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公开(公告)号：US12084161B2
公开(公告)日：2024-09-10
申请号：US17523980
申请日：2021-11-11
发明人： Yuki Morimoto , Yuji Ikegaya , Yoshikazu Nakayasu
CPC分类号： B63H5/08 , B63H5/125 , B63H21/17 , B63H21/21 , B63H25/02 , B63H25/42 , B63H2020/003 , B63H2021/216 , B63H2025/425
摘要： A controller for a watercraft controls first and second marine propulsion devices to start moving the watercraft by setting a first default angle, a second default angle, and a default thrust ratio as a first target rudder angle, a second target rudder angle, and a target thrust ratio respectively when a desired motion of the watercraft is straight sideways movement. The controller determines at least one of a first correcting angle, a second correcting angle, and a correcting thrust ratio to reduce an error between the straight sideways movement of the watercraft and an actual motion of the watercraft. The controller corrects the first target rudder angle, the second target rudder angle, and the target thrust ratio with the first correcting angle, the second correcting angle, and the correcting thrust ratio, respectively. The controller repeatedly detects the error and repeatedly updates the correcting angles and the correcting thrust ratio.
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公开(公告)号：US11453471B1
公开(公告)日：2022-09-27
申请号：US16827841
申请日：2020-03-24
摘要： A propulsive force suitable to hold a vessel at a target position is determined, by a controller that controls a propulsion device in a fixed point holding mode to hold the position of the vessel. The controller acquires a parameter including the position of the vessel or a vessel speed. The controller determines a target value for the parameter. The controller determines a demand output of the propulsion device within a predetermined upper limit value or less by feedback control according to a deviation between the parameter and the target value. The controller increases the upper limit value when the demand output of the propulsion device is greater than or equal to a first threshold. The first threshold is defined by a predetermined ratio with respect to the upper limit value.
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公开(公告)号：US10661872B1
公开(公告)日：2020-05-26
申请号：US16219991
申请日：2018-12-14
发明人： Makoto Ito , Yoshikazu Nakayasu
摘要： In a watercraft propulsion system, when a magnitude of a command value indicated by a propulsion signal falls within a first range in a composite operation, a controller controls a first outboard motor to increase a thrust in a propulsion direction and simultaneously causes a second outboard motor to reduce a thrust in an opposite direction. When the magnitude of the command value falls within a second range in the composite operation, the controller controls the first outboard motor to make the thrust in the propulsion direction greater than when the magnitude of the command value falls within the first range and simultaneously maintains the second outboard motor in a neutral state. When the magnitude of the command value falls within a third range in the composite operation, the controller controls the first outboard motor to make the thrust in the propulsion direction greater than when the magnitude of the command value falls within the second range and simultaneously controls the second outboard motor to generate a thrust in the propulsion direction.
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公开(公告)号：US11753132B1
公开(公告)日：2023-09-12
申请号：US17066567
申请日：2020-10-09
发明人： Yoshikazu Nakayasu
IPC分类号： B63H25/02
CPC分类号： B63H25/02 , B63H2025/026
摘要： A controller controls a shift operation of a propulsion device between forward, neutral, and reverse, and steering of the propulsion device in accordance with a tilt operation of a joystick. The controller stores a control state of the propulsion device according to the tilt operation of the joystick when a switch is operated. The controller maintains the propulsion device in the control state even when the joystick is returned to the neutral position.
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公开(公告)号：US11505300B1
公开(公告)日：2022-11-22
申请号：US16827844
申请日：2020-03-24
摘要： A controller generates a first forward thrust with a first propulsion device and generates a first backward thrust with a second propulsion device with a same number as the first propulsion device in case that the backward thrust is less than a predetermined threshold. The controller generates a second forward thrust larger than the first forward thrust with the first propulsion device and generates a second backward thrust with each of the second propulsion devices greater than the first propulsion device in case that the backward thrust is greater than or equal to the predetermined threshold.
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公开(公告)号：US09120548B2
公开(公告)日：2015-09-01
申请号：US14048270
申请日：2013-10-08
发明人： Yoshikazu Nakayasu
CPC分类号： B63H21/21 , B63H20/12 , B63H2020/003
摘要： A marine vessel steering system includes a basic target turning angle computing unit that computes a basic target turning angle δo* common to two outboard motors based on a steering angle θ detected by a steering angle sensor. A traveling state determining unit determines whether a traveling state of a marine vessel is a straight traveling state based on the received basic target turning angle δo*. When the traveling state of the marine vessel is determined as being the straight traveling state, a target turning angle computing unit determines, based on the basic target steering angle δo* and a straight traveling toe angle φs stored in a nonvolatile memory, target turning angles δ* of the two outboard motors such that a toe angle between the two outboard motors is equal to the straight traveling toe angle φs.
摘要翻译： 船舶转向系统包括：基本转向角计算单元，其计算基于转向角度的两个舷外马达共同的基本目标转向角度δo*; 由转向角传感器检测。 行驶状态确定单元基于接收到的基本目标转向角度δo*来确定船只的行驶状态是否是直线行驶状态。 当船舶的行驶状态被确定为直线行驶状态时，目标转向角计算单元基于存储在非易失性存储器中的基本目标转向角δo*和直线行进角度＆phgr来确定目标 两个舷外马达的转角δ*使得两个舷外马达之间的趾角等于直线行进趾角＆phgr。s。
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公开(公告)号：US12097945B2
公开(公告)日：2024-09-24
申请号：US17696405
申请日：2022-03-16
发明人： Yoshikazu Nakayasu
CPC分类号： B63H21/213 , B63H21/14 , B63H21/21 , B63H25/02
摘要： A vessel operation system includes a propulsion apparatus to generate a forward thrust or a backward thrust by output of an engine, a throttle actuator to change a throttle opening degree of the engine, a first operator, a second operator, and a controller. When the propulsion apparatus generates a backward thrust, the controller sets a first target value within a range not more than a first upper limit value in accordance with an operation of the first operator and control the throttle actuator so that the throttle opening degree reaches the first target value. The controller sets a second target value within a range not more than a second upper limit value larger than the first upper limit value in accordance with an operation of the second operator and control the throttle actuator so that the throttle opening degree reaches the second target value.
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公开(公告)号：US09156537B1
公开(公告)日：2015-10-13
申请号：US14460446
申请日：2014-08-15
发明人： Yoshikazu Nakayasu
CPC分类号： B63H21/213 , B63H20/12 , B63H21/22 , B63H25/06 , B63H25/42 , B63H2020/003 , B63H2021/216 , B63H25/02
摘要： A watercraft propulsion system includes a normal watercraft operating unit, a joy stick watercraft operating unit, a control unit, a control mode switching unit, and a detection unit. The normal watercraft operating unit includes throttle levers and a steering wheel. The throttle levers are used to adjust outputs of at least two propulsion machines mounted to a hull. The steering wheel is used to adjust rudder turning angles of the at least two propulsion machines. The joy stick watercraft operating unit includes a joy stick. The joy stick is used to move the hull in at least each of front, rear, left, and right directions. The control unit is configured and programmed to control the outputs and the rudder turning angles of the at least two propulsion machines in a normal mode in accordance with an operation of the normal watercraft operating unit or a joy stick mode in accordance with an operation of the joy stick watercraft operating unit. The control mode switching unit is configured to output a control mode switching instruction to the control unit when the control mode switching unit has received a switching operation of the control mode.
摘要翻译： 船舶推进系统包括正常的船只操作单元，操纵杆船只操作单元，控制单元，控制模式切换单元和检测单元。 正常的船只操作单元包括节流杆和方向盘。 节流杆用于调节安装在船体上的至少两台推进机的输出。 方向盘用于调节至少两个推进机的舵转角。 操纵杆操作单元包括操纵杆。 操纵杆用于至少在前，后，左，右方向上移动船体。 控制单元被配置和编程以根据正常船舶操作单元的操作或者操纵杆模式来控制正常模式下的至少两个推进机的输出和舵转角， 操纵杆操作单元。 控制模式切换单元被配置为当控制模式切换单元已经接收到控制模式的切换操作时，将控制模式切换指令输出到控制单元。
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