MARINE VESSEL MANEUVERING SUPPORTING APPARATUS AND MARINE VESSEL INCLUDING THE SAME

• US 20100145558A1
• Filed: 06/29/2009
• Published: 06/10/2010
• Est. Priority Date: 12/04/2008
• Status: Active Grant

• Current Assignee: Yamaha Hatsudoki Kabushiki Kaisha (Yamaha Corporation)
• Original Assignee: Yamaha Hatsudoki Kabushiki Kaisha (Yamaha Corporation)
• Inventors: KAJI, Hirotaka
• Granted Patent: US 8,170,735 B2
• Time in Patent Office: Days
• US Class Current: 701/21
• 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 20/00 Outboard propulsion units, e.g. outboard motors or Z-drives; Arrangements thereof on vessels
• CPC Class Codes: B63H 2020/003 Arrangements of two, or more outboard propulsion units
• CPC Class Codes: B63H 2025/026 using multi-axis control levers, or the like, e.g. joysticks, wherein at least one degree of freedom is employed for steering, slowing down, or dynamic anchoring
• 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
• CPC Class Codes: B63H 25/46 Steering or dynamic anchoring by jets or by rudders carrying jets steering or dynamic anchoring by deflecting or directing main propulsion jets B63H11/00
• CPC Class Codes: B63H 5/08 of more than one propeller
• CPC Class Codes: G05D 1/0206 specially adapted to water vehicles
• CPC Class Codes: Y02T 70/10 Measures concerning design or construction of watercraft hulls

Abstract

A marine vessel maneuvering supporting apparatus is used in a marine vessel which includes a propulsion system and a steering mechanism. The marine vessel maneuvering supporting apparatus includes a first operational unit arranged select a forward drive position for forward drive of the propulsion system, a reverse drive position for reverse drive of the propulsion system, and a neutral position for an inactive state of the propulsion system, a second operational unit arranged to command rightward and leftward movement of the marine vessel, and a target value computing unit arranged to determine target values including a target propulsive force for the propulsion system and a target steering angle for the steering mechanism, such that the marine vessel undergoes parallel movement in a direction that is in accordance with an operation position of the first operational unit when rightward or leftward movement is commanded by the second operational unit.

Claims

1. A marine vessel maneuvering supporting apparatus for a marine vessel which includes a propulsion system and a steering mechanism, the marine vessel maneuvering supporting apparatus comprising:

a first operational unit arranged to select a forward drive position for forward drive of the propulsion system, a reverse drive position for reverse drive of the propulsion system, and a neutral position for an inactive state of the propulsion system;

a second operational unit arranged to command rightward and leftward movement of the marine vessel; and

a target value computing unit arranged to determine target values including a target propulsive force for the propulsion system and a target steering angle for the steering mechanism, such that the marine vessel undergoes parallel movement in a direction that is in accordance with an operation position of the first operational unit when rightward or leftward movement is commanded by the second operational unit.

2. The marine vessel maneuvering supporting apparatus according to claim 1, wherein the second operational unit includes a leftward movement operational element used for commanding movement in a leftward direction and a rightward movement operational element used for commanding movement in a rightward direction, and

the target value computing unit is arranged to determine the target values for parallel or substantially parallel movement in a direction that is in accordance with a combination of operations of the leftward movement operational element and the rightward movement operational element and the operation position of the first operational unit.

3. The marine vessel maneuvering supporting apparatus according to claim 1, wherein the marine vessel maneuvering supporting apparatus is arranged to generate target values corresponding to a pair of right and left propulsion systems provided in the marine vessel and a pair of steering mechanisms which respectively correspond to the propulsion systems, and

the first operational unit includes a left operational element corresponding to the left propulsion system and a right operational element corresponding to the right propulsion system, the left operational element and the right operational element respectively being arranged to be operated to a forward drive position, a reverse drive position, and a neutral position, and

the target value computing unit is arranged to determine target values for turning the marine vessel at a current point when operation positions of the left operational element and the right operational element are a combination of the forward drive position and the reverse drive position.

4. The marine vessel maneuvering supporting apparatus according to claim 1, wherein the target value computing unit is arranged to invalidate the command by the second operational unit and determine the target values according to an operational amount of the first operational unit when the operation amount from the neutral position of the first operational unit exceeds a predetermined amount.

5. The marine vessel maneuvering supporting apparatus according to claim 1, further comprising a speed detecting unit arranged to detect a speed of the marine vessel, wherein the target value computing unit is arranged to determine the target values upon invalidating the command by the second operational unit when the speed of the marine vessel detected by the speed detecting unit is not less than a predetermined speed threshold.

6. The marine vessel maneuvering supporting apparatus according to claim 1, further comprising a turning operational unit used for causing the marine vessel turn during parallel or substantially parallel movement of the marine vessel, wherein the target value computing unit is arranged to determine the target values such that the marine vessel turns while undergoing parallel or substantially parallel movement in the direction that is in accordance with the operation position of the first operational unit when the rightward or leftward movement is commanded by the second operational unit.

7. The marine vessel maneuvering supporting apparatus according to claim 6, wherein the turning operational unit is disposed on a steering handle used for controlling the steering angle of the steering mechanism.

8. The marine vessel maneuvering supporting apparatus according to claim 7, wherein the target value computing unit is arranged to determine a target turning value during parallel movement in accordance with an operation amount of the steering handle and determine the target values according to the target turning value.

9. The marine vessel maneuvering supporting apparatus according to claim 7, wherein the target value computing unit is arranged to invalidate the command by the turning operational unit when a handle steering angle of the steering handle is not less than a predetermined steering angle threshold.

10. A marine vessel comprising:

a hull;

a propulsion system and a steering mechanism attached to the hull; and

a marine vessel maneuvering supporting apparatus that is arranged to determine target values for the propulsion system and the steering mechanism;

the marine vessel maneuvering supporting apparatus including;

a first operational unit arranged to select a forward drive position for forward drive of the propulsion system, a reverse drive position for reverse drive of the propulsion system, and a neutral position for an inactive state of the propulsion system;

a second operational unit arranged to command rightward and leftward movement of the marine vessel; and

a target value computing unit arranged to determine target value including a target propulsive force for the propulsion system and a target steering angle for the steering mechanism, such that the marine vessel undergoes parallel or substantially parallel movement in a direction that is in accordance with an operation position of the first operational unit when rightward or leftward movement is commanded by the second operational unit.

11. The marine vessel according to claim 10, wherein the second operational unit includes a leftward movement operational element used for commanding movement in a leftward direction and a rightward movement operational element used for commanding movement in a rightward direction, and

the target value computing unit is arranged to determine the target values for parallel or substantially parallel movement in a direction that is in accordance with a combination of operations of the leftward movement operational element and the rightward movement operational element and the operation position of the first operational unit.

12. The marine vessel according to claim 10, further comprising a pair of the propulsion systems which are right and left propulsion systems, and a pair of the steering mechanisms associated with the right and left propulsion systems;

wherein

the marine vessel maneuvering supporting apparatus is arranged to generate target values corresponding to the pair of right and left propulsion systems and the pair of steering mechanisms,

the first operational unit includes a left operational element corresponding to the left propulsion system and a right operational element corresponding to the right propulsion system, the left operational element and the right operational element respectively being arranged to be operated to a forward drive position, a reverse drive position, and a neutral position, and

the target value computing unit is arranged to determine target values for turning the marine vessel at a current point when operation positions of the left operational element and the right operational element are a combination of the forward drive position and the reverse drive position.

13. The marine vessel according to claim 10, wherein the target value computing unit is arranged to invalidate the command by the second operational unit and determine the target values according to an operational amount of the first operational unit when the operation amount from the neutral position of the first operational unit exceeds a predetermined amount.

14. The marine vessel according to claim 10, further comprising a speed detecting unit arranged to detect a speed of the marine vessel, wherein the target value computing unit is arranged to determine the target values upon invalidating the command by the second operational unit when the speed of the marine vessel detected by the speed detecting unit is not less than a predetermined speed threshold.

15. The marine vessel according to claim 10, further comprising a turning operational unit used for making the marine vessel turn during parallel movement of the marine vessel, wherein the target value computing unit is arranged to determine the target values such that the marine vessel turns while undergoing parallel movement in the direction that is in accordance with the operation position of the first operational unit when the rightward or leftward movement is commanded by the second operational unit.

16. The marine vessel according to claim 15, wherein the turning operational unit is disposed on a steering handle used for controlling the steering angle of the steering mechanism.

17. The marine vessel according to claim 16, wherein the target value computing unit is arranged to determine a target turning value during parallel or substantially parallel movement in accordance with an operation amount of the steering handle and to determine the target values according to the target turning value.

18. The marine vessel according to claim 16, wherein the target value computing unit is arranged to invalidate the command by the turning operational unit when a handle steering angle of the steering handle is not less than a predetermined steering angle threshold.