WATERCRAFT STEERING DEVICE AND WATERCRAFT

• US 20080125925A1
• Filed: 11/19/2007
• Published: 05/29/2008
• Est. Priority Date: 11/17/2006
• Status: Active Grant

• Current Assignee: Yamaha Hatsudoki Kabushiki Kaisha (Yamaha Corporation)
• Original Assignee: Yamaha Marine Kabushiki Kaisha
• Inventors: Mizutani, Makoto
• Granted Patent: US 8,046,121 B2
• Time in Patent Office: Days
• US Class Current: 701/21
• CPC Class Codes: B63H 20/12 Means enabling steering
• 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

Abstract

A watercraft steering device can include at least one of steerage status detection device configured to detect a steerage status following an operation of the steering wheel, running status detecting device configured to detect a running status of the watercraft, watercraft propulsion unit status recognition device configured to recognize a status of an outboard motor such as an installation number thereof, and electric motor status detection device configured to detect a status of an electric motor, and can further include a lower unit turning force characteristic computation device configured to compute a lower unit turning force characteristic based on a detection value from at least one of the device, and an ECU configured to control at least one of a reaction force to the steering wheel, a limit lower unit turning angle, and a propulsive force based on a computed lower unit turning force characteristic and/or selecting the electric actuator to operate.

Claims

1. A watercraft steering device comprising a watercraft propulsion unit disposed at a stern of a watercraft, a steering device actuated by an electric actuator for changing a direction in which the watercraft travels, and a steering wheel operable by an operator and electrically connected to the electric actuator to provide an actuation signal corresponding to an operation amount of the electric actuator, the steering device further comprising:

at least one of steerage status detection means for detecting a steerage status following an operation of the steering wheel, running status detection means for detecting a running status of the watercraft, watercraft propulsion unit status recognition means for recognizing a status of the watercraft propulsion unit, and electric actuator status detection means for detecting a status of the electric actuator;

lower unit turning force characteristic computation means for computing a lower unit turning force characteristic based on a detection value from at least one of the means; and

control means for controlling at least one of a reaction force to the steering wheel, a limit lower unit turning angle, and a propulsive force based on a computed lower unit turning force characteristic and/or selecting the electric actuator to operate.

2. The watercraft steering device according to claim 1, wherein the control means includes reaction actuator control means for controlling a reaction force to the steering wheel, lower unit turning angle control means for controlling a limit lower unit turning force, and propulsive force control means for controlling a propulsive force.

3. The watercraft steering device according to claim 1, wherein the control means controls a reaction force to the steering wheel, a limit lower unit turning angle, and a propulsive force based on a steerage status detected by the steerage status detection means, a running status detected by the running status detection means, a watercraft propulsion unit status recognized by the watercraft propulsion unit status recognition means, and a motor characteristic status detected by the motor detection means.

4. The watercraft steering device according to claim 2, wherein the control means controls a reaction force to the steering wheel, a limit lower unit turning angle, and a propulsive force based on a steerage status detected by the steerage status detection means, a running status detected by the running status detection means, a watercraft propulsion unit status recognized by the watercraft propulsion unit status recognition means, and a motor characteristic status detected by the motor detection means.

5. The watercraft steering device according to claim 1, wherein the steerage status detection means includes at least one of lower unit turning force detection means for detecting a lower unit turning force required for a lower unit turning following the operation of the steering wheel, load detection means for detecting a load acting on the lower unit, steerage detection means for detecting a steering wheel steerage angle, a steering wheel steerage speed, a direction in which the steering wheel is operated, a lower unit turning angle, a lower unit turning speed, and a direction in which the lower unit is turned, corresponding to an operation of the steering wheel, and deviation detection means for detecting a deviation between a target lower unit turning angle position corresponding to an operation of the steering wheel and an actual lower unit turning angle.

6. The watercraft steering device according to claim 1, wherein the running status detection means includes at least one of weight detection means for detecting at least one of a draft position and a weight of the watercraft, trim angle detection means for detecting a trim angle of the watercraft, and speed detection means for detecting at least one of a speed, an acceleration, a propulsive force of the watercraft, and an output of the watercraft propulsion unit.

7. The watercraft steering device according to claim 1, wherein the watercraft propulsion unit status recognition means includes steerage storage means for storing therein any one of information among an installation number of the watercraft propulsion unit, an installation position of the watercraft propulsion unit relative to the watercraft, a rotational direction of a propeller provided in the watercraft propulsion unit, a propeller shape, a trim tab angle, and a trim tab shape.

8. The watercraft steering device according to claim 1, wherein the electric actuator status detection means includes at least one of temperature detection means for detecting a temperature of the electric actuator, and operating device detection means for detecting a number of the electric actuator in operation among a plurality of the electric actuator.

9. The watercraft steering device according to claim 1 in combination with a watercraft.

11. The watercraft steering device according to claim 1, wherein the controller includes a reaction actuator controller configured to control a reaction force to the steering wheel, a lower unit turning angle controller configured to control a limit lower unit turning force, and propulsive force controller configured to control a propulsive force.

12. The watercraft steering device according to claim 1, wherein the controller is configured to control a reaction force to the steering wheel, a limit lower unit turning angle, and a propulsive force based on a steerage status detected by the steerage status detection device, a running status detected by the running status detection device, a watercraft propulsion unit status recognized by the watercraft propulsion unit status recognition device, and a motor characteristic status detected by the motor detection device.

13. The watercraft steering device according to claim 2, wherein the controller is configured to control a reaction force to the steering wheel, a limit lower unit turning angle, and a propulsive force based on a steerage status detected by the steerage status detection device, a running status detected by the running status detection device, a watercraft propulsion unit status recognized by the watercraft propulsion unit status recognition device, and a motor characteristic status detected by the motor detection device.

14. The watercraft steering device according to claim 1, wherein the steerage status detection device includes at least one of lower unit turning force detection device configured to detect a lower unit turning force required for a lower unit turning following the operation of the steering wheel, load detection device configured to detect a load acting on the lower unit, steerage detection device configured to detect a steering wheel steerage angle, a steering wheel steerage speed, a direction in which the steering wheel is operated, a lower unit turning angle, a lower unit turning speed, and a direction in which the lower unit is turned, corresponding to an operation of the steering wheel, and deviation detection device configured to detect a deviation between a target lower unit turning angle position corresponding to an operation of the steering wheel and an actual lower unit turning angle.

15. The watercraft steering device according to claim 1, wherein the running status detection device includes at least one of weight detection device configured to detect at least one of a draft position and a weight of the watercraft, trim angle detection device configured to detect a trim angle of the watercraft, and speed detection device configured to detect at least one of a speed, an acceleration, a propulsive force of the watercraft, and an output of the watercraft propulsion unit.

16. The watercraft steering device according to claim 1, wherein the watercraft propulsion unit status recognition device includes steerage storage device configured to store at least one of information indicating an installation number of the watercraft propulsion unit, an installation position of the watercraft propulsion unit relative to the watercraft, a rotational direction of a propeller provided in the watercraft propulsion unit, a propeller shape, a trim tab angle, and a trim tab shape.

17. The watercraft steering device according to claim 1, wherein the electric actuator status detection device includes at least one of temperature detection device configured to detect a temperature of the electric actuator, and operating device detection device configured to detect a number of the electric actuator in operation among a plurality of the electric actuator.

10. A watercraft steering device comprising a watercraft propulsion unit disposed at a stern of a watercraft, a steering device actuated by an electric actuator configured to change a direction in which the watercraft travels, and a steering input device operable by an operator and electrically connected to the electric actuator to provide an actuation signal corresponding to an operation amount of the electric actuator, the steering device further comprising:

at least one of steerage status detection device configured to detect a steerage status following an operation of the steering wheel, running status detection device configured to detect a running status of the watercraft, watercraft propulsion unit status recognition device configured to recognize a status of the watercraft propulsion unit, and electric actuator status detection device configured to detect a status of the electric actuator;

a lower unit turning force characteristic computation device configured to compute a lower unit turning force characteristic based on a detection value from at least one of the steerage status detection device, running status detection device, watercraft propulsion unit status recognition device, and the electric actuator status detection device; and

a controller configured to control at least one of a reaction force to the steering wheel, a limit lower unit turning angle, and a propulsive force based on a computed lower unit turning force characteristic and/or selecting the electric actuator to operate.

18. The watercraft steering device according to claim 10 in combination with a watercraft.