Watercraft steering device and watercraft

• US 7,930,986 B2
• Filed: 11/19/2007
• Issued: 04/26/2011
• Est. Priority Date: 11/17/2006
• Status: Active Grant

• Current Assignee: Yamaha Hatsudoki Kabushiki Kaisha (Yamaha Corporation)
• Original Assignee: Yamaha Hatsudoki Kabushiki Kaisha (Yamaha Corporation)
• Inventors: Mizutani, Makoto
• Primary Examiner(s): Vasudeva; Ajay
• Application Number:
  US11/942,179
• Publication Number:
  US 20080115711A1
• Time in Patent Office: 1,254 Days
• Field of Search: 114/144.R, 114/144.RE, 440/1, 440/53, 701/21
• US Class Current: 114/144.00R
• CPC Class Codes: B63H 20/12 Means enabling steering
• 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 25/24 by electrical means
• 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

A steering wheel, operable by an operator, can be electrically connected to an electric motor to provide an actuation signal corresponding to the amount of a steering wheel operation to the electric motor, a reaction motor for applying a reaction to the steering wheel, and an ECU for controlling the electric motor are provided. The ECU can include at least one of an operation status detection device for detecting an operation status corresponding to the steering wheel operation, a running status detection device for detecting a running status of the watercraft, an outboard motor status recognition device for recognizing a status of the outboard motor, such as the installation number thereof, and an electric motor status detection device for detecting a status of the electric motor. The ECU can also include a torque computation device for making a torque target value larger depending on the detection value from the at least one device, and a reaction motor control device for controlling the reaction motor in accordance with the torque target value computed by the torque computation device.

Claims

1. A steering system for a watercraft, comprising:

a watercraft propulsion unit at a stern of the watercraft;

a steering device including an electric actuator configured to actuate the steering device, the steering device changing a direction in which the watercraft travels;

a steering wheel, operable by an operator, electrically connected to the electric actuator to provide an actuation signal corresponding to the amount of a steering wheel operation to the electric actuator;

a reaction actuator configured to apply a reaction force to the steering wheel; and

control means for controlling the reaction actuator, the control means including;

at least one of operation status detection means for detecting an operation status corresponding to the steering wheel operation, 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;

torque computation means for computing a torque target value based on the detection value from the at least one of the means; and

reaction actuator control means for controlling the reaction actuator in accordance with the torque target value;

wherein

the electric actuator status detection means is connected to temperature detection means for detecting a temperature of the electric actuator.

2. The steering system for a watercraft according to claim 1, wherein the operation status detection means includes at least one of lower unit deflection force detection means for detecting a lower unit deflection force required for the lower unit deflection, load detection means for detecting a load to the lower unit, steering operation detection means for detecting a steering wheel operation angle, a steering wheel operation speed and a direction in which the steering wheel is operated, lower unit deflection detection means for detecting a lower unit deflection angle, a lower unit deflection speed and a direction in which the lower unit is deflected, corresponding to the steering wheel operation, and deviation detection means for detecting a deviation of a detected actual lower unit deflection angle from a target lower unit deflection angle corresponding to the steering wheel operation.

3. The steering system for a watercraft according to claim 2, wherein the running status detection means includes at least one of weight detection means for detecting at least one of a position of a waterline 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 and a propulsive force of the watercraft, and an output of the watercraft propulsion unit.

4. The steering system for a watercraft according to claim 2, wherein the watercraft propulsion unit status recognition means includes operation storage means for storing therein any one of pieces of information on the 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 of the watercraft propulsion unit, a propeller shape, a trim tab angle and a trim tab shape.

5. The steering system for a watercraft according to claim 2, wherein the electric actuator status detection means includes operating number detection means for detecting the number of the electric actuator in operation.

6. The steering system for a watercraft 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 position of a waterline 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 and a propulsive force of the watercraft, and an output of the watercraft propulsion unit.

7. The steering system for a watercraft according to claim 1, in combination with a watercraft, wherein the steering system steers the watercraft.

8. A steering system for a watercraft, comprising:

a watercraft propulsion unit at a stern of the watercraft;

a steering device including an electric actuator configured to actuate the steering device, the steering device changing a direction in which the watercraft travels;

a steering wheel, operable by an operator, electrically connected to the electric actuator to provide an actuation signal corresponding to the amount of a steering wheel operation to the electric actuator;

a reaction actuator configured to apply a reaction force to the steering wheel; and

control means for controlling the reaction actuator, the control means including;

at least one of operation status detection means for detecting an operation status corresponding to the steering wheel operation, 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;

torque computation means for computing a torque target value based on the detection value from the at least one of the means; and

reaction actuator control means for controlling the reaction actuator in accordance with the torque target value;

wherein

the watercraft propulsion unit status recognition means includes operation storage means for storing therein any one of pieces of information on the 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 of the watercraft propulsion unit, a propeller shape, a trim tab angle and a trim tab shape.

9. A steering system for a watercraft, comprising:

a watercraft propulsion unit at a stern of the watercraft;

a steering device including an electric actuator configured to actuate the steering device, the steering device changing a direction in which the watercraft travels;

a steering wheel, operable by an operator, electrically connected to the electric actuator to provide an actuation signal corresponding to the amount of a steering wheel operation to the electric actuator;

a reaction actuator configured to apply a reaction force to the steering wheel; and

control means for controlling the reaction actuator, the control means including;

at least one of operation status detection means for detecting an operation status corresponding to the steering wheel operation, 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;

torque computation means for computing a torque target value based on the detection value from the at least one of the means; and

reaction actuator control means for controlling the reaction actuator in accordance with the torque target value;

wherein

the electric actuator status detection means includes operating number detection means for detecting the number of the electric actuator in operation.

10. A steering system for a watercraft, comprising:

a watercraft propulsion unit at a stern of the watercraft;

a steering device including an electric actuator configured to actuate the steering device, the steering device changing a direction in which the watercraft travels;

a steering wheel, operable by an operator, electrically connected to the electric actuator to provide an actuation signal corresponding to the amount of a steering wheel operation to the electric actuator;

a reaction actuator configured to apply a reaction force to the steering wheel; and

a controller configured to control the reaction actuator, the controller comprising;

a status device comprising at least one of an operation status detection device configured to detect an operation status corresponding to the steering wheel operation, a 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 torque computation device configured to compute a torque target value based on the detection value from the status device; and

a reaction actuator control device configured to controlling the reaction actuator in accordance with the torque target value;

wherein

the electric actuator status detection device is connected to a temperature detection device configured to detect a temperature of the electric actuator.

11. The steering system for a watercraft according to claim 10, wherein the operation status detection device includes at least one of lower unit deflection force detection device configured to detect a lower unit deflection force required for the lower unit deflection, a load detection device configured to detect a load on the lower unit, a steering operation detection device configured to detect a steering wheel operation angle, a steering wheel operation speed, and a direction in which the steering wheel is operated, a lower unit deflection detection device configured to detect a lower unit deflection angle, a lower unit deflection speed, and a direction in which the lower unit is deflected, corresponding to the steering wheel operation, and deviation detection device configured to detect a deviation of a detected actual lower unit deflection angle from a target lower unit deflection angle corresponding to the steering wheel operation.

12. The steering system for a watercraft according to claim 10, wherein the running status detection device includes at least one of weight detection device configured to detect at least one of a position of a waterline 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 and a propulsive force of the watercraft, and an output of the watercraft propulsion unit.

13. The steering system for a watercraft according to claim 10, in combination with a watercraft, wherein the steering device steers the watercraft.

14. A steering system for a watercraft, comprising:

a watercraft propulsion unit at a stern of the watercraft;

a steering device including an electric actuator configured to actuate the steering device, the steering device changing a direction in which the watercraft travels;

a steering wheel, operable by an operator, electrically connected to the electric actuator to provide an actuation signal corresponding to the amount of a steering wheel operation to the electric actuator;

a reaction actuator configured to apply a reaction force to the steering wheel; and

a controller configured to control the reaction actuator, the controller comprising;

a status device comprising at least one of an operation status detection device configured to detect an operation status corresponding to the steering wheel operation, a 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 torque computation device configured to compute a torque target value based on the detection value from the status device; and

a reaction actuator control device configured to controlling the reaction actuator in accordance with the torque target value;

wherein

the watercraft propulsion unit status recognition device includes an operation storage device configured to store therein any one of pieces of information on the 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 of the watercraft propulsion unit, a propeller shape, a trim tab angle and a trim tab shape.

15. A steering system for a watercraft, comprising:

a watercraft propulsion unit at a stern of the watercraft;

a steering device including an electric actuator configured to actuate the steering device, the steering device changing a direction in which the watercraft travels;

a steering wheel, operable by an operator, electrically connected to the electric actuator to provide an actuation signal corresponding to the amount of a steering wheel operation to the electric actuator;

a reaction actuator configured to apply a reaction force to the steering wheel; and

a controller configured to control the reaction actuator, the controller comprising;

a status device comprising at least one of an operation status detection device configured to detect an operation status corresponding to the steering wheel operation, a 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 torque computation device configured to compute a torque target value based on the detection value from the status device; and

a reaction actuator control device configured to controlling the reaction actuator in accordance with the torque target value;

wherein

the electric actuator status detection device includes an operating number detection device configured to detect the number of the electric actuator in operation.