding function to maintain the hull at a predetermined target position or target bearing, setting the target position or target bearing based on the tilt angle of the auxiliary propulsion engine when commanded to perform the holding function, and performing the holding function to maintain the hull at the set target position or target bearing. [Effects of the Invention]

[0009] When the execution command unit commands the holding function to be performed, the target position or target bearing is set based on the tilt angle of the auxiliary propulsion system. Therefore, even if the ship's position or bearing moves due to disturbances before the tilt-down and operation begins, the target position or bearing can be set to, for example, a position or bearing in which the auxiliary propulsion system can operate. This reduces the discrepancy between the target position and the position where the holding function is performed, or between the target bearing and the bearing where the holding function is performed, thereby ensuring the effectiveness of the holding function. [Brief explanation of the drawing]

[0010] [Figure 1] A schematic diagram showing a ship propulsion system for transmitting and receiving information according to an embodiment. [Figure 2] Side view of a ship's propulsion system. [Figure 3] A diagram showing the internal structure of the engine. [Figure 4] A diagram showing the configuration of the auxiliary thruster. [Figure 5] Rear view of the auxiliary propulsion system, seen from the stern of the ship. [Figure 6] A schematic diagram showing the drive unit configuration. [Figure 7] (a) A schematic diagram showing a ship with the auxiliary propulsion system positioned in the tilt-up position, (b) A schematic diagram showing a ship with the auxiliary propulsion system positioned between the tilt-up and tilt-down positions, and (c) A schematic diagram showing a ship with the auxiliary propulsion system positioned in the tilt-down position. [Figure 8] A diagram showing the configuration of a ship's propulsion system. [Figure 9] A perspective view showing the joystick unit 80. [Figure 10] A schematic diagram illustrating the setting of the target position in hold mode. [Figure 11] A schematic diagram illustrating the setting of the target bearing in hold mode. [Figure 12] Flowchart showing the control operation of a ship's propulsion system. [Modes for carrying out the invention]

[0011] The embodiments will be described below with reference to the drawings.

[0012] Figure 1 is a plan view showing a ship 1 equipped with the ship propulsion system 100 according to the embodiment. Figure 2 is a side view showing a ship 1 equipped with the ship propulsion system 100 according to the embodiment.

[0013] The ship 1 includes a hull 2, a main propulsion unit 3, and an auxiliary propulsion unit 4. The main propulsion unit 3 is an engine propulsion unit powered by an engine. The main propulsion unit 3 is an outboard motor. The auxiliary propulsion unit 4 is an electric propulsion unit powered by an electric motor. The auxiliary propulsion unit 4 is an outboard motor. The auxiliary propulsion unit 4 has a rated output smaller than that of the main propulsion unit 3. The main propulsion unit 3 and the auxiliary propulsion unit 4 are attached to the stern 2a of the hull 2. The main propulsion unit 3 and the auxiliary propulsion unit 4 are arranged side by side in the left-right direction of the hull 2 and disposed at the stern 2a. The main propulsion unit 3 is disposed at the center in the left-right direction of the hull 2. The auxiliary propulsion unit 4 is disposed outside (on the left side in this embodiment) of the center in the left-right direction of the hull 2.

[0014] The hull 2 includes a steering station 5, a steering wheel 6, a remote control lever 7, a joystick 8, and a gauge 9. The steering station 5 is where the user who operates the hull 2 sits. The steering wheel 6 is an operating element operated by the user to change the course of the ship 1. The remote control lever 7 is an operating element operated by the user to change the magnitude (output) and direction (forward or backward) of the propulsion force of the main propulsion unit 3, and corresponds to an accelerator operating element. The joystick 8 is an operating element operated by the user for ship operation in place of the steering wheel 6 and the remote control lever 7.

[0015] Figure 3 shows the configuration of the main propulsion engine 3. The ship 1 includes a mounting mechanism 11 for attaching the main propulsion engine 3 to the hull 2. The mounting mechanism 11 includes a clamp bracket 12, a tilt shaft 13, a swivel bracket 14, and a rudder shaft 15. The clamp bracket 12 is detachably fixed to a tailplate provided at the stern 2a of the hull 2. The tilt shaft 13 is positioned horizontally along the left-right direction on the clamp bracket 12. The swivel bracket 14 is rotatably connected to the clamp bracket 12 around the tilt shaft 13. The rudder shaft 15 is attached to the swivel bracket 14. The main propulsion engine 3 is rotatably mounted on the swivel bracket 14 around the rudder shaft 15. This allows the rudder angle (the azimuth angle formed by the direction of the propulsion force with respect to the centerline of the hull 2) to be changed by rotating the main propulsion engine 3 around the rudder shaft 15. Furthermore, the trim angle of the main propulsion unit 3 can be changed by rotating the swivel bracket 14 around the tilt axis 13. The trim angle is the mounting angle of the main propulsion unit 3 relative to the hull 2.

[0016] The main thruster 3 includes an engine cover 16 (top cowling), an upper case 17, and a lower case 18. The engine cover 16, upper case 17, and lower case 18 constitute the housing of the main thruster 3. The upper case 17 is located below the engine cover 16. The lower case 18 is located below the upper case 17.

[0017] The main propulsion unit 3 includes an engine 19, a drive shaft 20, a shift mechanism 21, a propeller shaft 22, a propeller 23, and a shift rod 24. The engine 19 is a prime mover. The engine 19 is disposed within an engine cover 16. The engine 19 is arranged such that the axis of the crankshaft extends along the vertical direction. The drive shaft 20 is connected to the lower end of the crankshaft. The drive shaft 20 transmits the power of the engine 19 to the propeller shaft 22 via the shift mechanism 21. The shift mechanism 21 is disposed at the lower end of the drive shaft 20. The propeller shaft 22 extends horizontally rearward from below the drive shaft 20. The propeller shaft 22 is the rotating shaft of the propeller 23. The propeller 23 is disposed at the lower rear side of the lower case 18. The propeller 23 is a propulsion member of the ship 1. The propeller 23 is fixed to the propeller shaft 22. The shift rod 24 operates the shift mechanism 21.

[0018] The shift mechanism 21 has a plurality of shift positions (shift states) including a forward position, a reverse position, and a neutral position. The neutral position is a shift position in a cut-off state where the rotation of the drive shaft 20 is not transmitted to the propeller shaft 22. The forward position is a shift position in a state where the rotation of the drive shaft 20 is transmitted to the propeller shaft 22 such that the propeller shaft 22 rotates in the forward rotation direction. The reverse position is a shift position in a state where the rotation of the drive shaft 20 is transmitted to the propeller shaft 22 such that the propeller shaft 22 rotates in the reverse rotation direction. The forward rotation direction is the rotation direction of the propeller that gives a forward propulsion force to the hull 2. The reverse rotation direction is the rotation direction of the propeller that gives a reverse propulsion force to the hull 2. The shift position of the shift mechanism 21 is switched by the shift rod 24. The shift rod 24 extends vertically parallel to the drive shaft 20. The shift rod 24 is configured to operate the shift mechanism 21 by rotation about its axis.

[0019] The main propulsion system 3 includes a starter motor 25, a generator 26, an engine ECU (electronic control unit) 27, and a throttle actuator 28. The starter motor 25 starts the engine 19. The starter motor 25 is controlled by the engine ECU 27. The power generated by the generator 26 is supplied to the electrical equipment installed in the main propulsion system 3. The power generated by the generator 26 is used to charge the battery 130 housed in the hull 2. The throttle actuator 28 operates the throttle valve 29 of the engine 19 to change the throttle opening and thereby change the amount of intake air for the engine 19. The throttle actuator 28 is configured, for example, by an electric motor. The operation of the throttle actuator 28 is controlled by the engine ECU 27.

[0020] The engine ECU 27 includes a processor such as a CPU and memory such as RAM and ROM. The engine ECU 27 stores programs and data for controlling the starter motor 25, throttle actuator 28, shift actuator 30, and tilt trim actuator 35 (described later), etc., based on command signals from the remote control ECU 106.

[0021] The main thruster 3 includes a shift actuator 30. The shift actuator 30 drives the shift rod 24 to change the shift position of the shift mechanism 21. The shift actuator 30 is configured, for example, by an electric motor. The shift actuator 30 is controlled by the engine ECU 27.

[0022] The main propulsion system 3 includes a steering rod 31, a steering device 32, and a steering ECU 34. The steering rod 31 is fixed to the upper case 17. The steering device 32 is coupled to the steering rod 31. The steering device 32 drives the steering rod 31 in response to the operation of the steering wheel 6. The steering device 32 rotates the main propulsion system 3 around the steering axis 15. This allows for steering. The steering device 32 includes a steering actuator 33. The steering actuator 33 is controlled by the steering ECU 34.

[0023] The steering ECU 34 includes a processor such as a CPU and memory such as RAM or ROM. The steering ECU 34 stores programs and data for controlling the steering actuator 33 based on the operating angle signal from the steering wheel unit 65 (described later) or the steering angle command signal from the remote control ECU 106. The steering actuator 33 may be composed of an electric motor or a hydraulic actuator.

[0024] The vessel 1 includes a tilt trim actuator 35. The tilt trim actuator 35 changes the trim angle of the main propulsion engine 3 relative to the hull 2. The tilt trim actuator 35 includes, for example, a hydraulic cylinder. The tilt trim actuator 35 is controlled by the engine ECU 27. The tilt trim actuator 35 rotates the main propulsion engine 3 around the tilt axis 13 by rotating a swivel bracket 14 around the tilt axis 13.

[0025] Figure 4 shows the configuration of the auxiliary propulsion unit 4. Figure 5 is a rear view of the auxiliary propulsion unit 4 as seen from the rear of the ship 1.

[0026] The vessel 1 includes a bracket 41 for attaching an auxiliary propulsion unit 4 to the hull 2. The bracket 41 is attached to the stern 2a of the hull 2. The auxiliary propulsion unit 4 is supported by the bracket 41.

[0027] The auxiliary propulsion unit 4 includes a base 42, an upper housing 43, a lower housing 44, a cover 45, a cowl 46, a drive unit 47, and a steering unit 48. The base 42 is supported by a bracket 41. The upper housing 43 extends downward from the base 42. The lower housing 44 is cylindrical (duct-shaped) and is located below the upper housing 43. The cover 45 covers the base 42 from below. The cowl 46 covers the base 42 from above.

[0028] The drive unit 47 is located within the lower housing 44. Figure 6 is a schematic diagram showing the configuration of the drive unit 47. The drive unit 47 includes a propeller 49 and an electric motor 50. The propeller 49 generates thrust. The electric motor 50 drives the propeller 49. The electric motor 50 includes a rotor 51 and a stator 52.

[0029] The rotor 51 is cylindrical, with a propeller 49 fixed to its radially inward side. The rotor 51 is rotatably supported by the lower housing 44. The rotor 51 includes a plurality of permanent magnets 53. The plurality of permanent magnets 53 are arranged along the circumferential direction. In Figure 6, only one of the plurality of permanent magnets 53 is denoted by the reference numeral 53, and the reference numerals for the other permanent magnets 53 are omitted.

[0030] The stator 52 surrounds the rotor 51 from the radially outer side. The stator 52 is fixed to the lower housing 44. The stator 52 includes a plurality of coils 54. The plurality of coils 54 are arranged along the circumferential direction. By energizing these plurality of coils 54, an electromagnetic force is generated that rotates the rotor 51. In accordance with the rotation of the rotor 51, the propeller 49 can be rotated to generate thrust. Note that in Figure 6, only one of the plurality of coils 54 is denoted by the reference numeral 54, and the reference numerals for the other coils 54 are omitted.

[0031] As shown in Figure 4, the steering unit 48 is located in the space between the cover 45 and the cowl 46. The steering unit 48 changes the direction of the thrust generated by the drive unit 47 to the left or right. The steering unit 48 includes a steering shaft 55 and a steering motor 56. The steering shaft 55 is coupled to the lower housing 44 and the upper housing 43. The steering motor 56 generates a driving force to rotate the steering shaft 55 around its axis. The steering unit 48 may include a reduction gear that reduces the rotation of the steering motor 56 and transmits it to the steering shaft 55. By driving the steering motor 56, the lower housing 44 and the upper housing 43 can be rotated around the steering shaft 55, thereby changing the direction of the thrust generated by the drive unit 47 to the left or right.

[0032] The vessel 1 includes a tilt unit 60 and a tilt angle sensor 61. The tilt unit 60 includes a tilt cylinder 62 (an example of a tilt mechanism). The tilt cylinder 62 may be an electric pump type hydraulic cylinder that circulates hydraulic fluid using an electric pump. One end of the tilt cylinder 62 is rotatably coupled to the lower support portion 41a of the bracket 41. The other end of the tilt cylinder 62 is rotatably coupled to the base 42 via a cylinder coupling bracket 63. A tilt shaft 64 is supported on the upper support portion 41b of the bracket 41. The base 42 is rotatably coupled to the bracket 41 around the tilt shaft 64 via the tilt shaft 64. The tilt shaft 64 extends in the left-right direction of the hull 2. The base 42 is configured to be rotatable in the up-down direction relative to the bracket 41. As a result, the auxiliary propulsion unit 4 can rotate around the tilt shaft 64 relative to the hull 2 ​​and move up and down (see arrows A and B in the figure).

[0033] Rotating the auxiliary thruster 4 around the tilt axis 64 to raise it is called tilt-up (see arrow A in Figure 4). Rotating the auxiliary thruster 4 around the tilt axis 64 to lower it is called tilt-down (see arrow B in Figure 4). Tilt-up and tilt-down can be performed by driving and extending the tilt cylinder 62. By tilting up, the propeller 49 can be raised above the water surface, and the auxiliary thruster 4 can be positioned in the tilt-up position P1 (see Figure 7(a) described later). By tilting down, the propeller 49 can be lowered into the water, and the auxiliary thruster 4 can be positioned in the tilt-down position P2 (see Figure 7(c) described later). The tilt unit 60 can also be described as a lifting device that raises and lowers the propeller 49. Figure 4 shows the auxiliary thruster 4 positioned in the tilt-down position. Note that the main thruster 3 is omitted in Figures 7(a) to (c) for clarity.

[0034] The tilt angle sensor 61 detects the tilt angle of the auxiliary propulsion unit 4 relative to the hull 2. The tilt angle sensor 61 also detects the angle of the auxiliary propulsion unit 4 relative to the bracket 41. By detecting the tilt angle sensor 61, it is possible to determine whether the auxiliary propulsion unit 4 is positioned in the tilt-up position P1 or the tilt-down position P2. The tilt angle sensor 61 may also be a position sensor that detects the position of the operating rod of the tilt cylinder 62. Alternatively, the tilt angle sensor 61 may be, for example, a potentiometer.

[0035] Let's further explain the tilt angle. As shown in Figure 4, let L be the straight line perpendicular to the steering axis 55 in a side view and passing through the tilt axis 64. Figure 7(a) is a schematic diagram showing the auxiliary thruster 4 positioned in the tilt-up position P1. Figure 7(b) shows the auxiliary thruster 4 positioned midway between the tilt-up position P1 and the tilt-down position P2. Figure 7(c) is a schematic diagram showing the auxiliary thruster 4 positioned in the tilt-down position P2. As shown in Figure 7(a), the straight line L at the tilt-up position P1 is denoted as Lu. The tilt angle θ is set to increase from the tilt-up position P1 to the tilt-down position P2. The angle between the straight line L and the straight line Lu at the position shown in Figure 9(b) can be defined as the tilt angle θ. As shown in Figure 9(c), the tilt angle is at its maximum value when the auxiliary thruster 4 is positioned in the tilt-down position P2.

[0036] Figure 8 shows the configuration of the ship propulsion system 100 installed on ship 1. The ship propulsion system 100 includes the main propulsion engine 3 and the auxiliary propulsion engine 4 described above. The ship propulsion system 100 includes a main controller 101, an onboard network 102 (CAN: Controller Area Network), an outboard motor control network 103, a control panel network 104, a steering wheel unit 65, a remote control unit 70, a remote control ECU 106, a joystick unit 80, a GPS (Global Positioning System) receiver 108, and a compass sensor 109. The main controller 101 controls the entire ship hull 2. The main controller 101 includes a processor such as a CPU and memory such as RAM and ROM. The main controller 101 stores programs and data for controlling the entire ship hull 2. The main controller 101 is connected to the onboard network 102 built on ship hull 2.

[0037] The ship's network 102 is connected to the remote control unit 70, the joystick unit 80, the remote control ECU 106, the GPS receiver 108, and the compass sensor 109.

[0038] The outboard motor control network 103 is connected to the remote control ECU 106, the steering wheel unit 65, and the engine ECU 27 and steering ECU 34 of the main propulsion unit 3. The control panel network 104 is connected to the main controller 101, the remote control ECU 106, the gauge 9, and the auxiliary propulsion unit 4. The onboard network 102, the outboard motor control network 103, and the control panel network 104 may communicate signals by wired or wireless means, or via the internet.

[0039] The main controller 101 exchanges signals with multiple units connected to the ship's internal network 102, controls the main propulsion system 3 and the auxiliary propulsion system 4, and also controls other units. The main controller 101 includes multiple control modes and controls each unit in a predetermined manner according to each control mode.

[0040] The steering wheel unit 65 is connected to the outboard motor control network 103. The steering wheel unit 65 outputs an operating angle signal to the outboard motor control network 103, indicating the operating angle of the steering wheel 6. The operating angle signal is received by the remote control ECU 106 and the steering ECU 34. The steering ECU 34 responds to the operating angle signal generated by the steering wheel unit 65 or the steering angle command generated by the remote control ECU 106, and controls the steering actuator 33 accordingly. This controls the steering angle of the main propulsion engine 3.

[0041] The remote control unit 70 includes a remote control lever 7. The remote control unit 70 generates an operating position signal indicating the operating position of the remote control lever 7 and outputs it to the ship's network 102.

[0042] The joystick unit 80 includes the joystick 8. The joystick unit 80 generates an operation position signal indicating the operation position of the joystick 8. The joystick unit 80 includes operation buttons 81 to 85. The joystick unit 80 generates operation signals for operation buttons 81 to 85 located on the joystick unit 80. Details of the joystick unit 80 will be described in detail later.

[0043] The remote control ECU 106 includes a processor such as a CPU and memory such as RAM or ROM. The remote control ECU 106 stores programs and data for performing the controls described below. The remote control ECU 106 outputs a thrust command to the engine ECU 27 via the outboard motor control network 103. The thrust command includes a shift command for commanding the shift position and an output command for commanding the engine output (e.g., engine rotational speed). The remote control ECU 106 outputs a steering angle command to the steering ECU 34 via the outboard motor control network 103.

[0044] The remote control ECU 106 performs different control operations depending on the control mode of the main controller 101. For example, in the control mode for steering the ship using the steering wheel 6 and remote control lever 7 (ship steering mode), the remote control ECU 106 outputs a thrust command (shift command and output command) to the engine ECU 27 according to the operating position signal generated by the remote control unit 70. The remote control ECU 106 also outputs a steering angle command to the steering ECU 34 according to the operating angle signal generated by the steering wheel unit 65.

[0045] On the other hand, in the control mode for maneuvering the vessel without operating the steering wheel 6 and remote control lever 7, the remote control ECU 106 follows the commands of the main controller 101. The remote control ECU 106 outputs thrust command (shift command and output command) to the engine ECU 27 according to the operating position signal generated by the main controller 101. The remote control ECU 106 outputs a steering angle command to the steering ECU 34 in accordance with the operating angle signal generated by the main controller 101.

[0046] For example, in the control mode for steering the ship using the joystick 8, the main controller 101 generates thrust commands (shift commands and output commands) and steering angle commands in response to the signals generated by the joystick unit 80, and outputs the thrust commands and steering angle commands to the main propulsion unit 3 via the remote control ECU 106.

[0047] The engine ECU 27 controls the shift position by driving the shift actuator 30 in response to a shift command. The engine ECU 27 controls the throttle opening by driving the throttle actuator 28 in response to an output command. The steering ECU 34 controls the steering actuator 33 in response to a steering angle command, thereby controlling the steering angle of the main thruster 3.

[0048] The auxiliary propulsion system 4 includes a motor controller 110 and a steering controller 111. The motor controller 110 and the steering controller 111 are connected to the ship's network 102. The motor controller 110 and the steering controller 111 operate the auxiliary propulsion system 4 in response to commands from the main controller 101. The main controller 101 outputs a thrust command and a rudder angle command to the auxiliary propulsion system 4. The thrust command includes a shift command (rotation direction command) and an output command. The shift command is a rotation direction command that commands the propeller 49 to stop, rotate forward, or rotate backward. The output command is a command for the thrust force to be generated (the rotation speed is also a target value). The rudder angle command is a command for a target value of the rudder angle.

[0049] The motor controller 110 controls the electric motor 50 according to shift commands (rotation direction commands) and output commands. The motor controller 110 includes a processor such as a CPU and memory such as RAM or ROM. The motor controller 110 stores programs and data for controlling the electric motor 50.

[0050] The steering controller 111 controls the steering motor 56 in accordance with steering angle commands. The steering controller 111 includes a processor such as a CPU and memory such as RAM or ROM. The steering controller 111 stores programs and data for controlling the steering motor 56.

[0051] The main controller 101 outputs a tilt command to the motor controller 110 via the ship's network 102. The motor controller 110 extends or retracts the tilt cylinder 62 in response to the tilt command signal to move the auxiliary propulsion unit 4 to either the tilt-up position P1 or the tilt-down position P2. The tilt command signal includes a tilt-down command signal and a tilt-up command signal. The tilt-down command signal is a command signal that retracts the tilt cylinder 62 to change the auxiliary propulsion unit 4 from the tilt-up position P1 to the tilt-down position P2. The tilt-up command signal is a command signal that extends the tilt cylinder 62 to change the auxiliary propulsion unit 4 from the tilt-down position P2 to the tilt-up position P1. The tilt command signal from the main controller 101 is output to the steering controller 111 along with the motor controller 110. When the steering controller 111 receives a tilt-up command signal, the steering controller 111 stops the electric motor 50 and the steering motor 56. In other words, in the tilt-up position P1, the auxiliary thruster 4 is not driven and is stopped.

[0052] The motor controller 110 receives the detection signal from the tilt angle sensor 61. This allows the motor controller 110 to acquire information about the tilt angle of the auxiliary thruster 4 and transmit this information to the main controller 101.

[0053] The GPS receiver 108 receives radio waves from satellites orbiting the Earth to determine the position of the vessel 1 and outputs position data indicating the position of the vessel 1 and speed data indicating the speed at which the vessel 1 is moving. The position data and speed data are acquired by the main controller 101 and used for displaying or controlling at least one of the position and bearing of the vessel 1.

[0054] The direction sensor 109 detects the direction of the ship 1 and creates direction data. The direction data is acquired by the main controller 101.

[0055] The main controller 101 is connected to the gauge 9 via the control panel network 104. The gauge 9 is a display device for showing various information for ship operation. The gauge 9 is connected to the remote control ECU 106, motor controller 110, and steering controller 111 via the control panel network 104. The gauge 9 displays information such as the operating status of the main propulsion system 3, the operating status of the auxiliary propulsion system 4, and the position or heading of the ship 1. The gauge 9 may be provided with input devices 9a such as a touch panel and buttons. The system may be configured so that when the user operates the input devices 9a, an operation signal is output to the control panel network 104, allowing various settings or commands to be made.

[0056] The ship propulsion system 100 includes a power switch unit 120. The power switch unit 120 is a switch operated by the user to turn on the power to the main propulsion engine 3 and to start and stop the engine 19. The power switch unit 120 includes a power switch 121 (an example of a main engine command unit), a start switch 122, and a stop switch 123. The power switch 121 is a switch for turning on and off the power to the main propulsion engine 3. The start switch 122 is a switch for starting the engine 19. The stop switch 123 is a switch for stopping the engine 19.

[0057] When the power switch 121 is turned ON, the remote control ECU 106 performs control for supplying power to the main thruster 3. When the power switch 121 is turned ON, it turns on a power relay (not shown) interposed between the battery 130 (for example, 12V) and the main thruster 3. When the start switch 122 is operated while the main thruster 3 is powered, the remote control ECU 106 issues a start command to the engine ECU 27. As a result, the engine ECU 27 operates the starter motor 25 (see Figure 3) to start the engine 19. While the engine 19 is running, the battery 130 is charged by the power generated by the generator 26 (see Figure 3). When the stop switch 123 is operated while the engine is running, the remote control ECU 106 issues a stop command to the engine ECU 27. In response, the engine ECU 27 performs control to stop the engine 19. The remote control ECU 106 outputs main propulsion status information, indicating whether power is supplied to the main propulsion unit 3 and whether the engine 19 is running, to the main controller 101 via the ship's network 102.

[0058] The ship's propulsion system 100 includes a power switch unit 140. The power switch unit 140 is connected to the auxiliary propulsion unit 4 to turn the power to the auxiliary propulsion unit 4 on and off. By turning the power switch 141 (an example of an auxiliary motor command unit) on the power switch unit 140 on or off, the circuit between the battery 145 (e.g., 48V) that supplies power to the auxiliary propulsion unit 4 and the auxiliary propulsion unit 4 is opened and closed, thereby turning the power to the auxiliary propulsion unit 4 on or off. The motor controller 110 outputs auxiliary propulsion unit status information, indicating whether power is supplied to the auxiliary propulsion unit 4, i.e., whether the auxiliary propulsion unit 4 is in a state where it can be driven, to the main controller 101 via the ship's network 102. The battery 145 can receive power generated by the generator 26 (see Figure 3) of the main propulsion unit 3 via a DC / DC converter 146 (voltage converter).

[0059] The ship propulsion system 100 includes an application switch panel 150. The application switch panel 150 is connected to the ship's network 102. The application switch panel 150 includes a number of function switches 151 for commanding the execution of predefined functions. For example, the function switches 151 may include switches for commanding automatic steering. More specifically, there may be switches for automatic steering to maintain the heading of ship 1, automatic steering to maintain the course of ship 1, automatic steering to pass through a specified number of points in sequence, and automatic steering for a predetermined navigation pattern (such as a zigzag pattern or a spiral pattern).

[0060] Furthermore, a function to set the auxiliary thruster 4 to the tilt-up position P1 or the tilt-down position P2 may be assigned to either function switch 151. In Figure 8, the function switch that sets the auxiliary thruster 4 to the tilt-up position P1 or the tilt-down position P2 is indicated by reference numeral 152. The function switch 152 for performing the tilt operation includes a tilt-up switch 152a and a tilt-down switch 152b. When the tilt-up switch 152a is operated by the user, a tilt-up command signal is output to the main controller 101, and the main controller 101 outputs the tilt-up command signal to the motor controller 110 and the steering controller 111. Similarly, when the tilt-down switch 152b is operated by the user, a tilt-down command signal is output to the main controller 101, and the main controller 101 outputs the tilt-down signal to the motor controller 110 and the steering controller 111.

[0061] The main controller 101 controls the main thruster 3 and the auxiliary thruster 4 in multiple control modes. These multiple control modes include modes defined by the state of the main thruster 3 and the auxiliary thruster 4. Specifically, these are electric mode, engine mode, dual mode, and extender mode. The main controller 101 operates according to one of these control modes based on the main thruster state information and the auxiliary thruster state information.

[0062] The electric mode is a control mode when the auxiliary thruster 4 is powered on and the main thruster 3 is powered off. The electric mode is a control mode in which thrust is generated only by the auxiliary thruster 4. The engine mode is a control mode when the main thruster 3 is powered on and the engine 19 is running, and the auxiliary thruster 4 is powered off. In other words, the engine mode is a control mode in which thrust is generated only by the main thruster 3. The dual mode and extender mode are control modes when the auxiliary thruster 4 is powered on and the engine 19 of the main thruster 3 is running. The dual mode is a control mode that utilizes the thrust of both the main thruster 3 and the auxiliary thruster 4. The extender mode is a control mode that utilizes only the thrust of the auxiliary thruster 4, and the engine 19 is operated to generate power to charge the battery 145. From the viewpoint of thrust generation, the electric mode and the extender mode are the same. The selection of either the dual mode or the extender mode may be left to the user's setting or command. Such settings or commands can be made, for example, by operating the input device 9a provided on the gauge 9. Alternatively, the dual mode and extender mode may be automatically switched by the main controller 101 depending on the magnitude of the thrust. For example, the switch can be made in response to the operation of the thrust setting button 85, which adjusts the thrust up or down, provided on the joystick unit 80 described later.

[0063] Figure 9 is a perspective view showing the joystick unit 80. The joystick unit 80 is equipped with a joystick 8 that can be tilted forward, backward, left, and right (i.e., 360 degrees in all directions) and rotated (twisted) around an axis. The joystick unit 80 includes a joystick button 81, hold mode setting buttons 82-84, and thrust setting button 85.

[0064] The joystick button 81 is an operator that is operated by the user when selecting a control mode (ship handling mode) that uses the joystick 8, that is, the joystick mode.

[0065] The hold mode setting buttons 82-84 are operation buttons operated by the user to set the control mode (example of hold function) of the position / heading hold system. Specifically, the hold mode setting button 82 is operated to set the stationary hold mode (Stay Point) which holds the position and heading (or stern heading) of vessel 1. The hold mode setting button 83 is operated to set the position hold mode (Fish Point) which holds the position of vessel 1 but does not hold the heading (or stern heading). The hold mode setting button 84 is operated to set the heading hold mode (Drift Point) which holds the heading (or stern heading) but does not hold the position. The stationary hold mode, position hold mode, and heading hold mode correspond to examples of hold functions.

[0066] Each of the hold mode setting buttons 82 to 84 outputs a hold mode start signal to the main controller 101 when operated by the user, and outputs a hold mode stop signal to the main controller 101 when operated again by the user. For example, if the hold mode is activated by operating the hold mode setting button 82, the hold mode stop signal is output to the main controller 101 when the user operates the hold mode setting button 82 again.

[0067] The thrust setting button 85 is an operation button operated by the user to set the thrust of the auxiliary thruster 4. The thrust setting button 85 includes a plus button 85a and a minus button 85b. For example, the magnitude of the thrust can be set in multiple stages. Operating the plus button 85a increases the thrust. Operating the minus button 85b decreases the thrust. The setting of the thrust setting button 85 is output as an output signal to the main controller 101. If the thrust is greater than or equal to a predetermined stage, the main controller 101 sets the control mode to dual mode, and if the thrust is less than the predetermined stage, the main controller 101 sets the control mode to extender mode.

[0068] From the perspective of the operating system, the control modes of the main controller 101 can be classified into normal mode, joystick mode, and hold mode.

[0069] The normal mode is a control mode in which steering control is performed in accordance with the operating angle signal generated by the steering wheel unit 65, and thrust control is performed in accordance with the operating signal (operating position signal) of the remote control lever 7. The normal mode is, for example, the default control mode of the main controller 101. Specifically, steering control refers to the control operation in which the steering ECU 34 drives the steering actuator 33 in accordance with the operating angle signal generated by the steering wheel unit 65 or the steering angle command generated by the remote control ECU 106. As a result, the body of the main propulsion unit 3 steers left or right, and the direction of the thrust force on the hull 2 ​​changes left or right. Specifically, thrust control refers to the control operation in which the engine ECU 27 drives the shift actuator 30 and the throttle actuator 28 in accordance with the thrust force command (shift command and output command) given to the engine ECU 27 by the remote control ECU 106. As a result, the shift position of the main propulsion unit 3 is set to the forward position, reverse position or neutral position, and the engine output (specifically, engine rotational speed) changes.

[0070] The joystick mode is a control mode that performs steering control and thrust control in response to the operation signals of the joystick 8 of the joystick unit 80.

[0071] In joystick mode, steering control and thrust control are performed on the main thruster 3 when it is capable of generating thrust. Specifically, the main controller 101 provides steering angle commands and thrust commands to the remote control ECU 106, which then outputs them to the steering ECU 34 and engine ECU 27. The main thruster 3 is capable of generating thrust when the power switch 121 is turned on.

[0072] In joystick mode, when the auxiliary propulsion unit 4 is capable of generating thrust, steering control and thrust control are performed on the auxiliary propulsion unit 4. Specifically, steering control for the auxiliary propulsion unit 4 refers to the control operation in which the steering controller 111 controls the steering motor 56 to drive the steering unit 48 in response to the steering angle command given by the main controller 101 to the steering controller 111 of the auxiliary propulsion unit 4. As a result, the drive unit 47 and upper housing 43 of the auxiliary propulsion unit 4 rotate left and right, changing the direction of the thrust force on the hull 2 ​​left and right. Specifically, thrust control for the auxiliary propulsion unit 4 refers to the operation in which the motor controller 110 controls the rotation direction and rotation speed of the electric motor 50 in response to the thrust force command (shift command and output command) output by the main controller 101 to the motor controller 110 of the auxiliary propulsion unit 4. As a result, the rotation direction of the propeller 49 is set to the forward or reverse direction, and the rotation speed of the propeller 49 changes. The auxiliary thruster 4 is in a state where it can generate thrust when the power switch 141 is in the ON position.

[0073] The aforementioned Stay Point mode, Fish Point mode, and Drift Point mode, which are set by operating the hold mode setting buttons 82, 83, and 84 respectively, are examples of the hold function. In these hold modes, the output and steering angle of at least one of the main propulsion engine 3 and the auxiliary propulsion engine 4 are controlled without manual operation by the operator.

[0074] For example, in Stay Point mode, the main controller 101 controls the output and steering angle of at least one of the main propulsion unit 3 and the auxiliary propulsion unit 4 based on the position data and velocity data generated by the GPS receiver 108 and the heading data output by the heading sensor 109. This suppresses position and heading fluctuations of the hull 2.

[0075] Furthermore, in position-holding mode (Fish Point), the main controller 101 controls the output and steering angle of at least one of the main propulsion system 3 and the auxiliary propulsion system 4 based on the position data and velocity data generated by the GPS receiver 108. This suppresses positional fluctuations of the hull 2.

[0076] Furthermore, in heading-holding mode (Drift Point), the main controller 101 controls the output and steering angle of at least one of the main propulsion system 3 and the auxiliary propulsion system 4 based on heading data generated by the heading sensor 109. This suppresses fluctuations in the heading of the hull 2.

[0077] The hold mode setting buttons 82, 83, and 84 are examples of execution command units for instructing the execution of the hold mode.

[0078] The following describes the control when the hold mode setting buttons 82, 83, and 84 are operated. First, we will describe the control when the hold mode setting buttons 82, 83, and 84 are operated in electric mode, where the power to the auxiliary thruster 4 is on and the power to the main thruster 3 is off.

[0079] In electric mode, when the hold mode setting button 83 is operated and the auxiliary thruster 4 is in the tilt-down position P2, the main controller 101 sets the position at the time the hold mode setting button 83 was operated as the target position and operates the auxiliary thruster 4 to execute the position hold mode (Fish Point). When the hold mode setting button 84 is operated and the auxiliary thruster 4 is in the tilt-down position P2, the main controller 101 sets the bearing at the time the hold mode setting button 84 was operated as the target bearing and operates the auxiliary thruster 4 to execute the bearing hold mode (Drift Point). When the hold mode setting button 82 is operated and the auxiliary thruster 4 is in the tilt-down position P2, the main controller 101 sets the position and bearing at the time the hold mode setting button 82 was operated as the target position and target bearing, respectively, and operates the auxiliary thruster 4 to execute the fixed point hold mode (Stay Point).

[0080] When the hold mode setting button 83 is operated and the auxiliary thruster 4 is in the tilt-up position P1, the main controller 101 generates a tilt-down command signal and outputs the tilt-down command signal to the motor controller 110. Upon receiving the tilt-down command signal, the motor controller 110 retracts the tilt cylinder 62 to move the auxiliary thruster 4 toward the tilt-down position P2, changing the tilt angle. The main controller 101 sets the position of the hull 2 ​​when the tilt angle θ is greater than or equal to a predetermined threshold θs as the target position Tp (see Figure 10 below) and executes the position hold mode (Fish Point). The main controller 101 executes the position hold mode by operating the auxiliary thruster 4. The predetermined threshold θs can be set, for example, to a position in which the auxiliary thruster 4 can operate. An operable position can be, for example, a position in which part of the propeller 49 is submerged in water, or a position in which the central axis of the propeller 49 is submerged in water.

[0081] Furthermore, when the hold mode setting button 84 is operated and the auxiliary thruster 4 is positioned at the tilt-up position P1, the main controller 101 generates a tilt-down command signal and outputs the tilt-down command signal to the motor controller 110. Upon receiving the tilt-down command signal, the motor controller 110 retracts the tilt cylinder 62 to move the auxiliary thruster 4 toward the tilt-down position P2, thereby changing the tilt angle. The main controller 101 sets the bearing of the hull 2 ​​when the tilt angle θ is greater than or equal to a predetermined threshold θs to the target bearing Td (see Figure 11 described later) and executes the bearing hold mode (Drift Point).

[0082] Furthermore, when the hold mode setting button 82 is operated and the auxiliary thruster 4 is positioned at the tilt-up position P1, the main controller 101 generates a tilt-down command signal and outputs the tilt-down command signal to the motor controller 110. Upon receiving the tilt-down command signal, the motor controller 110 retracts the tilt cylinder 62 to move the auxiliary thruster 4 toward the tilt-down position P2, thereby changing the tilt angle. The main controller 101 sets the position and bearing of the hull 2 ​​when the tilt angle θ is greater than or equal to a predetermined threshold θs to the target position Tp and target bearing Td, and executes the Stay Point mode.

[0083] Figure 10 is a schematic diagram illustrating the setting of the target position in position holding mode and fixed-point holding mode. Figure 10 illustrates the setting of the target position in holding mode when the auxiliary propulsion unit 140 is powered on and the auxiliary propulsion unit 4 is positioned in the tilt-up position P1. The upper right of Figure 10 shows a plan view of the ship 1, and the lower right shows a side view of the ship 1. In the state of ship 1 shown on the right side of Figure 10, the auxiliary propulsion unit 4 is positioned in the tilt-up position P1 and powered on. In this state of ship 1, when either the holding mode setting button 82 or 83 is operated, the main controller 101 drives the tilt cylinder 62 to change the tilt angle of the auxiliary propulsion unit 4 toward the tilt-down position P2. As shown in Figure 10, when disturbances in the direction of arrow C occur to ship 1 due to tidal currents, etc., ship 1 moves until the tilt angle θ reaches a predetermined threshold θs. Then, as shown by the vessel 1 on the left side of Figure 10, when the tilt angle θ reaches a predetermined threshold θs, that position is set as the target position Tp. The position of vessel 1 that has moved due to the disturbance is shown by the dashed line. Note that the main propulsion engine 3 has been omitted in the side view of Figure 10 for clarity.

[0084] Thus, even when either the hold mode setting button 82 or 83 is operated, if the auxiliary thruster 4 is positioned in the tilt-up position P1, the hold mode is executed with the target position Tp set to the position reached between the position Sp where either the hold mode setting button 82 or 83 was operated and the tilt angle θ reaching the threshold θs. Furthermore, if either the hold mode setting button 82 or 83 is operated to execute the hold mode, and the auxiliary thruster 4 is positioned in the tilt-down position P2, the target position Tp is set to the position Sp where either the hold mode setting button 82 or 83 was operated.

[0085] Figure 11 is a schematic diagram illustrating the setting of the target bearing in bearing-holding mode and fixed-point holding mode. Figure 11 illustrates the setting of the target bearing in bearing-holding mode and fixed-point holding mode when the auxiliary propulsion unit 140 is powered on and the auxiliary propulsion unit 4 is positioned at the tilt-up position P1. The upper right section of Figure 11 shows a plan view of the vessel 1, and the lower section shows a side view of the vessel 1. In the state of the vessel 1 shown on the right side of Figure 11, the auxiliary propulsion unit 4 is positioned at the tilt-up position P1 and powered on. In this state of the vessel 1, when either the holding mode setting button 82 or 84 is operated, the main controller 101 drives the tilt cylinder 62 to change the tilt angle of the auxiliary propulsion unit 4 toward the tilt-down position P2. As shown in Figure 11, if a disturbance occurs that causes the vessel 1 to rotate in the direction of arrow D, such as a current, the bearing of the vessel 1 changes before the tilt angle θ reaches a predetermined threshold θs. Then, as shown by ship 1 on the left side of Figure 11, when the tilt angle θ reaches a predetermined threshold θs, that bearing is set as the target bearing Td. Ship 1 whose bearing has changed due to a disturbance is shown by the dashed line. Note that the main propulsion engine 3 is omitted in the side view of Figure 11 for clarity.

[0086] Thus, even when either the hold mode setting button 82 or 84 is operated, if the auxiliary thruster 4 is positioned in the tilt-up position P1, the hold mode is executed with the target heading Td set to the heading Sd at the time the hold mode setting button 82 or 84 was operated until the tilt angle θ reached the threshold θs. Furthermore, if the auxiliary thruster 4 is positioned in the tilt-down position P2 when either the hold mode setting button 82 or 84 is operated to execute the hold mode, the target heading Td is set to the heading Sd at the time the hold mode setting button 82 or 84 was operated.

[0087] In extender mode, the engine 19 of the main thruster 3 is only operating for power generation; therefore, when any of the hold mode setting buttons 82, 83, or 84 are operated in extender mode, the control is the same as in electric mode.

[0088] In engine mode, when the power to the auxiliary thruster 4 is cut off and the power to the main thruster 3 is on, if the hold mode setting button 83 is operated, the main controller 101 sets the position Sp at the time the hold mode setting button 83 was operated as the target position Tp and operates the main thruster 3 to execute the position hold mode. In engine mode, if the hold mode setting button 84 is operated, the main controller 101 sets the azimuth Sd at the time the hold mode setting button 84 was operated as the target azimuth Td and operates the main thruster 3 to execute the azimuth hold mode. In engine mode, if the hold mode setting button 82 is operated, the main controller 101 sets the position Sp and azimuth Sd at the time the hold mode setting button 82 was operated as the target position Tp and target azimuth Td, respectively, and operates the main thruster 3 to execute the fixed point hold mode.

[0089] Furthermore, we will explain what happens when any of the hold mode setting buttons 82, 83, or 84 are operated in dual mode.

[0090] In dual mode, when the hold mode setting button 83 is operated and the auxiliary thruster 4 is in the tilt-down position P2, the main controller 101 sets the position Sp at the time the hold mode setting button 83 was operated to the target position Tp and controls the main thruster 3 and auxiliary thruster 4 to execute the hold mode. In dual mode, when the hold mode setting button 84 is operated and the auxiliary thruster 4 is in the tilt-down position P2, the main controller 101 sets the heading Sd at the time the hold mode setting button 84 was operated to the target heading Td and controls the main thruster 3 and auxiliary thruster 4 to execute the heading hold mode. In dual mode, when the hold mode setting button 82 is operated and the auxiliary thruster 4 is in the tilt-down position P2, the main controller 101 sets the position Sp and heading Sd at the time the hold mode setting button 82 was operated to the target position Tp and target heading Td, respectively, and controls the main thruster 3 and auxiliary thruster 4 to execute the fixed-point hold mode.

[0091] On the other hand, in dual mode, when the hold mode setting button 83 is operated and the auxiliary thruster 4 is positioned at the tilt-up position P1, the main controller 101 drives the tilt cylinder 62 to change the tilt angle of the auxiliary thruster 4 toward the tilt-down position P2. The main controller 101 sets the position of the hull 2 ​​when the tilt angle θ is greater than or equal to a predetermined threshold θs to the target position Tp, and executes the hold mode by operating the main thruster 3 and the auxiliary thruster 4. Here, the main thruster 3 remains idle and does not operate until the tilt angle reaches the predetermined threshold θs, and then operates together with the auxiliary thruster 4. In dual mode, when the hold mode setting button 84 is operated and the auxiliary thruster 4 is in the tilt-up position P1, the main controller 101 drives the tilt cylinder 62 to change the tilt angle of the auxiliary thruster 4 toward the tilt-down position P2, sets the bearing of the hull 2 ​​to the target bearing Td when the tilt angle θ is greater than or equal to a predetermined threshold θs, and operates the main thruster 3 and auxiliary thruster 4 to execute the bearing hold mode. At this time, the main thruster 3 remains in standby mode until the tilt angle reaches the predetermined threshold θs, and operates together with the auxiliary thruster 4. In dual mode, when the hold mode setting button 82 is operated and the auxiliary thruster 4 is in the tilt-up position P1, the main controller 101 drives the tilt cylinder 62 to change the tilt angle of the auxiliary thruster 4 toward the tilt-down position P2, sets the position and bearing of the hull 2 ​​to the target position Tp and target bearing Td, respectively, when the tilt angle θ is greater than or equal to a predetermined threshold θs, and operates the main thruster 3 and auxiliary thruster 4 to execute the fixed-point hold mode. At this time, the main thruster 3 remains in standby mode until the tilt angle reaches the predetermined threshold θs, and operates together with the auxiliary thruster 4.

[0092] Furthermore, if either the power switch unit 120 or the power switch unit 140 is operated while the hold mode is running, and the power to the main thruster 3 or the auxiliary thruster 4 is turned on or off, the main controller 101 will cancel the execution of the hold mode.

[0093] Next, the control operation of the ship propulsion system 100 will be explained, along with a description of the ship propulsion method.

[0094] Figure 12 is a flowchart showing the control operation of the ship propulsion system 100 of this embodiment.

[0095] When the user operates any of the hold mode setting buttons 82, 83, or 84, in step S1, the main controller 101 receives a start signal from the operated hold mode button.

[0096] Next, in step S2, the main controller 101 determines whether or not the auxiliary thruster 4 is powered on. The auxiliary thruster 4 is powered on when the power switch 141 of the power switch unit 140 is turned on.

[0097] If it is determined that the power to the auxiliary thruster 4 is turned on, in step S3, the main controller 101 determines whether or not the auxiliary thruster 4 is positioned in the tilt-up position P1. The main controller 101 can determine whether or not the auxiliary thruster 4 is positioned in the tilt-up position P1 based on the value detected by the tilt angle sensor 61.

[0098] If it is determined that the auxiliary thruster 4 is positioned in the tilt-up position P1, in step S4, the main controller 101 generates a tilt-up-down signal and outputs a tilt-down command signal to the motor controller 110. As a result, the motor controller 110 retracts the tilt cylinder 62, and the auxiliary thruster 4 begins to tilt down.

[0099] Next, in step S5, the main controller 101 determines whether the tilt angle θ detected by the tilt angle sensor 61 is greater than or equal to the threshold θs. If the tilt angle θ is less than the threshold θs, the determination in step S5 is repeated until the tilt angle θ is greater than or equal to the threshold θs. In step S5, if the tilt angle θ is greater than or equal to the threshold θs, the control proceeds to step S6.

[0100] In step S6, the main controller 101 sets at least one of the target position Tp and target heading Td according to the button pressed from among the hold mode setting buttons 82, 83, and 84. For example, if the hold mode setting button 83 was pressed in step S1, in step S6, the main controller 101 obtains the current position of the hull 2 ​​from the GPS receiver 108 and sets the current position of the hull 2 ​​as the target position Tp. If the hold mode setting button 84 was pressed in step S1, in step S6, the main controller 101 obtains the current heading of the hull 2 ​​from the heading sensor 109 and sets the current heading of the hull 2 ​​as the target heading Td. If the hold mode setting button 82 was operated in step S1, in step S6, the main controller 101 obtains the current position of the hull 2 ​​from the GPS receiver 108 and sets the current position of the hull 2 ​​as the target position Tp, and obtains the current bearing of the hull 2 ​​from the bearing sensor 109 and sets the current bearing of the hull 2 ​​as the target bearing Td.

[0101] Next, in step S7, the main controller 101 controls the auxiliary thruster 4 to execute a hold mode corresponding to the button pressed from among the hold mode setting buttons 82, 83, and 84. In the case of dual mode, the main thruster 3 is also controlled along with the auxiliary thruster 4 to execute the hold mode.

[0102] Next, in step S8, the main controller 101 determines whether it has received an on or off signal for the power of the main thruster 3 or the auxiliary thruster 4 by operating the power switch 121 of the power switch unit 120 or the power switch 141 of the power switch unit 140. If it has not received an on or off signal for the power, in step S9, the main controller 101 determines whether it has received a stop signal for the hold mode.

[0103] In step S9, if it is determined that a stop signal for the hold mode has been received, the control terminates. On the other hand, in step S9, if it is determined that a stop signal for the hold mode has not been received, the control returns to step S8.

[0104] Furthermore, if it is determined in step S8 that a power on or off signal has been received, the main controller 101 stops the hold mode in step S10.

[0105] If, in step S3, it is determined that the auxiliary propulsion unit 4 is positioned in the tilt-down position P2 rather than the tilt-up position P1, the control proceeds to step S6, where at least one of the target position Tp and target heading Td is set according to the hold mode setting button operated in step S1. In this case, the position Sp of the ship 1 when the hold mode setting button 83 is operated is set as the target position Tp. The heading Sd of the ship 1 when the hold mode setting button 84 is operated is set as the target heading Td. The position Sp and heading Sd of the ship 1 when the hold mode setting button 82 is operated are set as the target position Tp and target heading Td, respectively.

[0106] Furthermore, if the power supply to the auxiliary thruster 4 is cut off in step S2, the control proceeds to step S11, in which step S11 the main controller 101 determines whether or not the power supply to the main thruster 3 is turned on. The power supply to the main thruster 3 is turned on when the power switch 121 of the power switch unit 120 is turned on.

[0107] If it is determined in step S11 that the power supply to the main thruster 3 has been cut off, the hold mode cannot be executed, and therefore control is terminated.

[0108] On the other hand, if it is determined in step S11 that the power to the main propulsion engine 3 is turned on, the control proceeds to step S6, where the main controller 101 performs at least one of the following: setting the current position Sp of the hull 2 ​​as the target position Tp, and setting the current bearing Sd of the hull 2 ​​as the target bearing Td. In this case, at least one of the following is performed: setting the position Sp of the ship 1 when any of the hold mode setting buttons 82, 83, or 84 is operated as the target position Tp, and setting the bearing Sd as the target bearing Td. Then, in step S7, the main controller 101 executes a hold mode according to the button that was operated from among the hold mode setting buttons 82 to 84.

[0109] The vessel 1 and the vessel propulsion system 100 according to this embodiment have the following features.

[0110] When any of the hold mode setting buttons 82, 83, or 84 is operated and the execution of the hold mode is commanded, the target position Tp is set based on the tilt angle θ of the auxiliary propulsion unit 4 and the hold mode is executed. This allows the position or bearing of the ship 1 to move due to disturbances before the tilt-down and operation begins, for example, by setting the position when the auxiliary propulsion unit 4 is operational as the target position Tp, or by setting the bearing when the auxiliary propulsion unit 4 is operational as the target bearing Td. Therefore, the discrepancy between the target position Tp and the position where the hold mode is executed, or the discrepancy between the target bearing Td and the bearing where the hold mode is executed, can be reduced, and the feasibility of the hold mode can be ensured.

[0111] When the execution of the hold mode is commanded and the auxiliary propulsion unit 4 is positioned in the tilt-up position P1, the tilt cylinder 62 is driven to change the tilt angle θ of the auxiliary propulsion unit 4 toward the tilt-down position P2. The position of the hull 2 ​​when the tilt angle θ is greater than or equal to a predetermined threshold θs is set to the target position Tp, or the bearing of the hull 2 ​​when the tilt angle θ is greater than or equal to a predetermined threshold θs is set to the target bearing Td, and the hold mode is executed. This reduces the discrepancy between the target position Tp and the position where the hold mode is executed, or the discrepancy between the target bearing Td and the bearing where the hold mode is executed, thereby ensuring the execution of the hold mode.

[0112] If the auxiliary propulsion system 4 is positioned in the tilt-down position P2 when the hold mode is commanded, the position Sp of the hull 2 ​​at the time the hold mode is commanded is set to the target position Tp, or the bearing Sd of the hull 2 ​​at the time the hold mode is commanded is set to the target bearing Td, and the hold mode is executed. This allows the hold mode to be executed immediately after the command is given, provided that the auxiliary propulsion system 4 is positioned in the tilt-down position P2.

[0113] When the auxiliary thruster 4 is started, and the hold mode is activated by pressing one of the hold mode setting buttons 82, 83, or 84, the hold mode is executed by setting the target position Tp or target heading Td based on the tilt angle θ of the auxiliary thruster 4 and controlling the auxiliary thruster 4. This allows the target position Tp or target heading Td to be set based on the tilt angle θ while the auxiliary thruster 4 is powered on.

[0114] If a power on or off command is issued from power switch 121 or power switch 141 while the hold mode is running, the hold mode will be stopped. This allows the hold mode to be stopped when the power to the auxiliary thruster 4 or the main thruster 3 is turned on or off.

[0115] When the hold mode is activated by one of the hold mode setting buttons 82, 83, or 84, if the auxiliary thruster 4 is started and the main thruster 3 is not started, the hold mode is activated by controlling the auxiliary thruster 4. This allows the hold mode to be activated using only the auxiliary thruster 4.

[0116] When the execution of the hold mode is commanded by one of the hold mode setting buttons 82, 83, or 84, if the auxiliary thruster 4 is started and the main thruster 3 is also started, the hold mode is executed by controlling both the main thruster 3 and the auxiliary thruster 4. This allows the hold mode to be executed on both the main thruster 3 and the auxiliary thruster 4.

[0117] When the fixed-point holding mode is commanded by the holding mode setting button 82, the target position Tp and target heading Td are set based on the tilt angle θ of the auxiliary thruster 4, and the fixed-point holding mode is executed. This reduces both the discrepancy between the target position Tp and the position where the fixed-point holding mode is executed, and the discrepancy between the target heading Td and the heading where the fixed-point holding mode is executed, thereby ensuring the execution of the fixed-point holding mode.

[0118] Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications are possible without departing from the spirit of the invention.

[0119] In the above embodiment, the main thruster 3 is powered by an engine, but it is not limited to this, and the main thruster 3 may also be powered by an electric motor.

[0120] In the above embodiment, the tilt angle θ is set to increase from the tilt-up position P1 to the tilt-down position P2, but this is not the only option; the tilt angle θ may also be set to increase from the tilt-down position P2 to the tilt-up position P1.

[0121] In the above embodiment, in step S3, the position of the auxiliary thruster 4 is determined by the value detected by the tilt angle sensor 61 to determine whether it is in the tilt-up position P1 or the tilt-down position P2, but it is not limited to this. Since the auxiliary thruster 4 is positioned in only one of the tilt-up position P1 or the tilt-down position P2, the main controller 101 may store the current position when it receives the tilt-up command signal and the tilt-down command signal. [Industrial applicability]

[0122] According to the present invention, it is possible to provide a ship propulsion system, a ship, and a ship propulsion method that can improve the performance of the holding function. [Explanation of Symbols]

[0123] 1: Ship, 2: Hull, 2a: Stern, 3: Main propulsion engine, 4: Auxiliary propulsion engine, 5: Pilot's seat, 6: Steering wheel, 7: Remote control lever, 8: Joystick, 9: Gauge, 9a: Input device, 11: Mounting mechanism, 12: Clamp bracket, 13: Tilt axis, 14: Swivel bracket, 15: Rudder axis, 16: Engine cover, 17: Upper case, 18: Lower case, 19: Engine, 20: Drive shaft, 21: Shift mechanism, 22: Propeller shaft, 23: Propeller, 24: Shift rod, 25: Starter motor, 26: Generator, 27: Engine E CU, 28: Throttle actuator, 29: Throttle valve, 30: Shift actuator, 31: Steering rod, 32: Steering device, 33: Steering actuator, 34: Steering ECU, 35: Tilt trim actuator, 41: Bracket, 41a: Lower support, 41b: Upper support, 42: Base, 43: Upper housing, 44: Lower housing, 45: Cover, 46: Cowl, 47: Drive unit, 48: Steering unit, 49: Propeller, 50: Electric motor, 51: Rotor, 52: Stator, 53: Permanent magnet, 54: Coil, 55: Steering Ring shaft, 56: Steering motor, 60: Tilt unit, 61: Tilt angle sensor, 62: Tilt cylinder, 63: Cylinder connecting bracket, 64: Tilt shaft, 65: Steering wheel unit, 70: Remote control unit, 80: Joystick unit, 81: Joystick button, 82: Hold mode setting button, 83: Hold mode setting button, 84: Hold mode setting button, 85: Propulsion setting button, 85a: Plus button, 85b: Minus button, 100: Ship propulsion system, 101: Main controller, 102: Onboard network, 1 03: Outboard motor control network, 104: Control panel network, 106: Remote control ECU, 108: GPS receiver, 109: Direction sensor, 110: Motor controller, 111: Steering controller, 120: Power switch unit, 121: Power switch, 122: Start switch, 123: Stop switch, 130: Battery, 140: Power switch unit, 141: Power switch, 145: Battery, 146: DC / DC converter, 150: Application switch panel, 151: Function switch,152: Function switch, P1: Tilt-up position, P2: Tilt-down position, Td: Target direction, Tp: Target position, Sd: Direction, Sp: Position, θs: Threshold,

Claims

1. The main propulsion system attached to the hull, An auxiliary propulsion system, which is attached to the hull and powered by an electric motor, A tilt mechanism that changes the tilt angle of the auxiliary propulsion unit relative to the hull, An execution command unit that commands the execution of a holding function to maintain the hull at a predetermined target position or target bearing, When the execution command unit commands the execution of the holding function, the controller includes a controller that sets the target position or target direction based on the tilt angle of the auxiliary thruster and executes the holding function, Ship propulsion system.

2. The tilt mechanism allows the auxiliary propulsion system to be positioned between a tilt-down position where the propeller is submerged in water and a tilt-up position where the propeller is positioned above the water surface. The aforementioned tilt angle is set to increase from the tilt-up position to the tilt-down position. When the controller is commanded to perform the holding function and the auxiliary propulsion is positioned in the tilt-up position, it drives the tilt mechanism to change the tilt angle of the auxiliary propulsion toward the tilt-down position, sets the position of the hull to the target position when the tilt angle exceeds a predetermined threshold, or sets the bearing of the hull to the target bearing when the tilt angle exceeds a predetermined threshold, and then performs the holding function. The ship propulsion system according to claim 1.

3. The tilt mechanism allows the auxiliary propulsion system to be positioned between a tilt-down position where the propeller is submerged in water and a tilt-up position where the propeller is positioned above the water surface. The aforementioned tilt angle is set to increase from the tilt-up position to the tilt-down position. The controller, when the auxiliary propulsion system is positioned in the tilt-down position when the holding function is commanded, sets the position of the hull at the time the holding function is commanded to the target position, or sets the bearing of the hull at the time the holding function is commanded to the target bearing, and then executes the holding function. The ship propulsion system according to claim 1.

4. The system further comprises an auxiliary engine command unit that commands the start or stop of the auxiliary propulsion machine, The controller, when the auxiliary thruster is started and the execution command unit commands the holding function, sets the target position or target direction based on the tilt angle of the auxiliary thruster and controls the auxiliary thruster to execute the holding function. The ship propulsion system according to claim 1.

5. An auxiliary engine command unit that commands the start or stop of the auxiliary propulsion machine, The system further comprises a main engine command unit that commands the start or stop of the main propulsion engine, If a command is issued from the auxiliary equipment command unit or the main engine command unit while the holding function is being executed, the controller will stop the execution of the holding function. The ship propulsion system according to claim 1.

6. An auxiliary engine command unit that commands the start or stop of the auxiliary propulsion machine, The system further comprises a main engine command unit that commands the start or stop of the main propulsion engine, The controller, when the execution command unit commands the execution of the holding function, controls the auxiliary thruster to execute the holding function if the auxiliary thruster is started and the main thruster is not started. The ship propulsion system according to claim 1.

7. An auxiliary engine command unit that commands the start or stop of the auxiliary propulsion machine, The system further comprises a main engine command unit that commands the start or stop of the main propulsion engine, The controller, when the execution command unit commands the execution of the holding function, controls the main thruster and the auxiliary thruster to execute the holding function if the auxiliary thruster is started and the main thruster is started. The ship propulsion system according to claim 1.

8. The holding function holds the hull at the target position and target bearing, When the controller is commanded by the execution command unit to perform the holding function, it sets the target position and target direction based on the tilt angle of the auxiliary thruster and performs the holding function. The ship propulsion system according to claim 1.

9. The aforementioned main propulsion system is an engine-driven propulsion system powered by an engine. The ship propulsion system according to claim 1.

10. The hull and, A ship comprising a ship propulsion system according to any one of claims 1 to 9, which is disposed on the hull of the ship.

11. A ship propulsion system comprising: a main propulsion unit attached to the hull; an auxiliary propulsion unit attached to the hull and powered by an electric motor; and a tilt mechanism for changing the tilt angle of the auxiliary propulsion unit relative to the hull, The command is given to perform a holding function that maintains the hull at a predetermined target position or target bearing, When the execution of the holding function is commanded, the target position or target direction is set based on the tilt angle of the auxiliary thruster, This includes performing the holding function to maintain the hull at the set target position or target bearing, Ship propulsion method.

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