System for controlling watercraft and watercraft

Abstract

A watercraft operating system includes a marine propulsion device, an operation console, an input, and a watercraft operating controller. The marine propulsion device generates a thrust to propel a watercraft. The operation console includes a tiltable joystick. The input is configured to output an operating signal. The watercraft operating controller is configured or programmed to control a magnitude and an orientation of the thrust in accordance with an operation by the operation console. Upon receiving the operating signal, the watercraft operating controller is configured or programmed to determine whether or not the joystick is located in a neutral position. When the joystick is located in the neutral position, the watercraft operating controller is configured or programmed to transition to a holding standby state. When the joystick is tilted in the holding standby state, the watercraft operating controller is configured or programmed to transition to a holding control state to hold the thrust or a watercraft speed.

Description

CROSS REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of priority to Japanese Patent Application No. 2024-201140 filed on Nov. 18, 2024. The entire contents of this application are hereby incorporated herein by reference.BACKGROUND OF THE INVENTION1. Field of the Invention

[0002] The present invention relates to systems for controlling watercraft and watercraft.2. Description of the Related Art

[0003] There has been disclosed a type of watercraft using a joystick as an operating device for operating the watercraft. As a proposal for enhancement in operability of a watercraft with a joystick, Japanese Unexamined Utility Model Specification No. S60-166043 discloses a configuration to execute a holding control for holding an output signal from a joystick by pressing a holding switch in operating a watercraft with the joystick.

[0004] According to Japanese Unexamined Utility Model Specification No. S60-166043, for holding the output signal from the joystick, a watercraft operator is required to press the holding switch, while operating the joystick and thus, the watercraft operator is required to perform the operating motions with both hands. Additionally, when pressing the holding switch, the watercraft operator is required to cast a quick glance on the holding switch, while operating the joystick and, thus, there is still room for improvement in the operability of the holding control.SUMMARY OF THE INVENTION

[0005] Example embodiments of the present invention enhance the operability of a holding control for a joystick.

[0006] A system according to an example embodiment of the present invention relates to a system for controlling a watercraft and includes a marine propulsion device, an operation console, an input, and a controller. The marine propulsion device generates a thrust to propel the watercraft. The operation console includes a tiltable joystick. The input is configured to output an operating signal. The controller is configured or programed to control a magnitude and an orientation of the thrust in accordance with an operation by the operation console. The controller is configured or programed to determine whether or not the joystick is located in a neutral position upon receiving the operating signal. The controller is configured or programed to transition to a holding standby state when the joystick is located in the neutral position. The controller is configured or programed to transition to a holding control state to hold the thrust or a watercraft speed in the holding standby state when the joystick is tilted.

[0007] In a system according to an example embodiment of the present invention, the controller is configured or programed to transition to the holding standby state in accordance with an operation by the input when the joystick is not being operated. When the joystick is tilted in the holding standby state, the controller is configured or programed to transition to the holding control state. Accordingly, it is possible to enhance the operability of a holding control for the joystick in comparison with a configuration in which a holding switch is required to be pressed while the joystick is being operated.

[0008] According to example embodiments of the present invention, it is possible to enhance the operability of the holding control for the joystick.

[0009] The above and other elements, features, steps, characteristics and advantages of the present invention will become more apparent from the following detailed description of the example embodiments with reference to the attached drawings.BRIEF DESCRIPTION OF THE DRAWINGS

[0010] FIG. 1 is a plan view of a watercraft including a marine propulsion device according to an example embodiment of the present invention.

[0011] FIG. 2 is a side view of the marine propulsion device.

[0012] FIG. 3 is a diagram for explaining an electric motor.

[0013] FIG. 4 is a schematic diagram showing a configuration of a watercraft operating system.

[0014] FIG. 5 is a diagram for explaining an input.

[0015] FIG. 6 is a flowchart showing a series of processes to be executed by a watercraft operating controller.

[0016] FIG. 7 is a chart for explaining increments in thrust.

[0017] FIG. 8 is a chart for explaining a relationship between increments in the thrust and a watercraft speed.DETAILED DESCRIPTION OF THE EXAMPLE EMBODIMENTS

[0018] Example embodiments of the present invention will be hereinafter explained with reference to drawings. FIG. 1 is a perspective view of a watercraft 10 including a watercraft operating system 100 according to an example embodiment of the present invention. The watercraft 10 includes a hull 2 and a marine propulsion device 3. In the present example embodiment, the marine propulsion device 3 is an electric outboard motor. The marine propulsion device 3 is attached to the stern of the hull 2 of the watercraft 10. The marine propulsion device 3 is disposed on the stern in the middle of the watercraft 10 in the right-and-left direction. The marine propulsion device 3 generates a thrust to propel the watercraft 10.

[0019] FIG. 2 is a side view of the marine propulsion device 3. The marine propulsion device 3 is attached to the hull 2 through a bracket 11. The marine propulsion device 3 is supported by the bracket 11.

[0020] The marine propulsion device 3 includes an upper portion 12, a lower portion 13, a propeller 14, a steering device 15, and an electric motor 16 (see FIG. 3). The upper portion 12 is attached to the bracket 11. The lower portion 13 is disposed below the bracket 11. The lower portion 13 is pivotable about the axis of a steering axle 15a (to be described below) with respect to the upper portion 12. The lower portion 13 includes a case portion 13a and a duct 13b. The case portion 13a is integral with the duct 13b. The duct 13b is disposed below the case portion 13a. The duct 13b has a tubular shape. The propeller 14 is disposed on the duct 13b of the lower portion 13. The propeller 14 generates the thrust when rotated by the driving force of the electric motor 16.

[0021] The steering device 15 is configured to pivot the lower portion 13. By pivoting the lower portion 13, the steering device 15 changes the orientation of the thrust generated by the rotation of the propeller 14. The steering device 15 includes the steering axle 15a. The steering axle 15a extends in the up-and-down direction. The steering axle 15a is connected to the upper portion 12 and the duct 13b of the lower portion 13. The steering device 15 includes a motor (not shown in the drawings) to rotate the steering axle 15a about the axis thereof.

[0022] The electric motor 16 is driven when supplied with electric power from a battery (not shown in the drawings) disposed in the hull 2. The electric motor 16 includes a stator portion 16a and a rotor portion 16b. The stator portion 16a is fixed to the duct 13b. The stator portion 16a includes a coil (not shown in the drawings). The rotor portion 16b is fixed to the propeller 14. The stator portion 16a is disposed opposite to the rotor portion 16b. The rotor portion 16b includes a plurality of magnets (not shown in the drawings). When the coil of the stator portion 16a is supplied with electric power, the propeller 14 is rotated together with the rotor portion 16b.

[0023] FIG. 4 is a schematic diagram showing a configuration of the watercraft operating system 100. The marine propulsion device 3 includes a motor controller 17 and a steering controller 18. The motor controller 17 and the steering controller 18 may include control circuits, each of which includes a processor such as a CPU (Central Processing Unit) and memories such as a RAM (Random Access Memory) and a ROM (Read-Only Memory). The motor controller 17 stores programs and data to control the electric motor 16. The motor controller 17 is configured or programmed to control the rotational direction and the output of the electric motor 16 in accordance with a command signal outputted thereto from a watercraft operating controller 30 (to be described below).

[0024] The steering controller 18 is configured or programmed to control the driving of the steering device 15 in accordance with a command signal outputted thereto from the watercraft operating controller 30. The steering controller 18 stores programs and data to control the steering device 15.

[0025] As shown in FIG. 1, the watercraft operating system 100 includes an operation console 4 for receiving operations performed by a watercraft operator. The operation console 4 is disposed in a cockpit 10b of the watercraft 10. The operation console 4 includes a steering wheel 24, a remote controller 25, a joystick 26, an input 27 (see FIG. 5), and a display 28.

[0026] The steering wheel 24 enables the watercraft operator to manipulate the turning direction of the watercraft 10. The steering wheel 24 includes a sensor 24a. The sensor 24a outputs a steering signal indicating the operating direction and the operating amount of the steering wheel 24.

[0027] The remote controller 25 includes a throttle lever 25a. The throttle lever 25a enables the watercraft operator to regulate the magnitude of the thrust generated by the marine propulsion device 3. The throttle lever 25a also enables the watercraft operator to switch the direction of the thrust generated by the marine propulsion device 3 between a forward moving direction and a rearward moving direction. The throttle lever 25a is operable from a neutral position to a forward moving position and a rearward moving position. The neutral position is an intermediate position between the forward moving position and the rearward moving position. The throttle lever 25a includes a sensor 25b. The sensor 25b outputs a throttle signal indicating the operating direction and the operating amount of the throttle lever 25a.

[0028] The joystick 26 is tiltable from the neutral position in the back-and-forth direction and the right-and-left direction (sideways direction). In other words, the joystick 26 is tiltable in all compass directions. The joystick 26 is rotatable about a rotational axis Ax1. In other words, the joystick 26 is operable to twist clockwise and counterclockwise about the rotational axis Ax1. The joystick 26 includes a sensor 26a. The sensor 26a outputs an operating signal indicating an operation of the joystick 26. The operating signal contains information regarding the tilt direction and the tilt amount of the joystick 26. The operating signal also contains information regarding the twist direction and the twist amount of the joystick 26. The rudder angle, the magnitude of the output, and the direction of the output of the marine propulsion device 3 are controlled in accordance with the tilt amount and the tilt direction of the joystick 26.

[0029] FIG. 5 is a diagram for explaining the input 27. The input 27 is disposed in the vicinity of the joystick 26. When receiving an operation performed by the watercraft operator, the input 27 outputs an operating signal. The input 27 includes a joystick button 27a, a compass direction keeping button 27b, a fixed spot keeping button 27c, a position keeping button 27d, and a thrust regulating button 27e.

[0030] The joystick button 27b switches between the following modes: a joystick mode to operate the watercraft 10 with the joystick 26 and a normal watercraft operating mode to operate the watercraft 10 with the remote controller 25 and the steering wheel 24. The compass direction keeping button 27b, the fixed position keeping button 27c, and the position keeping button 27d receive receiving operations to start and end a variety of controls regarding an automated watercraft operation.

[0031] The thrust regulating button 27e selects one of a plurality of thrust levels as the thrust level for the marine propulsion device 3 when operating the watercraft 10 with the joystick 26. The upper limit of the thrust generated by the marine propulsion device 3 is increased with an increase in the thrust levels. The thrust regulating button 27e includes a plus switch and a minus switch. When the plus switch is pressed once, the thrust level at the present stage is increased by one stage. When the minus switch is pressed once, the thrust level at the present stage is reduced by one stage.

[0032] The display 28 displays information regarding the watercraft 10 and a variety of information for operating the watercraft 10. The display 28 may include, for instance, a liquid crystal display. The display 28 may include an input such as a touchscreen.

[0033] The watercraft operating system 100 includes the watercraft operating controller 30. The watercraft operating controller 30 includes a processor such as a CPU and memories such as a RAM and a ROM. The watercraft operating controller 30 stores programs and data to control the marine propulsion device 3. The watercraft operating controller 30 is connected to the motor controller 17 and the steering controller 18 through wired or wireless communication. The watercraft operating controller 30 is connected to the steering wheel 24, the remote controller 25, the joystick 26, the input 27, and the display 28 through wired or wireless communication.

[0034] The watercraft operating controller 30 outputs command signals to the motor controller 17 and the steering controller 18 based on signals outputted thereto from the sensors 24a and 25b. The watercraft operating controller 30 is configured or programmed to control the rudder angle, the magnitude of the output, and the direction of the output of the marine propulsion device 3 through the motor controller 17 and the steering controller 18. The watercraft operating controller 30 is configured or programmed to control the direction of the output of the marine propulsion device 3 by controlling the rotational direction of the propeller 14.

[0035] The watercraft operating controller 30 is configured or programmed to receive an operating signal outputted thereto from the input 27. The watercraft operating controller 30 is configured or programmed to control the rudder angle, the magnitude of the output, and the direction of the output of the marine propulsion device 3 in accordance with the selected thrust level, the tilt direction of the joystick 26, and the tilt amount of the joystick 26. The watercraft operating controller 30 is configured or programmed to control the marine propulsion device 3 to generate a thrust with a magnitude depending on the tilt amount of the joystick 26 (but not exceeding the upper limit of the selected thrust level) in a direction corresponding to the tilt direction of the joystick 26. The watercraft operating controller 30 is configured or programmed to increase the output of the marine propulsion device 3, the magnitude of which depends on the tilt amount of the joystick 26, with an increase in the thrust levels.

[0036] The watercraft operating controller 30 is configured or programmed to change the rudder angle of the marine propulsion device 3 such that the watercraft 10 performs bow turning in a direction corresponding to the twist direction of the joystick 26. The watercraft operating controller 30 is configured or programmed to cause the marine propulsion device 3 to generate a thrust in accordance with the twist amount of the joystick 26.

[0037] The watercraft operating controller 30 is configured or programmed to change the rudder angle of the marine propulsion device 3 such that the watercraft 10 turns in accordance with an operation of the joystick 26 to not only tilt forward or rearward but also twist. At this time, the watercraft operating controller 30 is configured or programmed to cause the marine propulsion device 3 to generate a thrust in accordance with the tilt amount of the joystick 26 and change the rudder angle of the marine propulsion device 3 such that the watercraft 10 turns in a direction corresponding to the twist direction of the joystick 26.

[0038] The watercraft operating system 100 includes a position sensor 31 and a compass sensor 32. The position sensor 31 may include, for instance, a receiver for a GNSS (Global Navigation Satellite System) such as a GPS (Global Positioning System). The position sensor 31 outputs a signal indicating the present position of the watercraft 10. The position sensor 31 is connected to the watercraft operating controller 30 in a communicable manner. The watercraft operating controller 30 is configured or programmed to obtain the position of the watercraft 10 based on the signal outputted thereto from the position sensor 31.

[0039] The compass sensor 32 detects the present compass direction of the watercraft 10. The compass sensor 32 may include, for instance, an IMU (Inertial Measurement Unit). The compass sensor 32 is connected to the watercraft operating controller 30 in a communicable manner.

[0040] FIG. 6 is a flowchart of a series of processes to be executed by the watercraft operating controller 30 to switch between states in the joystick mode. It should be noted that switching from the normal watercraft operating mode to the joystick mode is made by the watercraft operating controller 30 in response to a first operation of the joystick button 27a. For example, switching from the normal watercraft operating mode to the joystick mode is made by the watercraft operating controller 30 in response to the first operation of the joystick button 27a in a condition that the thrust to be generated by the marine propulsion device 3 is zero. While the steering wheel 24 or the remote controller 25 is being operated, switching from the normal watercraft operating mode to the joystick mode is not made by the watercraft operating controller 30. For example, the first operation for the joystick button 27a is an operation of quickly pressing the joystick button 27a.

[0041] When receiving an operating signal corresponding to a second operation of the joystick button 27a during the execution of the joystick mode (step S1), the watercraft operating controller 30 is configured or programmed to determine whether or not the joystick 26 is located in the neutral position (step S2). Then, when it is determined that the joystick 26 is located in the neutral position, the watercraft operating controller 30 transitions from a normal control state to a holding standby state (step S3). For example, the second operation of the joystick button 27a includes pressing and holding the joystick button 27a. The normal control state refers to a control state that a thrust is generated in accordance with an operation of the joystick 26 only during the of the joystick 26. It should be noted that when the steering wheel 24 is operated in the holding standby state, the watercraft operating controller 30 may deactivate the holding standby state. In this case, when the steering wheel 24 is operated in the holding standby state, the watercraft operating controller 30 is restored to the normal control state. The watercraft operating controller 30 may deactivate the holding standby state when the joystick button 27a is pressed and held.

[0042] When the joystick 26 is tilted in the holding standby state (step S4), the watercraft operating controller 30 is configured or programmed to transition to a holding control state to hold either the thrust generated by the marine propulsion device 3 or the watercraft speed (step S5). In the present example embodiment, when the joystick 26 is tilted forward in the holding standby state, the watercraft operating controller 30 is configured or programmed to transition to the holding control state. A series of control processes to be executed to hold the thrust generated by the marine propulsion device 3 in the holding control state will be hereinafter explained.

[0043] When transitioning to the holding control state, the watercraft operating controller 30 is configured or programmed to hold the thrust at a magnitude depending on an operation of the joystick 26 tilting forward. More specifically, the watercraft operating controller 30 is configured or programmed to determine whether or not a tilt operation time of the joystick 26 is less than a first predetermined period of time in the holding standby state. Then, when the tilt operation time is less than the first predetermined period of time, the watercraft operating controller 30 transitions to the holding control state and holds the thrust at a predetermined thrust smaller in magnitude than a maximum thrust of the marine propulsion device 3. The first predetermined period of time is, for instance, 0.8 seconds. The predetermined thrust may be a minimum thrust that enables trolling of the watercraft 10. For example, the minimum thrust that enables trolling is a thrust causing the watercraft 10 to move forward at a low speed.

[0044] When the tilt operation time is greater than or equal to the first predetermined period of time in the holding standby state, the watercraft operating controller 30 is configured or programmed to transition to the holding control state and hold the thrust at a magnitude depending on the tilt operation amount of the joystick 26. At this time, the watercraft operating controller 30 holds the thrust at the maximum thrust while tilting the joystick 26. In other words, when the tilt operation time is greater than or equal to the first predetermined period of time in the holding standby state, the watercraft operating controller 30 holds the thrust at a magnitude depending on the maximum tilt amount of the joystick 26 obtained until the joystick 26 is returned to the neutral position after being tilted.

[0045] The watercraft operating controller 30 is configured or programmed to increase in stages the thrust in the holding control state in accordance with a first tilt operation of the joystick 26 to tilt from the neutral position in the moving direction of the watercraft 10 and increase the amount of change in thrust with the increase in stages. For example, as schematically shown in FIG. 7, the watercraft operating controller 30 may be configured or programmed to quadratically increase the thrust in accordance with the first tilt operation of the joystick 26. Accordingly, as schematically shown in FIG. 8, the watercraft speed is able to be increased constantly. Thus, an acceleration of the watercraft 10 can be realized as intended by the watercraft operator.

[0046] When the operation time of the first tilt operation is less than a second predetermined period of time, the watercraft operating controller 30 is configured or programmed to increase the thrust by one stage. When the operation time of the first tilt operation is greater than or equal to the second predetermined period of time, the watercraft operating controller 30 is configured or programmed to increase in the thrust in stages until the joystick 26 is returned to the neutral position. The second predetermined period of time may be, for instance, 0.8 seconds.

[0047] On the other hand, the watercraft operating controller 30 reduces the thrust in stages in the holding control state in accordance with a second tilt operation of the joystick 26 from the neutral position in a direction opposite to the moving direction of the watercraft 10 and reduce the amount of change in thrust with the reduction in stages. For example, the watercraft operating controller 30 may be configured or programmed to quadratically reduce the thrust in accordance with the second tilt operation of the joystick 26. Accordingly, the watercraft speed is able to be reduced constantly. Thus, a deceleration of the watercraft 10 can be realized as intended by the watercraft operator.

[0048] When the operation time of the second tilt operation is less than the second predetermined period of time, the watercraft operating controller 30 is configured or programmed to reduce the thrust by one stage.

[0049] In the holding control state, the watercraft operating controller 30 monitors whether or not a holding stop operation has been performed (step S6). Then, when it is determined that the holding stop operation has been performed, the watercraft operating controller 30 deactivates the holding control state (step S7) and transitions to the normal control state. For example, the watercraft operating controller 30 is configured or programmed to determine that the holding stop operation has been performed when the operation time of the second tilt operation is greater than or equal to the second predetermined time. The watercraft operating controller 30 may determine that the holding stop operation has been performed when the joystick button 27a is pressed and held.

[0050] Next, a series of control processes to be executed for holding the watercraft speed in the holding control state will be explained. It should be noted that transitioning to the holding standby state and transitioning from the holding standby state to the holding control state are made in a comparable manner to the series of control processes to be executed for holding the thrust and, thus, an explanation thereof will be hereinafter omitted.

[0051] The watercraft operating controller 30 is configured or programmed to determine whether or not the tilt operation time of the joystick 26 is less than the first predetermined period of time in the holding standby state. Then, when the tilt operation time is less than the first predetermined period of time, the watercraft operating controller 30 transitions to the holding control state and holds the watercraft speed at a predetermined watercraft speed smaller in magnitude than the maximum watercraft speed set in accordance with a type of the marine propulsion device 3. The predetermined watercraft speed is set to be the minimum watercraft speed that enables trolling. The predetermined watercraft speed corresponds to a low speed at which the watercraft 10 is moving forward.

[0052] When the tilt operation time of the joystick 26 is greater than or equal to the first predetermined period of time in the holding standby state, the watercraft operating controller 30 is configured or programmed to transition to the holding control state. Simultaneously, the watercraft operating controller 30 increases the watercraft speed in accordance with the tilt operation amount of the joystick 26 and holds the watercraft speed at a speed obtained when the joystick 26 was returned to the neutral position. In other words, when the joystick 26 has been returned to the neutral position, even though the watercraft speed has not reached a speed depending on the tilt operation amount of the joystick 26, the watercraft operating controller 30 is configured or programmed to hold the watercraft speed at a speed obtained when the joystick 26 was returned to the neutral position. Accordingly, an acute change in acceleration is prevented from occurring. Thus, the operability of the holding control for the joystick 26 is enhanced.

[0053] The watercraft operating controller 30 is configured or programmed to increase the watercraft speed in stages in the holding control state in accordance with the first tilt operation described above. When the operation time of the first tilt operation is less than the second predetermined period of time, the watercraft operating controller 30 is configured or programmed to increase the watercraft speed by one stage. On the other hand, when the operation time of the first tilt operation is greater than or equal to the second predetermined period of time, the watercraft operating controller 30 is configured or programmed to increase the watercraft speed in stages until the joystick 26 is returned to the neutral position.

[0054] The watercraft operating controller 30 reduces the watercraft speed in stages in the holding control state in accordance with the second tilt operation described above. When the operation time of the second tilt operation is less than the second predetermined period of time, the watercraft operating controller 30 reduces the watercraft speed to be held by one stage.

[0055] The watercraft operating controller 30 is configured or programmed to obtain marine propulsion device information regarding the marine propulsion device 3 and change the setting of the maximum watercraft speed and the predetermined watercraft speed based on the marine propulsion device information such that the maximum watercraft speed and the predetermined watercraft speed are able to be held in the holding control state. The marine propulsion device information contains information regarding how many marine propulsion devices, including the marine propulsion device 3, are provided and the performance of each of the marine propulsion devices. For example, the watercraft operating controller 30 obtains the information regarding the marine propulsion device 3 from the motor controller 17. Accordingly, it is possible to set the watercraft speed of the watercraft 10 to be regulated within a speed range suitable for the type of the marine propulsion device 3. Thus, the watercraft operator is able to easily regulate the watercraft speed to be held in the holding control state.

[0056] In the watercraft operating system 100 according to the example embodiments explained above, the watercraft operating controller 30 executes the following control: when the joystick 26 is not being operated, the watercraft operating controller 30 is configured or programmed to transition to the holding standby state in accordance with an operation of the input 27. Then, when the joystick 26 is operated to tilt in the holding standby state, the watercraft operating controller 30 is configured or programmed to transition to the holding control state. Accordingly, it is possible to enhance the operability of the holding control for the joystick 26.

[0057] By quickly tilting the joystick 26 (i.e., when the operation time of the first tilt operation is less than a predetermined period of time) in the holding standby state, the thrust of the marine propulsion device 3 (or the watercraft speed) is able to be held at the minimum thrust (or the minimum watercraft speed) that enables trolling. Accordingly, the thrust of the marine propulsion device 3 (or the watercraft speed) can be easily and quickly fixed at the minimum thrust (or the minimum watercraft speed) that enables trolling.

[0058] Example embodiments of the present invention have been explained above. However, the present invention is not limited to the example embodiments described above and a variety of changes can be made without departing from the gist of the present invention.

[0059] In the example embodiments described above, the watercraft 10 includes a single electric outboard motor, however, the watercraft 10 may include two outboard motors, or alternatively, three or more outboard motors. Additionally, the marine propulsion device 3 may be a type of outboard motor including an internal combustion engine.

[0060] While executing the normal watercraft operating mode, the watercraft operating controller 30 may be configured or programmed to transition to the holding standby state of the joystick mode in response to the second operation for the joystick button 27a. In other words, for instance, the watercraft operating controller 30 may transition to the holding standby state of the joystick mode in response to the second operation for the joystick button 27a when the thrust to be generated by the marine propulsion device 3 is zero, and simultaneously, when the joystick 26 is located in the neutral position.

[0061] While example embodiments of the present invention have been described above, it is to be understood that variations and modifications will be apparent to those skilled in the art without departing from the scope and spirit of the present invention. The scope of the present invention, therefore, is to be determined solely by the following claims.

Examples

Embodiment Construction

[0018]Example embodiments of the present invention will be hereinafter explained with reference to drawings. FIG. 1 is a perspective view of a watercraft 10 including a watercraft operating system 100 according to an example embodiment of the present invention. The watercraft 10 includes a hull 2 and a marine propulsion device 3. In the present example embodiment, the marine propulsion device 3 is an electric outboard motor. The marine propulsion device 3 is attached to the stern of the hull 2 of the watercraft 10. The marine propulsion device 3 is disposed on the stern in the middle of the watercraft 10 in the right-and-left direction. The marine propulsion device 3 generates a thrust to propel the watercraft 10.

[0019]FIG. 2 is a side view of the marine propulsion device 3. The marine propulsion device 3 is attached to the hull 2 through a bracket 11. The marine propulsion device 3 is supported by the bracket 11.

[0020]The marine propulsion device 3 includes an upper portion 12, a l...

CROSS REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of priority to Japanese Patent Application No. 2024-201140 filed on Nov. 18, 2024. The entire contents of this application are hereby incorporated herein by reference.BACKGROUND OF THE INVENTION1. Field of the Invention

[0002] The present invention relates to systems for controlling watercraft and watercraft.2. Description of the Related Art

[0003] There has been disclosed a type of watercraft using a joystick as an operating device for operating the watercraft. As a proposal for enhancement in operability of a watercraft with a joystick, Japanese Unexamined Utility Model Specification No. S60-166043 discloses a configuration to execute a holding control for holding an output signal from a joystick by pressing a holding switch in operating a watercraft with the joystick.

[0004] According to Japanese Unexamined Utility Model Specification No. S60-166043, for holding the output signal from the joystick, a watercraft operator is required to press the holding switch, while operating the joystick and thus, the watercraft operator is required to perform the operating motions with both hands. Additionally, when pressing the holding switch, the watercraft operator is required to cast a quick glance on the holding switch, while operating the joystick and, thus, there is still room for improvement in the operability of the holding control.SUMMARY OF THE INVENTION

[0005] Example embodiments of the present invention enhance the operability of a holding control for a joystick.

[0006] A system according to an example embodiment of the present invention relates to a system for controlling a watercraft and includes a marine propulsion device, an operation console, an input, and a controller. The marine propulsion device generates a thrust to propel the watercraft. The operation console includes a tiltable joystick. The input is configured to output an operating signal. The controller is configured or programed to control a magnitude and an orientation of the thrust in accordance with an operation by the operation console. The controller is configured or programed to determine whether or not the joystick is located in a neutral position upon receiving the operating signal. The controller is configured or programed to transition to a holding standby state when the joystick is located in the neutral position. The controller is configured or programed to transition to a holding control state to hold the thrust or a watercraft speed in the holding standby state when the joystick is tilted.

[0007] In a system according to an example embodiment of the present invention, the controller is configured or programed to transition to the holding standby state in accordance with an operation by the input when the joystick is not being operated. When the joystick is tilted in the holding standby state, the controller is configured or programed to transition to the holding control state. Accordingly, it is possible to enhance the operability of a holding control for the joystick in comparison with a configuration in which a holding switch is required to be pressed while the joystick is being operated.

[0008] According to example embodiments of the present invention, it is possible to enhance the operability of the holding control for the joystick.

[0009] The above and other elements, features, steps, characteristics and advantages of the present invention will become more apparent from the following detailed description of the example embodiments with reference to the attached drawings.BRIEF DESCRIPTION OF THE DRAWINGS

[0010] FIG. 1 is a plan view of a watercraft including a marine propulsion device according to an example embodiment of the present invention.

[0011] FIG. 2 is a side view of the marine propulsion device.

[0012] FIG. 3 is a diagram for explaining an electric motor.

[0013] FIG. 4 is a schematic diagram showing a configuration of a watercraft operating system.

[0014] FIG. 5 is a diagram for explaining an input.

[0015] FIG. 6 is a flowchart showing a series of processes to be executed by a watercraft operating controller.

[0016] FIG. 7 is a chart for explaining increments in thrust.

[0017] FIG. 8 is a chart for explaining a relationship between increments in the thrust and a watercraft speed.DETAILED DESCRIPTION OF THE EXAMPLE EMBODIMENTS

[0018] Example embodiments of the present invention will be hereinafter explained with reference to drawings. FIG. 1 is a perspective view of a watercraft 10 including a watercraft operating system 100 according to an example embodiment of the present invention. The watercraft 10 includes a hull 2 and a marine propulsion device 3. In the present example embodiment, the marine propulsion device 3 is an electric outboard motor. The marine propulsion device 3 is attached to the stern of the hull 2 of the watercraft 10. The marine propulsion device 3 is disposed on the stern in the middle of the watercraft 10 in the right-and-left direction. The marine propulsion device 3 generates a thrust to propel the watercraft 10.

[0019] FIG. 2 is a side view of the marine propulsion device 3. The marine propulsion device 3 is attached to the hull 2 through a bracket 11. The marine propulsion device 3 is supported by the bracket 11.

[0020] The marine propulsion device 3 includes an upper portion 12, a lower portion 13, a propeller 14, a steering device 15, and an electric motor 16 (see FIG. 3). The upper portion 12 is attached to the bracket 11. The lower portion 13 is disposed below the bracket 11. The lower portion 13 is pivotable about the axis of a steering axle 15a (to be described below) with respect to the upper portion 12. The lower portion 13 includes a case portion 13a and a duct 13b. The case portion 13a is integral with the duct 13b. The duct 13b is disposed below the case portion 13a. The duct 13b has a tubular shape. The propeller 14 is disposed on the duct 13b of the lower portion 13. The propeller 14 generates the thrust when rotated by the driving force of the electric motor 16.

[0021] The steering device 15 is configured to pivot the lower portion 13. By pivoting the lower portion 13, the steering device 15 changes the orientation of the thrust generated by the rotation of the propeller 14. The steering device 15 includes the steering axle 15a. The steering axle 15a extends in the up-and-down direction. The steering axle 15a is connected to the upper portion 12 and the duct 13b of the lower portion 13. The steering device 15 includes a motor (not shown in the drawings) to rotate the steering axle 15a about the axis thereof.

[0022] The electric motor 16 is driven when supplied with electric power from a battery (not shown in the drawings) disposed in the hull 2. The electric motor 16 includes a stator portion 16a and a rotor portion 16b. The stator portion 16a is fixed to the duct 13b. The stator portion 16a includes a coil (not shown in the drawings). The rotor portion 16b is fixed to the propeller 14. The stator portion 16a is disposed opposite to the rotor portion 16b. The rotor portion 16b includes a plurality of magnets (not shown in the drawings). When the coil of the stator portion 16a is supplied with electric power, the propeller 14 is rotated together with the rotor portion 16b.

[0023] FIG. 4 is a schematic diagram showing a configuration of the watercraft operating system 100. The marine propulsion device 3 includes a motor controller 17 and a steering controller 18. The motor controller 17 and the steering controller 18 may include control circuits, each of which includes a processor such as a CPU (Central Processing Unit) and memories such as a RAM (Random Access Memory) and a ROM (Read-Only Memory). The motor controller 17 stores programs and data to control the electric motor 16. The motor controller 17 is configured or programmed to control the rotational direction and the output of the electric motor 16 in accordance with a command signal outputted thereto from a watercraft operating controller 30 (to be described below).

[0024] The steering controller 18 is configured or programmed to control the driving of the steering device 15 in accordance with a command signal outputted thereto from the watercraft operating controller 30. The steering controller 18 stores programs and data to control the steering device 15.

[0025] As shown in FIG. 1, the watercraft operating system 100 includes an operation console 4 for receiving operations performed by a watercraft operator. The operation console 4 is disposed in a cockpit 10b of the watercraft 10. The operation console 4 includes a steering wheel 24, a remote controller 25, a joystick 26, an input 27 (see FIG. 5), and a display 28.

[0026] The steering wheel 24 enables the watercraft operator to manipulate the turning direction of the watercraft 10. The steering wheel 24 includes a sensor 24a. The sensor 24a outputs a steering signal indicating the operating direction and the operating amount of the steering wheel 24.

[0027] The remote controller 25 includes a throttle lever 25a. The throttle lever 25a enables the watercraft operator to regulate the magnitude of the thrust generated by the marine propulsion device 3. The throttle lever 25a also enables the watercraft operator to switch the direction of the thrust generated by the marine propulsion device 3 between a forward moving direction and a rearward moving direction. The throttle lever 25a is operable from a neutral position to a forward moving position and a rearward moving position. The neutral position is an intermediate position between the forward moving position and the rearward moving position. The throttle lever 25a includes a sensor 25b. The sensor 25b outputs a throttle signal indicating the operating direction and the operating amount of the throttle lever 25a.

[0028] The joystick 26 is tiltable from the neutral position in the back-and-forth direction and the right-and-left direction (sideways direction). In other words, the joystick 26 is tiltable in all compass directions. The joystick 26 is rotatable about a rotational axis Ax1. In other words, the joystick 26 is operable to twist clockwise and counterclockwise about the rotational axis Ax1. The joystick 26 includes a sensor 26a. The sensor 26a outputs an operating signal indicating an operation of the joystick 26. The operating signal contains information regarding the tilt direction and the tilt amount of the joystick 26. The operating signal also contains information regarding the twist direction and the twist amount of the joystick 26. The rudder angle, the magnitude of the output, and the direction of the output of the marine propulsion device 3 are controlled in accordance with the tilt amount and the tilt direction of the joystick 26.

[0029] FIG. 5 is a diagram for explaining the input 27. The input 27 is disposed in the vicinity of the joystick 26. When receiving an operation performed by the watercraft operator, the input 27 outputs an operating signal. The input 27 includes a joystick button 27a, a compass direction keeping button 27b, a fixed spot keeping button 27c, a position keeping button 27d, and a thrust regulating button 27e.

[0030] The joystick button 27b switches between the following modes: a joystick mode to operate the watercraft 10 with the joystick 26 and a normal watercraft operating mode to operate the watercraft 10 with the remote controller 25 and the steering wheel 24. The compass direction keeping button 27b, the fixed position keeping button 27c, and the position keeping button 27d receive receiving operations to start and end a variety of controls regarding an automated watercraft operation.

[0031] The thrust regulating button 27e selects one of a plurality of thrust levels as the thrust level for the marine propulsion device 3 when operating the watercraft 10 with the joystick 26. The upper limit of the thrust generated by the marine propulsion device 3 is increased with an increase in the thrust levels. The thrust regulating button 27e includes a plus switch and a minus switch. When the plus switch is pressed once, the thrust level at the present stage is increased by one stage. When the minus switch is pressed once, the thrust level at the present stage is reduced by one stage.

[0032] The display 28 displays information regarding the watercraft 10 and a variety of information for operating the watercraft 10. The display 28 may include, for instance, a liquid crystal display. The display 28 may include an input such as a touchscreen.

[0033] The watercraft operating system 100 includes the watercraft operating controller 30. The watercraft operating controller 30 includes a processor such as a CPU and memories such as a RAM and a ROM. The watercraft operating controller 30 stores programs and data to control the marine propulsion device 3. The watercraft operating controller 30 is connected to the motor controller 17 and the steering controller 18 through wired or wireless communication. The watercraft operating controller 30 is connected to the steering wheel 24, the remote controller 25, the joystick 26, the input 27, and the display 28 through wired or wireless communication.

[0034] The watercraft operating controller 30 outputs command signals to the motor controller 17 and the steering controller 18 based on signals outputted thereto from the sensors 24a and 25b. The watercraft operating controller 30 is configured or programmed to control the rudder angle, the magnitude of the output, and the direction of the output of the marine propulsion device 3 through the motor controller 17 and the steering controller 18. The watercraft operating controller 30 is configured or programmed to control the direction of the output of the marine propulsion device 3 by controlling the rotational direction of the propeller 14.

[0035] The watercraft operating controller 30 is configured or programmed to receive an operating signal outputted thereto from the input 27. The watercraft operating controller 30 is configured or programmed to control the rudder angle, the magnitude of the output, and the direction of the output of the marine propulsion device 3 in accordance with the selected thrust level, the tilt direction of the joystick 26, and the tilt amount of the joystick 26. The watercraft operating controller 30 is configured or programmed to control the marine propulsion device 3 to generate a thrust with a magnitude depending on the tilt amount of the joystick 26 (but not exceeding the upper limit of the selected thrust level) in a direction corresponding to the tilt direction of the joystick 26. The watercraft operating controller 30 is configured or programmed to increase the output of the marine propulsion device 3, the magnitude of which depends on the tilt amount of the joystick 26, with an increase in the thrust levels.

[0036] The watercraft operating controller 30 is configured or programmed to change the rudder angle of the marine propulsion device 3 such that the watercraft 10 performs bow turning in a direction corresponding to the twist direction of the joystick 26. The watercraft operating controller 30 is configured or programmed to cause the marine propulsion device 3 to generate a thrust in accordance with the twist amount of the joystick 26.

[0037] The watercraft operating controller 30 is configured or programmed to change the rudder angle of the marine propulsion device 3 such that the watercraft 10 turns in accordance with an operation of the joystick 26 to not only tilt forward or rearward but also twist. At this time, the watercraft operating controller 30 is configured or programmed to cause the marine propulsion device 3 to generate a thrust in accordance with the tilt amount of the joystick 26 and change the rudder angle of the marine propulsion device 3 such that the watercraft 10 turns in a direction corresponding to the twist direction of the joystick 26.

[0038] The watercraft operating system 100 includes a position sensor 31 and a compass sensor 32. The position sensor 31 may include, for instance, a receiver for a GNSS (Global Navigation Satellite System) such as a GPS (Global Positioning System). The position sensor 31 outputs a signal indicating the present position of the watercraft 10. The position sensor 31 is connected to the watercraft operating controller 30 in a communicable manner. The watercraft operating controller 30 is configured or programmed to obtain the position of the watercraft 10 based on the signal outputted thereto from the position sensor 31.

[0039] The compass sensor 32 detects the present compass direction of the watercraft 10. The compass sensor 32 may include, for instance, an IMU (Inertial Measurement Unit). The compass sensor 32 is connected to the watercraft operating controller 30 in a communicable manner.

[0040] FIG. 6 is a flowchart of a series of processes to be executed by the watercraft operating controller 30 to switch between states in the joystick mode. It should be noted that switching from the normal watercraft operating mode to the joystick mode is made by the watercraft operating controller 30 in response to a first operation of the joystick button 27a. For example, switching from the normal watercraft operating mode to the joystick mode is made by the watercraft operating controller 30 in response to the first operation of the joystick button 27a in a condition that the thrust to be generated by the marine propulsion device 3 is zero. While the steering wheel 24 or the remote controller 25 is being operated, switching from the normal watercraft operating mode to the joystick mode is not made by the watercraft operating controller 30. For example, the first operation for the joystick button 27a is an operation of quickly pressing the joystick button 27a.

[0041] When receiving an operating signal corresponding to a second operation of the joystick button 27a during the execution of the joystick mode (step S1), the watercraft operating controller 30 is configured or programmed to determine whether or not the joystick 26 is located in the neutral position (step S2). Then, when it is determined that the joystick 26 is located in the neutral position, the watercraft operating controller 30 transitions from a normal control state to a holding standby state (step S3). For example, the second operation of the joystick button 27a includes pressing and holding the joystick button 27a. The normal control state refers to a control state that a thrust is generated in accordance with an operation of the joystick 26 only during the of the joystick 26. It should be noted that when the steering wheel 24 is operated in the holding standby state, the watercraft operating controller 30 may deactivate the holding standby state. In this case, when the steering wheel 24 is operated in the holding standby state, the watercraft operating controller 30 is restored to the normal control state. The watercraft operating controller 30 may deactivate the holding standby state when the joystick button 27a is pressed and held.

[0042] When the joystick 26 is tilted in the holding standby state (step S4), the watercraft operating controller 30 is configured or programmed to transition to a holding control state to hold either the thrust generated by the marine propulsion device 3 or the watercraft speed (step S5). In the present example embodiment, when the joystick 26 is tilted forward in the holding standby state, the watercraft operating controller 30 is configured or programmed to transition to the holding control state. A series of control processes to be executed to hold the thrust generated by the marine propulsion device 3 in the holding control state will be hereinafter explained.

[0043] When transitioning to the holding control state, the watercraft operating controller 30 is configured or programmed to hold the thrust at a magnitude depending on an operation of the joystick 26 tilting forward. More specifically, the watercraft operating controller 30 is configured or programmed to determine whether or not a tilt operation time of the joystick 26 is less than a first predetermined period of time in the holding standby state. Then, when the tilt operation time is less than the first predetermined period of time, the watercraft operating controller 30 transitions to the holding control state and holds the thrust at a predetermined thrust smaller in magnitude than a maximum thrust of the marine propulsion device 3. The first predetermined period of time is, for instance, 0.8 seconds. The predetermined thrust may be a minimum thrust that enables trolling of the watercraft 10. For example, the minimum thrust that enables trolling is a thrust causing the watercraft 10 to move forward at a low speed.

[0044] When the tilt operation time is greater than or equal to the first predetermined period of time in the holding standby state, the watercraft operating controller 30 is configured or programmed to transition to the holding control state and hold the thrust at a magnitude depending on the tilt operation amount of the joystick 26. At this time, the watercraft operating controller 30 holds the thrust at the maximum thrust while tilting the joystick 26. In other words, when the tilt operation time is greater than or equal to the first predetermined period of time in the holding standby state, the watercraft operating controller 30 holds the thrust at a magnitude depending on the maximum tilt amount of the joystick 26 obtained until the joystick 26 is returned to the neutral position after being tilted.

[0045] The watercraft operating controller 30 is configured or programmed to increase in stages the thrust in the holding control state in accordance with a first tilt operation of the joystick 26 to tilt from the neutral position in the moving direction of the watercraft 10 and increase the amount of change in thrust with the increase in stages. For example, as schematically shown in FIG. 7, the watercraft operating controller 30 may be configured or programmed to quadratically increase the thrust in accordance with the first tilt operation of the joystick 26. Accordingly, as schematically shown in FIG. 8, the watercraft speed is able to be increased constantly. Thus, an acceleration of the watercraft 10 can be realized as intended by the watercraft operator.

[0046] When the operation time of the first tilt operation is less than a second predetermined period of time, the watercraft operating controller 30 is configured or programmed to increase the thrust by one stage. When the operation time of the first tilt operation is greater than or equal to the second predetermined period of time, the watercraft operating controller 30 is configured or programmed to increase in the thrust in stages until the joystick 26 is returned to the neutral position. The second predetermined period of time may be, for instance, 0.8 seconds.

[0047] On the other hand, the watercraft operating controller 30 reduces the thrust in stages in the holding control state in accordance with a second tilt operation of the joystick 26 from the neutral position in a direction opposite to the moving direction of the watercraft 10 and reduce the amount of change in thrust with the reduction in stages. For example, the watercraft operating controller 30 may be configured or programmed to quadratically reduce the thrust in accordance with the second tilt operation of the joystick 26. Accordingly, the watercraft speed is able to be reduced constantly. Thus, a deceleration of the watercraft 10 can be realized as intended by the watercraft operator.

[0048] When the operation time of the second tilt operation is less than the second predetermined period of time, the watercraft operating controller 30 is configured or programmed to reduce the thrust by one stage.

[0049] In the holding control state, the watercraft operating controller 30 monitors whether or not a holding stop operation has been performed (step S6). Then, when it is determined that the holding stop operation has been performed, the watercraft operating controller 30 deactivates the holding control state (step S7) and transitions to the normal control state. For example, the watercraft operating controller 30 is configured or programmed to determine that the holding stop operation has been performed when the operation time of the second tilt operation is greater than or equal to the second predetermined time. The watercraft operating controller 30 may determine that the holding stop operation has been performed when the joystick button 27a is pressed and held.

[0050] Next, a series of control processes to be executed for holding the watercraft speed in the holding control state will be explained. It should be noted that transitioning to the holding standby state and transitioning from the holding standby state to the holding control state are made in a comparable manner to the series of control processes to be executed for holding the thrust and, thus, an explanation thereof will be hereinafter omitted.

[0051] The watercraft operating controller 30 is configured or programmed to determine whether or not the tilt operation time of the joystick 26 is less than the first predetermined period of time in the holding standby state. Then, when the tilt operation time is less than the first predetermined period of time, the watercraft operating controller 30 transitions to the holding control state and holds the watercraft speed at a predetermined watercraft speed smaller in magnitude than the maximum watercraft speed set in accordance with a type of the marine propulsion device 3. The predetermined watercraft speed is set to be the minimum watercraft speed that enables trolling. The predetermined watercraft speed corresponds to a low speed at which the watercraft 10 is moving forward.

[0052] When the tilt operation time of the joystick 26 is greater than or equal to the first predetermined period of time in the holding standby state, the watercraft operating controller 30 is configured or programmed to transition to the holding control state. Simultaneously, the watercraft operating controller 30 increases the watercraft speed in accordance with the tilt operation amount of the joystick 26 and holds the watercraft speed at a speed obtained when the joystick 26 was returned to the neutral position. In other words, when the joystick 26 has been returned to the neutral position, even though the watercraft speed has not reached a speed depending on the tilt operation amount of the joystick 26, the watercraft operating controller 30 is configured or programmed to hold the watercraft speed at a speed obtained when the joystick 26 was returned to the neutral position. Accordingly, an acute change in acceleration is prevented from occurring. Thus, the operability of the holding control for the joystick 26 is enhanced.

[0053] The watercraft operating controller 30 is configured or programmed to increase the watercraft speed in stages in the holding control state in accordance with the first tilt operation described above. When the operation time of the first tilt operation is less than the second predetermined period of time, the watercraft operating controller 30 is configured or programmed to increase the watercraft speed by one stage. On the other hand, when the operation time of the first tilt operation is greater than or equal to the second predetermined period of time, the watercraft operating controller 30 is configured or programmed to increase the watercraft speed in stages until the joystick 26 is returned to the neutral position.

[0054] The watercraft operating controller 30 reduces the watercraft speed in stages in the holding control state in accordance with the second tilt operation described above. When the operation time of the second tilt operation is less than the second predetermined period of time, the watercraft operating controller 30 reduces the watercraft speed to be held by one stage.

[0055] The watercraft operating controller 30 is configured or programmed to obtain marine propulsion device information regarding the marine propulsion device 3 and change the setting of the maximum watercraft speed and the predetermined watercraft speed based on the marine propulsion device information such that the maximum watercraft speed and the predetermined watercraft speed are able to be held in the holding control state. The marine propulsion device information contains information regarding how many marine propulsion devices, including the marine propulsion device 3, are provided and the performance of each of the marine propulsion devices. For example, the watercraft operating controller 30 obtains the information regarding the marine propulsion device 3 from the motor controller 17. Accordingly, it is possible to set the watercraft speed of the watercraft 10 to be regulated within a speed range suitable for the type of the marine propulsion device 3. Thus, the watercraft operator is able to easily regulate the watercraft speed to be held in the holding control state.

[0056] In the watercraft operating system 100 according to the example embodiments explained above, the watercraft operating controller 30 executes the following control: when the joystick 26 is not being operated, the watercraft operating controller 30 is configured or programmed to transition to the holding standby state in accordance with an operation of the input 27. Then, when the joystick 26 is operated to tilt in the holding standby state, the watercraft operating controller 30 is configured or programmed to transition to the holding control state. Accordingly, it is possible to enhance the operability of the holding control for the joystick 26.

[0057] By quickly tilting the joystick 26 (i.e., when the operation time of the first tilt operation is less than a predetermined period of time) in the holding standby state, the thrust of the marine propulsion device 3 (or the watercraft speed) is able to be held at the minimum thrust (or the minimum watercraft speed) that enables trolling. Accordingly, the thrust of the marine propulsion device 3 (or the watercraft speed) can be easily and quickly fixed at the minimum thrust (or the minimum watercraft speed) that enables trolling.

[0058] Example embodiments of the present invention have been explained above. However, the present invention is not limited to the example embodiments described above and a variety of changes can be made without departing from the gist of the present invention.

[0059] In the example embodiments described above, the watercraft 10 includes a single electric outboard motor, however, the watercraft 10 may include two outboard motors, or alternatively, three or more outboard motors. Additionally, the marine propulsion device 3 may be a type of outboard motor including an internal combustion engine.

[0060] While executing the normal watercraft operating mode, the watercraft operating controller 30 may be configured or programmed to transition to the holding standby state of the joystick mode in response to the second operation for the joystick button 27a. In other words, for instance, the watercraft operating controller 30 may transition to the holding standby state of the joystick mode in response to the second operation for the joystick button 27a when the thrust to be generated by the marine propulsion device 3 is zero, and simultaneously, when the joystick 26 is located in the neutral position.

[0061] While example embodiments of the present invention have been described above, it is to be understood that variations and modifications will be apparent to those skilled in the art without departing from the scope and spirit of the present invention. The scope of the present invention, therefore, is to be determined solely by the following claims.

Examples

Embodiment Construction

[0018]Example embodiments of the present invention will be hereinafter explained with reference to drawings. FIG. 1 is a perspective view of a watercraft 10 including a watercraft operating system 100 according to an example embodiment of the present invention. The watercraft 10 includes a hull 2 and a marine propulsion device 3. In the present example embodiment, the marine propulsion device 3 is an electric outboard motor. The marine propulsion device 3 is attached to the stern of the hull 2 of the watercraft 10. The marine propulsion device 3 is disposed on the stern in the middle of the watercraft 10 in the right-and-left direction. The marine propulsion device 3 generates a thrust to propel the watercraft 10.

[0019]FIG. 2 is a side view of the marine propulsion device 3. The marine propulsion device 3 is attached to the hull 2 through a bracket 11. The marine propulsion device 3 is supported by the bracket 11.

[0020]The marine propulsion device 3 includes an upper portion 12, a l...

Claims

1. A system for controlling a watercraft, the system comprising:a marine propulsion device to generate a thrust to propel the watercraft;an operation console including a tiltable joystick;an input configured to output an operating signal; anda controller configured or programed to control a magnitude and an orientation of the thrust in accordance with an operation by the operation console; wherein the controller is configured or programed to:determine whether or not the joystick is located in a neutral position upon receiving the operating signal;transition to a holding standby state when the controller determines that the joystick is located in the neutral position; andtransition to a holding control state to hold the thrust or a watercraft speed when the joystick is tilted in the holding standby state.

2. The system according to claim 1, wherein the controller is further configured or programed to:determine whether or not a tilt operation time of operating the joystick is less than a first predetermined period of time in the holding standby state;hold the thrust at a predetermined thrust when the tilt operation time is less than the first predetermined period of time, the predetermined thrust being smaller in magnitude than a maximum thrust of the marine propulsion device; andhold the thrust at a magnitude depending on a tilt operation amount of the joystick when the tilt operation time is greater than or equal to the first predetermined period of time.

3. The system according to claim 2, wherein the predetermined thrust is a minimum thrust to perform trolling of the watercraft.

4. The system according to claim 2, wherein the controller is configured or programed to hold the thrust at a maximum thrust of the marine propulsion device while tilting the joystick and the tilt operation time is greater than or equal to the first predetermined period of time.

5. The system according to claim 2, wherein the controller is configured or programed to:increase in stages the thrust in the holding control state in accordance with a first operation of the joystick to tilt from the neutral position in a moving direction of the watercraft; andincrease an amount of change of the thrust with the increase in stages.

6. The system according to claim 5, wherein the controller is configured or programed to:increase the thrust of one stage when the tilt operation time of the first operation is less than a second predetermined period of time; andincrease the stages of the thrust until the joystick is returned to the neutral position when the tilt operation time of the first operation is greater than or equal to the second predetermined period of time.

7. The system according to claim 5, wherein the controller is further configured or programed to:reduce the stages of the thrust in the holding control state in accordance with a second operation of the joystick to tilt from the neutral position in a direction opposite to the moving direction of the watercraft; andreduce the amount of change of the thrust with a reduction in the stages.

8. The system according to claim 7, wherein the controller is further configured or programed to:reduce the thrust by one stage when the tilt operation time of the second operation is less than a second predetermined period of time; anddeactivate the holding control state when the tilt operation time of the second operation is greater than or equal to the second predetermined period of time.

9. The system according to claim 1, wherein the controller is further configured or programed to:determine whether or not a tilt operation time of the joystick is less than a first predetermined period of time in the holding standby state;hold the watercraft speed at a predetermined watercraft speed smaller in magnitude than a maximum watercraft speed when the tilt operation time is less than the first predetermined period of time; andincrease the watercraft speed in accordance with a tilt operation amount of the joystick when the tilt operation time is greater than or equal to the first predetermined period of time; andwhen the tilt operation time is greater than or equal to the first predetermined period of time, the controller is configured or programed to hold the watercraft speed at a speed obtained when the joystick was returned to the neutral position.

10. The system according to claim 9, wherein the controller is further configured or programed to:increase in stages the watercraft speed in the holding control state in accordance with a first operation of tilting the joystick from the neutral position in a moving direction of the watercraft;reduce the stages of the watercraft speed in the holding control state in accordance with a second operation of tilting the joystick from the neutral position in a direction opposite to the moving direction of the watercraft;increase the watercraft speed by one stage when the tilt operation time of the first operation is less than a second predetermined period of time; andincrease the stages of the watercraft speed until the joystick is returned to the neutral position when the tilt operation time of the first operation is greater than or equal to the second predetermined period of time.

11. The system according to claim 9, wherein the predetermined watercraft speed corresponds to a minimum thrust to perform trolling of the watercraft.

12. The system according to claim 9, wherein the controller is further configured or programed to:obtain marine propulsion device information regarding the marine propulsion device; andchange a setting of the maximum watercraft speed and a setting of the predetermined watercraft speed based on the marine propulsion device information such that the maximum watercraft speed and the predetermined watercraft speed are able to be held in the holding control state; andthe marine propulsion device information includes information regarding how many marine propulsion devices including the marine propulsion device are provided and a performance of each of the marine propulsion devices.

13. The system according to claim 1, whereinthe operation console includes a steering wheel; andthe controller is configured or programed to deactivate the holding control state when the steering wheel is operated in the holding control state.

14. The system according to claim 13, wherein the controller is configured or programed to deactivate the holding standby state when the steering wheel is operated in the holding standby state.

15. A watercraft comprising:a hull; andthe system according to claim 1 located on the hull.

Images