Watercraft control method and watercraft control system

• US 10,202,182 B2
• Filed: 11/03/2016
• Issued: 02/12/2019
• Est. Priority Date: 11/25/2015
• Status: Active Grant

• Current Assignee: Yamaha Hatsudoki Kabushiki Kaisha (Yamaha Corporation)
• Original Assignee: Yamaha Hatsudoki Kabushiki Kaisha (Yamaha Corporation)
• Inventors: Ito, Makoto, Lindeborg, Mathias, Nilsson, Sebastian
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): Huynh, Luat
• Application Number:
  US15/342,155
• Publication Number:
  US 20170144740A1
• Time in Patent Office: 831 Days
• Field of Search: 701 21
• CPC Class Codes: B63B 79/10 using sensors, e.g. pressure sensors, strain gauges or accelerometers
• CPC Class Codes: B63B 79/40 for controlling the operation of vessels, e.g. monitoring their speed, routing or maintenance schedules
• CPC Class Codes: B63H 2021/216 using electric control means
• CPC Class Codes: B63H 2025/024 Handle-bars; Posts for supporting handle-bars, e.g. adjustable posts
• CPC Class Codes: B63H 21/21 Control means for engine or transmission, specially adapted for use on marine vessels
• CPC Class Codes: B63H 21/213 Levers or the like for controlling the engine or the transmission, e.g. single hand control levers
• CPC Class Codes: B63H 25/02 Initiating means for steering , for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
• CPC Class Codes: B63H 25/42 Steering or dynamic anchoring by propulsive elements by jets B63H25/46; Steering or dynamic anchoring by propellers used therefor only; Steering or dynamic anchoring by rudders carrying propellers

Abstract

In a first step of a watercraft control method, a command signal to activate an automatic cruise function is received. In a second step, a target vessel velocity of a watercraft is set. In a third step, an actual vessel velocity of the watercraft is obtained. In a fourth step, a command signal is generated that is a signal to perform an automatic cruise control to control a thrust of the watercraft such that a difference between the target vessel velocity and the actual vessel velocity falls in a predetermined range of values. In a fifth step, it is determined whether or not a predetermined interruption condition has been established. In a sixth step, a command signal is generated that is a signal to perform the automatic cruise control with the thrust having a different magnitude from the thrust to be generated under normal circumstances without establishment of the interruption condition when the interruption condition has been established.

Claims

1. A watercraft control method, comprising the steps of:

receiving a command signal to activate an automatic cruise function;

setting a target vessel velocity of the watercraft;

obtaining an actual vessel velocity of the watercraft;

generating a command signal to perform an automatic cruising control to control a thrust of the watercraft such that a difference between the target vessel velocity and the actual vessel velocity falls in a predetermined range of values;

determining whether or not a predetermined interruption condition has been established; and

generating a command signal to perform the automatic cruise control with the thrust having a different magnitude from the thrust to be generated under normal circumstances without establishment of the interruption condition when the interruption condition has been established;

wherein

when the interruption condition has been established, a target rotation speed of an engine of the watercraft is increased to be higher than the target rotation speed determined under the normal circumstances.

2. The watercraft control method according to claim 1, wherein

the interruption condition is a condition indicating that an operating amount of a steering mechanism of the watercraft is greater than or equal to a predetermined operating threshold;

and

when the interruption condition has been established, the thrust of the watercraft is increased to be larger than the thrust to be generated under the normal circumstances.

3. The watercraft control method according to claim 1, further comprising the step of:

obtaining a yaw rate of the watercraft;

wherein

the interruption condition is a condition indicating that the yaw rate is greater than or equal to a predetermined value; and

when the interruption condition has been established, the thrust is increased to be larger than the thrust to be generated under the normal circumstances.

4. A watercraft control method, comprising the steps of:

receiving a command signal to activate an automatic cruise function;

setting a target vessel velocity of the watercraft;

obtaining an actual vessel velocity of the watercraft;

generating a command signal to perform an automatic cruising control to control a thrust of the watercraft such that a difference between the target vessel velocity and the actual vessel velocity falls in a predetermined range of values;

determining whether or not a predetermined interruption condition has been established;

generating a command signal to perform the automatic cruise control with the thrust having a different magnitude from the thrust to be generated under normal circumstances without establishment of the interruption condition when the interruption condition has been established; and

obtaining an azimuth of the watercraft;

wherein

the interruption condition is a condition indicating that an amount of change in the azimuth is greater than or equal to a predetermined value; and

when the interruption condition has been established, the thrust of the watercraft is increased to be larger than the thrust to be generated under the normal circumstances.

5. A watercraft control method, comprising the steps of:

receiving a command signal to activate an automatic cruise function;

setting a target vessel velocity of the watercraft;

obtaining an actual vessel velocity of the watercraft;

generating a command signal to perform an automatic cruising control to control a thrust of the watercraft such that a difference between the target vessel velocity and the actual vessel velocity falls in a predetermined range of values;

determining whether or not a predetermined interruption condition has been established;

generating a command signal to perform the automatic cruise control with the thrust having a different magnitude from the thrust to be generated under normal circumstances without establishment of the interruption condition when the interruption condition has been established;

setting a destination of the watercraft; and

obtaining a present position of the watercraft;

wherein

the interruption condition is a condition indicating that a distance between the present position and the destination falls in a predetermined first range; and

when the interruption condition has been established, the thrust is decreased to be smaller than the thrust to be generated under the normal circumstances.

6. The watercraft control method according to claim 5, wherein when the interruption condition has been established, the target vessel velocity is decreased to be lower than the target vessel velocity to be determined under the normal circumstances.

7. The watercraft control method according to claim 5, wherein the thrust is decreased stepwise in accordance with the distance between the present position and the destination.

8. The watercraft control method according to claim 5, further comprising the step of:

generating a command signal to stop the automatic cruise control and performing a fixed location maintaining control to control the thrust of the watercraft such that the watercraft stays in the destination when the distance between the present position and the destination falls in a second range narrower than the first range.

9. A watercraft control method, comprising the steps of:

receiving a command signal to activate an automatic cruise function;

setting a target vessel velocity of the watercraft;

obtaining an actual vessel velocity of the watercraft;

generating a command signal to perform an automatic cruising control to control a thrust of the watercraft such that a difference between the target vessel velocity and the actual vessel velocity falls in a predetermined range of values;

determining whether or not a predetermined interruption condition has been established;

generating a command signal to perform the automatic cruise control with the thrust having a different magnitude from the thrust to be generated under normal circumstances without establishment of the interruption condition when the interruption condition has been established; and

setting a specific target vessel velocity in a specific place on a cruising route of the watercraft;

wherein

the interruption condition is a condition indicating that the watercraft has reached the specific place; and

when the interruption condition has been established, the target vessel velocity is changed into the specific target vessel velocity.

10. The watercraft control method according to claim 9, wherein the specific place is a specific area on the cruising route of the watercraft.

11. The watercraft control method according to claim 9, further comprising the step of:

obtaining map information containing the cruising route of the watercraft;

wherein

the specific place is set based on the map information.

12. The watercraft control method according to claim 9, further comprising the step of:

obtaining a present position of the watercraft;

wherein

the target vessel velocity is changed stepwise in accordance with a distance between the present position and the specific place.

13. A watercraft control system, comprising:

a propulsion device mounted to a watercraft;

an automatic cruise command controller configured or programmed to generate a command signal to activate an automatic cruise function;

a target vessel velocity controller configured or programmed to set a target vessel velocity of the watercraft;

a vessel velocity detector that detects an actual vessel velocity of the watercraft; and

a controller configured or programmed to perform an automatic cruise control to control a thrust of the propulsion device such that a difference between the target vessel velocity and the actual vessel velocity falls in a predetermined range of values, determine whether or not a predetermined interruption condition has been established, and perform the automatic cruise control with the thrust having a different magnitude from the thrust to be generated under normal circumstances without establishment of the interruption condition when the interruption condition has been established;

wherein

when the interruption condition has been established, the controller increases a target rotation speed of an engine of the watercraft to be higher than the target rotation speed determined under the normal circumstances.