U.S. patent application number 17/422881 was filed with the patent office on 2022-03-03 for outboard motor control device, outboard motor control method, and program.
The applicant listed for this patent is NHK SPRING Co., Ltd.. Invention is credited to Marino AKITA, Takafumi OSHIMA, Masato SHIRAO.
Application Number | 20220063785 17/422881 |
Document ID | / |
Family ID | 1000006002283 |
Filed Date | 2022-03-03 |
United States Patent
Application |
20220063785 |
Kind Code |
A1 |
SHIRAO; Masato ; et
al. |
March 3, 2022 |
OUTBOARD MOTOR CONTROL DEVICE, OUTBOARD MOTOR CONTROL METHOD, AND
PROGRAM
Abstract
This outboard motor control device controls a plurality of
outboard motors disposed on a rear portion of a hull of a boat.
Each of the outboard motors includes a propulsion unit and a
steering actuator. A boat includes an operation unit configured to
operate the steering actuator and the propulsion unit. The
operation unit is able to be positioned at a first position where
the outboard motors do not generate a propulsion force of the boat
and a second position where the outboard motors generate a
propulsion force for moving the boat in a left-right direction.
When the operation unit is moved from the first position to the
second position and maintained at the second position, the outboard
motors generate a first propulsion force during a first period from
a first timing when the operation unit is moved to the second
position to a second timing and subsequently generate a second
propulsion force greater than the first propulsion force during a
second period after the second timing.
Inventors: |
SHIRAO; Masato;
(Yokohama-shi, JP) ; AKITA; Marino; (Yokohama-shi,
JP) ; OSHIMA; Takafumi; (Yokohama-shi, JP) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
NHK SPRING Co., Ltd. |
Yokohama-shi, Kanagawa |
|
JP |
|
|
Family ID: |
1000006002283 |
Appl. No.: |
17/422881 |
Filed: |
February 14, 2020 |
PCT Filed: |
February 14, 2020 |
PCT NO: |
PCT/IB2020/051230 |
371 Date: |
July 14, 2021 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B63H 20/12 20130101;
B63H 25/42 20130101 |
International
Class: |
B63H 20/12 20060101
B63H020/12; B63H 25/42 20060101 B63H025/42 |
Foreign Application Data
Date |
Code |
Application Number |
Jan 18, 2019 |
JP |
2019-007331 |
Claims
1. An outboard motor control device for controlling a plurality of
outboard motors disposed on a rear portion of a hull of a boat,
wherein each of the plurality of outboard motors comprises a
propulsion unit configured to generate a propulsion force and a
steering actuator, wherein the boat comprises an operation unit
configured to operate the steering actuator and the propulsion
unit, wherein the operation unit is able to be positioned at least
at a first position that is a position where the plurality of
outboard motors do not generate a propulsion force of the boat and
a second position that is a position where the plurality of
outboard motors generate a propulsion force for moving the boat in
a left-right direction, and wherein, when the operation unit is
moved from the first position to the second position and maintained
at the second position, the outboard motor control device causes
the plurality of outboard motors to generate a first propulsion
force during a first period from a first timing when the operation
unit is moved to the second position to a second timing and
subsequently causes the plurality of outboard motors to generate a
second propulsion force greater than the first propulsion force
during a second period after the second timing.
2. The outboard motor control device according to claim 1, wherein
the outboard motor control device causes the plurality of outboard
motors to generate the first propulsion force less than the second
propulsion force during the first period so that a front portion of
the hull starts to move in the left-right direction without the
start of the movement of the front portion of the hull being later
than a start of a movement of the rear portion of the hull.
3. The outboard motor control device according to claim 2, wherein
the second position comprises a right position that is a position
on a right side of the first position and is a position where the
plurality of outboard motors generate a propulsion force for moving
the boat rightward, and wherein, when the operation unit is moved
from the first position to the right position at the first timing
and maintained at the right position during the second period, the
outboard motor control device causes the plurality of outboard
motors to generate a rightward first propulsion force less than the
second propulsion force during the first period so that the front
portion of the hull starts to move rightward without the start of
the movement of the front portion of the hull being later than the
start of the movement of the rear portion of the hull and
subsequently causes the plurality of outboard motors to generate a
rightward second propulsion force during the second period.
4. The outboard motor control device according to claim 3, wherein
the operation unit is able to be further positioned at a right
oblique position that is a position on a right front side or a
right rear side of the first position and is a position where the
plurality of outboard motors generate a propulsion force for moving
the boat in a right-forward direction or a right-rearward
direction, and wherein a forward-rearward direction component of a
right-forward or right-rearward propulsion force generated by the
plurality of outboard motors when the operation unit is moved from
the right position to the right oblique position at a third timing
during the second period is greater than a forward-rearward
direction component of a right-forward or right-rearward propulsion
force generated by the plurality of outboard motors when the
operation unit is directly moved from the first position to the
right oblique position, or wherein a left-right direction component
of the right-forward or right-rearward propulsion force generated
by the plurality of outboard motors when the operation unit is
moved from the right position to the right oblique position at the
third timing is less than a left-right direction component of the
right-forward or right-rearward propulsion force generated by the
plurality of outboard motors when the operation unit is directly
moved from the first position to the right oblique position.
5. The outboard motor control device according to claim 4, wherein,
when a time period from the second timing to the third timing is
less than a threshold value, the outboard motor control device
prohibits the plurality of outboard motors from generating the
right-forward or right-rearward propulsion force by reducing the
second propulsion force at the third timing, and wherein, when the
time period from the second timing to the third timing is greater
than or equal to the threshold value, the outboard motor control
device allows the plurality of outboard motors to generate the
right-forward or right-rearward propulsion force by reducing the
second propulsion force at the third timing.
6. The outboard motor control device according to claim 2, wherein
the second position comprises a left position that is a position on
a left side of the first position and is a position where the
plurality of outboard motors generate a propulsion force for moving
the boat leftward, and wherein, when the operation unit is moved
from the first position to the left position at the first timing
and maintained at the left position during the second period, the
outboard motor control device causes the plurality of outboard
motors to generate a leftward first propulsion force less than the
second propulsion force during the first period so that the front
portion of the hull starts to move leftward without the start of
the movement of the front portion of the hull being later than the
start of the movement of the rear portion of the hull and
subsequently causes the plurality of outboard motors to generate a
leftward second propulsion force during the second period.
7. The outboard motor control device according to claim 6, wherein
the operation unit is able to be further positioned at a left
oblique position that is a position on a left front side or a left
rear side of the first position and is a position where the
plurality of outboard motors generate a propulsion force for moving
the boat in a left-forward direction or a left-rearward direction,
and wherein a forward-rearward direction component of a
left-forward or left-rearward propulsion force generated by the
plurality of outboard motors when the operation unit is moved from
the left position to the left oblique position at a third timing
during the second period is greater than a forward-rearward
direction component of a left-forward or left-rearward propulsion
force generated by the plurality of outboard motors when the
operation unit is directly moved from the first position to the
left oblique position, or wherein a left-right direction component
of the left-forward or left-rearward propulsion force generated by
the plurality of outboard motors when the operation unit is moved
from the left position to the left oblique position at the third
timing is less than a left-right direction component of the
left-forward or left-rearward propulsion force generated by the
plurality of outboard motors when the operation unit is directly
moved from the first position to the left oblique position.
8. The outboard motor control device according to claim 7, wherein,
when a time period from the second timing to the third timing is
less than a threshold value, the outboard motor control device
prohibits the plurality of outboard motors from generating the
left-forward or left-rearward propulsion force by reducing the
second propulsion force at the third timing, and wherein, when the
time period from the second timing to the third timing is greater
than or equal to the threshold value, the outboard motor control
device allows the plurality of outboard motors to generate the
left-forward or left-rearward propulsion force by reducing the
second propulsion force at the third timing.
9. An outboard motor control method of controlling a plurality of
outboard motors disposed on a rear portion of a hull of a boat,
wherein each of the plurality of outboard motors comprises a
propulsion unit configured to generate a propulsion force and a
steering actuator, wherein the boat comprises an operation unit
configured to operate the steering actuator and the propulsion unit
and an outboard motor control device configured to control the
plurality of outboard motors, wherein the operation unit is able to
be positioned at least at a first position that is a position where
the plurality of outboard motors do not generate a propulsion force
of the boat and a second position that is a position where the
plurality of outboard motors generate a propulsion force for moving
the boat in a left-right direction, and wherein the outboard motor
control method comprises: a first step in which the outboard motor
control device causes the plurality of outboard motors to generate
a first propulsion force during a first period from a first timing
when the operation unit is moved to the second position to a second
timing when the operation unit is moved from the first position to
the second position and maintained at the second position; and a
second step in which the outboard motor control device causes the
plurality of outboard motors to generate a second propulsion force
greater than the first propulsion force during a second period
after the second timing when the operation unit is moved from the
first position to the second position and maintained at the second
position.
10. A program for controlling a plurality of outboard motors
disposed on a rear portion of a hull of a boat, wherein each of the
plurality of outboard motors comprises a propulsion unit configured
to generate a propulsion force and a steering actuator, wherein the
boat comprises an operation unit configured to operate the steering
actuator and the propulsion unit, wherein the operation unit is
able to be positioned at least at a first position that is a
position where the plurality of outboard motors do not generate a
propulsion force of the boat and a second position that is a
position where the plurality of outboard motors generate a
propulsion force for moving the boat in a left-right direction, and
wherein the program causes a computer mounted in the boat to
execute: a first step in which the plurality of outboard motors
generate a first propulsion force during a first period from a
first timing when the operation unit is moved to the second
position to a second timing when the operation unit is moved from
the first position to the second position and maintained at the
second position; and a second step in which the plurality of
outboard motors generate a second propulsion force greater than the
first propulsion force during a second period after the second
timing when the operation unit is moved from the first position to
the second position and maintained at the second position.
Description
CROSS REFERENCE TO RELATED APPLICATIONS
[0001] This is the U.S. national stage of application No.
PCT/IB2020/051230, filed on Feb. 14, 2020. Priority under 35 U.S.C.
.sctn. 119(a) and 35 U.S.C. .sctn. 365(b) is claimed from Japanese
Application No. 2019-007331 filed Jan. 18, 2019, the disclosure of
which is also incorporated herein by reference.
TECHNICAL FIELD
[0002] The present invention relates to an outboard motor control
device, an outboard motor control method, and a program.
BACKGROUND ART
[0003] Conventionally, a boat control device capable of moving and
turning in any direction is known (see, for example, Patent
Literature 1). In technology described in Patent Literature 1, two
propulsion units capable of arbitrarily setting a direction and
strength of a propulsion force are installed on the left and right
sides of a stern and the direction and strength of the propulsion
force of each propulsion unit are controlled, so that a composite
force with which the boat can move in a desired direction and a
composite force with which the boat can turn in a desired direction
act on a hull. Specifically, in Patent Literature 1, an example in
which a joystick is described as an omnidirectional controller and
the hull moves just to the side while maintaining its attitude is
described. Also, in Patent Literature 1, an example in which the
hull moves diagonally forward or diagonally rearward while
maintaining its attitude is described.
[0004] Incidentally, in Patent Literature 1, when a tip of a lever
of the joystick is moved from a neutral position where the lever is
not tilted to a right tilt position where the lever is tilted to
the right, a relationship between an elapsed time period from a
timing when the tip of the lever of the joystick is moved to the
right tilt position and a magnitude of a rightward propulsion force
(a composite force) generated by the two propulsion units is not
described.
[0005] Also, conventionally, a control device for controlling two
outboard motors attached to a rear portion of a hull of a boat in
accordance with an operation by a joystick capable of tilting the
boat from a neutral state in all directions is known (see, for
example, Patent Literature 2). In technology described in Patent
Literature 2, when the joystick is tilted to the right, the control
device causes the two outboard motors to generate a propulsion
force with which the boat performs parallel movement to the right.
Also, in the technology described in Patent Literature 2, when the
joystick is tilted to the right-forward side, the control device
causes the two outboard motors to generate a propulsion force with
which the boat performs parallel movement in a right-forward
direction.
[0006] Incidentally, in Patent Literature 2, when the tip of the
lever of the joystick is moved from a neutral position to a right
tilt position, a relationship between an elapsed time period from a
timing when the tip of the lever of the joystick is moved to the
right tilt position and a magnitude of a rightward propulsion force
(a composite force) generated by the two propulsion units is not
described.
CITATION LIST
Patent Literature
[Patent Document 1]
[0007] Japanese Unexamined Patent Application, First Publication
No. H1-285486
[Patent Document 2]
[0008] Japanese Patent No. 5987624
SUMMARY OF INVENTION
Technical Problem
[0009] A boat operator moves the tip of the lever of the joystick
from the neutral position to the right tilt position so that the
boat, which is stopped, is moved to the right.
[0010] From intensive research, the inventors of the present
invention and the like have found that, in a boat in which an
outboard motor is disposed on a rear portion of a hull and is not
disposed on a front portion of the hull, when a tip of a lever of a
joystick is moved from a neutral position to a right tilt position,
if the boat generates a large rightward propulsion force, a start
of a rightward movement of the front portion of the hull is later
than a start of a rightward movement of the rear portion of the
hull, so that the boat turns counterclockwise (i.e., the attitude
of the hull changes and the front and rear portions of the hull do
not perform translational movement to the right).
[0011] In view of the above-described problems, an objective of the
present invention is to provide an outboard motor control device,
an outboard motor control method, and a program capable of
restricting a boat from turning due to the start of a movement of a
front portion of a hull being later than the start of a movement of
a rear portion of the hull when the boat, which is stopped, is
moved in a left-right direction.
Solution to Problem
[0012] From intensive research, the inventors of the present
invention and the like have found that, for example, when a tip of
a lever of a joystick is moved from a neutral position to a right
tilt position, an outboard motor first generates a small rightward
propulsion force and subsequently generates a large rightward
propulsion force, so that the boat performs translational movement
to the right without the start of a movement of a front portion of
a hull being later than the start of a movement of a rear portion
of the hull (i.e., the boat does not turn).
[0013] According to an aspect of the present invention, there is
provided an outboard motor control device for controlling a
plurality of outboard motors disposed on a rear portion of a hull
of a boat, wherein each of the plurality of outboard motors
includes a propulsion unit configured to generate a propulsion
force and a steering actuator, wherein the boat includes an
operation unit configured to operate the steering actuator and the
propulsion unit, wherein the operation unit is able to be
positioned at least at a first position that is a position where
the plurality of outboard motors do not generate a propulsion force
of the boat and a second position that is a position where the
plurality of outboard motors generate a propulsion force for moving
the boat in a left-right direction, and wherein, when the operation
unit is moved from the first position to the second position and
maintained at the second position, the outboard motor control
device causes the plurality of outboard motors to generate a first
propulsion force during a first period from a first timing when the
operation unit is moved to the second position to a second timing
and subsequently causes the plurality of outboard motors to
generate a second propulsion force greater than the first
propulsion force during a second period after the second
timing.
[0014] According to an aspect of the present invention, there is
provided an outboard motor control method of controlling a
plurality of outboard motors disposed on a rear portion of a hull
of a boat, wherein each of the plurality of outboard motors
includes a propulsion unit configured to generate a propulsion
force and a steering actuator, wherein the boat includes an
operation unit configured to operate the steering actuator and the
propulsion unit and an outboard motor control device configured to
control the plurality of outboard motors, wherein the operation
unit is able to be positioned at least at a first position that is
a position where the plurality of outboard motors do not generate a
propulsion force of the boat and a second position that is a
position where the plurality of outboard motors generate a
propulsion force for moving the boat in a left-right direction, and
wherein the outboard motor control method includes: a first step in
which the outboard motor control device causes the plurality of
outboard motors to generate a first propulsion force during a first
period from a first timing when the operation unit is moved to the
second position to a second timing when the operation unit is moved
from the first position to the second position and maintained at
the second position; and a second step in which the outboard motor
control device causes the plurality of outboard motors to generate
a second propulsion force greater than the first propulsion force
during a second period after the second timing when the operation
unit is moved from the first position to the second position and
maintained at the second position.
[0015] According to an aspect of the present invention, there is
provided a program for controlling a plurality of outboard motors
disposed on a rear portion of a hull of a boat, wherein each of the
plurality of outboard motors comprises a propulsion unit configured
to generate a propulsion force and a steering actuator, wherein the
boat includes an operation unit configured to operate the steering
actuator and the propulsion unit, wherein the operation unit is
able to be positioned at least at a first position that is a
position where the plurality of outboard motors do not generate a
propulsion force of the boat and a second position that is a
position where the plurality of outboard motors generate a
propulsion force for moving the boat in a left-right direction, and
wherein the program causes a computer mounted in the boat to
execute: a first step in which the plurality of outboard motors
generate a first propulsion force during a first period from a
first timing when the operation unit is moved to the second
position to a second timing when the operation unit is moved from
the first position to the second position and maintained at the
second position; and a second step in which the plurality of
outboard motors generate a second propulsion force greater than the
first propulsion force during a second period after the second
timing when the operation unit is moved from the first position to
the second position and maintained at the second position.
Advantageous Effects of Invention
[0016] According to the present invention, it is possible to
provide an outboard motor control device, an outboard motor control
method, and a program capable of restricting a boat from turning
due to the start of a movement of a front portion of a hull being
later than the start of a movement of a rear portion of the hull
when the boat, which is stopped, is moved in a left-right
direction.
BRIEF DESCRIPTION OF DRAWINGS
[0017] FIG. 1 is a diagram showing an example of a boat to which an
outboard motor control device of a first embodiment is applied.
[0018] FIG. 2 is a functional block diagram of main parts of the
boat shown in FIG. 1.
[0019] FIG. 3A-FIG. 3I are diagrams for describing an example of
positions of an operation unit in the boat of the first
embodiment.
[0020] FIG. 4A-FIG. 4E are diagrams for describing an example of a
movement path of the operation unit in the boat of the first
embodiment.
[0021] FIG. 5A-FIG. 5E are diagrams for describing an example of a
movement path of the operation unit in the boat of the first
embodiment.
[0022] FIG. 6A-FIG. 6B are diagrams showing a relationship between
a timing and a rightward propulsion force generated by steering
actuators and propulsion units.
[0023] FIG. 7A-FIG. 7D are diagrams showing a comparison of a
right-forward propulsion force the outboard motor control device
causes outboard motors to generate in an example shown in FIG. 4B,
a right-forward propulsion force the outboard motor control device
causes the outboard motors to generate in an example shown in FIG.
4C, and the like.
[0024] FIG. 8A-FIG. 8B are diagrams showing an example of a
relationship between a timing and a rightward propulsion force
generated by the steering actuators and the propulsion units (or a
left-right direction component of a right-forward propulsion force)
in the example shown in FIG. 4C and the like.
[0025] FIG. 9A-FIG. 9B are diagrams showing an example of a
relationship between a timing and a rightward propulsion force
generated by the steering actuators and the propulsion units (or a
left-right direction component of a right-rearward propulsion
force) in the example shown in FIG. 4E and the like.
[0026] FIG. 10A-FIG. 10B are diagrams showing a relationship
between a timing and a leftward propulsion force generated by the
steering actuators and the propulsion units.
[0027] FIG. 11 is a flowchart for describing an example of a
process executed by the outboard motor control device of the first
embodiment.
[0028] FIG. 12 is a diagram showing an example of a boat to which
an outboard motor control device of a second embodiment is
applied.
DESCRIPTION OF EMBODIMENTS
First Embodiment
[0029] Hereinafter, a first embodiment of an outboard motor control
device, an outboard motor control method, and a program of the
present invention will be described.
[0030] FIG. 1 is a diagram showing an example of a boat 1 to which
an outboard motor control device 14 of the first embodiment is
applied. FIG. 2 is a functional block diagram of main parts of the
boat 1 shown in FIG. 1.
[0031] In the examples shown in FIG. 1 and FIG. 2, the boat 1
includes a hull 11, an outboard motor 12, an outboard motor 13, and
an outboard motor control device 14. The outboard motors 12 and 13
are propulsion units of the boat 1.
[0032] Although the boat 1 includes the two outboard motors 12 and
13 in the examples shown in FIG. 1 and FIG. 2, the boat 1 may
include three or more outboard motors in another example.
[0033] In the examples shown in FIG. 1 and FIG. 2, the outboard
motor 12 is attached to a right side part on the rear portion 112
of the hull 11. The outboard motor 12 includes an outboard motor
main body 12A and a bracket 12B. The bracket 12B is a mechanism for
attaching the outboard motor 12 to the right side part on the rear
portion 112 of the hull 11. The outboard motor main body 12A is
connected to the right side part on the rear portion 112 of the
hull 11 via the bracket 12B so that the outboard motor main body
12A can rotate with respect to the hull 11 around a steering shaft
12AX.
[0034] The outboard motor main body 12A includes a propulsion unit
12A1 and a steering actuator 12A2. The propulsion unit 12A1 is, for
example, a propeller-specification propulsion unit driven by an
engine (not shown) and generates the propulsion force of the boat
1. In another example, the propulsion unit 12A1 may be a water jet
propulsion unit.
[0035] The steering actuator 12A2 causes the entire outboard motor
main body 12A including the propulsion unit 12A1 to rotate with
respect to the hull 11 around the steering shaft 12AX. The steering
actuator 12A2 serves as a rudder.
[0036] In the examples shown in FIG. 1 and FIG. 2, the outboard
motor 13 is attached to a left side part on the rear portion 112 of
the hull 11. The outboard motor 13 includes an outboard motor main
body 13A and a bracket 13B. The bracket 13B is a mechanism for
attaching the outboard motor 13 to the left side part on the rear
portion 112 of the hull 11. The outboard motor main body 13A is
connected to the left side part on the rear portion 112 of the hull
11 via the bracket 13B so that the outboard motor main body 13A can
rotate with respect to the hull 11 around the steering shaft
13AX.
[0037] The outboard motor main body 13A includes a propulsion unit
13A1 and a steering actuator 13A2. Like the propulsion unit 12A1,
the propulsion unit 13A1 is, for example, a propeller-specification
propulsion unit, and generates the propulsion force of the boat 1.
In another example, the propulsion unit 13A1 may be a water jet
propulsion unit.
[0038] The steering actuator 13A2 causes the entire outboard motor
main body 13A including the propulsion unit 13A1 to rotate with
respect to the hull 11 around the steering shaft 13AX. The steering
actuator 13A2 serves as a rudder.
[0039] In the example shown in FIG. 1 and FIG. 2, the hull 11
includes a steering device 11A, a remote control device 11B, a
remote control device 11C, and an operation unit 11D.
[0040] In another example, the hull 11 may not include the steering
device 11A, the remote control device 11B, and the remote control
device 11C.
[0041] In the example shown in FIG. 1 and FIG. 2, the steering
device 11A is a device that operates the steering actuators 12A2
and 13A2, and is, for example, a steering device having a steering
wheel. By operating the steering device 11A, a boat operator can
operate the steering actuators 12A2 and 13A2 to steer the boat
1.
[0042] The remote control device 11B is a device that receives an
input operation for operating the propulsion unit 12A1, and
includes, for example, a remote control lever. The boat operator
can change a magnitude and a direction of the propulsion force
generated by the propulsion unit 12A1 by operating the remote
control device 11B. The remote control lever of the remote control
device 11B can be positioned in a forward region where the
propulsion unit 12A1 generates a forward propulsion force of the
boat 1, a rearward region where the propulsion unit 12A1 generates
a rearward propulsion force of the boat 1, and a neutral region
where the propulsion unit 12A1 generates no propulsion force. The
magnitude of the forward propulsion force of the boat 1 generated
by the propulsion unit 12A1 changes with the position of the remote
control lever within the forward region. Also, the magnitude of the
rearward propulsion force of the boat 1 generated by the propulsion
unit 12A1 changes with the position of the remote control lever in
the rearward region.
[0043] In the examples shown in FIG. 1 and FIG. 2, the remote
control device 11C is a device that receives an input operation for
operating the propulsion unit 13A1, and has a configuration similar
to that of the remote control device 11B. That is, the boat
operator can change a magnitude and a direction of the propulsion
force generated by the propulsion unit 13A1 by operating the remote
control device 11C.
[0044] The operation unit 11D is a device that operates the
steering actuators 12A2 and 13A2 and the propulsion units 12A1 and
13A1. Specifically, the operation unit 11D receives input
operations for operating the steering actuators 12A2 and 13A2 and
the propulsion units 12A1 and 13A1. The operation unit 11D is
provided separately from the steering device 11A and the remote
control devices 11B and 11C.
[0045] In the boat 1 of the first embodiment, the operation unit
11D includes a joystick having a lever.
[0046] The boat operator can operate the steering actuators 12A2
and 13A2 and the propulsion units 12A1 and 13A1 by operating the
steering device 11A (a steering wheel) and the remote control
devices 11B and 11C (remote control levers) and can also operate
the steering actuators 12A2 and 13A2 and the propulsion units 12A1
and 13A1 by operating the operation unit 11D (a joystick).
[0047] In the examples shown in FIG. 1 and FIG. 2, the outboard
motor control device 14 controls the steering actuator 12A2 and the
propulsion unit 12A1 of the outboard motor 12 and the steering
actuator 13A2 and the propulsion unit 13A1 of the outboard motor 13
on the basis of the input operation on the operation unit 11D.
Specifically, the outboard motor control device 14 controls a
magnitude and a direction of the propulsion force of the boat 1
that is generated by the steering actuators 12A2 and 13A2 and the
propulsion units 12A1 and 13A1 on the basis of the input operation
on the operation unit 11D.
[0048] The outboard motor control device 14 includes a movement
path calculation unit 14A, an elapsed time calculation unit 14B,
and a propulsion force calculation unit 14C. The movement path
calculation unit 14A calculates a movement path of the operation
unit 11D. Specifically, the movement path calculation unit 14A
calculates a movement path of a tip of the lever of the joystick on
the basis of a position of the lever of the joystick detected by a
sensor (not shown) such as a microswitch.
[0049] The elapsed time calculation unit 14B calculates an elapsed
time period from a timing when the operation unit 11D (the tip of
the lever of the joystick) is moved to a certain position.
[0050] The propulsion force calculation unit 14C calculates a
propulsion force to be generated by the outboard motors 12 and 13
on the basis of the movement path of the operation unit 11D
calculated by the movement path calculation unit 14A and the
elapsed time period calculated by the elapsed time calculation unit
14B. Specifically, the propulsion force calculation unit 14C
calculates a magnitude and a direction of the propulsion force of
the boat 1 to be generated by the steering actuators 12A2 and 13A2
and the propulsion units 12A1 and 13A1 on the basis of the movement
path of the tip of the lever of the joystick and a time period (an
elapsed time period) for which the tip of the lever of the joystick
is continuously positioned at a certain position.
[0051] That is, the outboard motor control device 14 controls the
steering actuators 12A2 and 13A2 and the propulsion units 12A1 and
13A1 so that the steering actuators 12A2 and 13A2 and the
propulsion units 12A1 and 13A1 generate the propulsion force of the
magnitude and the direction calculated by the propulsion force
calculation unit 14C.
[0052] In the examples shown in FIG. 1 and FIG. 2, the operation
unit 11D is configured so that the lever of the operation unit 11D
(the joystick) can be tilted and the lever can rotate around a
central axis of the lever.
[0053] When the boat operator rotates the lever clockwise around
the central axis of the lever, the outboard motor control device 14
controls the steering actuators 12A2 and 13A2 and the propulsion
units 12A1 and 13A1 so that the hull 11 turns to the right. On the
other hand, when the boat operator rotates the lever
counterclockwise around the central axis of the lever, the outboard
motor control device 14 controls the steering actuators 12A2 and
13A2 and the propulsion units 12A1 and 13A1 so that the hull 11
turns to the left. That is, when the boat operator rotates the
lever around the central axis of the lever, the direction of the
front portion 111 of the hull 11 changes.
[0054] Also, when the boat operator tilts the lever, the outboard
motor control device 14 controls the steering actuators 12A2 and
13A2 and the propulsion units 12A1 and 13A1 so that the hull 11
moves while maintaining its attitude. That is, when the boat
operator tilts the lever, the front portion 111 of the hull 11 and
the rear portion 112 of the hull 11 are translated.
[0055] FIG. 3A-FIG. 3I are diagrams for describing an example of
positions of the operation unit 11D (specifically, positions P1 to
P9 of the tip of the lever of the joystick) in the boat 1 of the
first embodiment.
[0056] In the example shown in FIG. 3A, the lever of the operation
unit 11D (the joystick) is not tilted. Thus, the operation unit 11D
(specifically, the tip of the lever of the joystick) is positioned
at the position (the neutral position) P1. When the operation unit
11D (the tip of the lever of the joystick) is positioned at the
position P1, the outboard motor control device 14 does not cause
the steering actuators 12A2 and 13A2 and the propulsion units 12A1
and 13A1 to generate the propulsion force of the boat 1.
[0057] That is, the position P1 is a position where the outboard
motors 12 and 13 generates no propulsion force of the boat 1.
[0058] In the example shown in FIG. 3B, the lever of the joystick
is tilted to the right. Thus, the tip of the lever of the joystick
is positioned at the position P2 on the right side of the position
P1. When the tip of the lever of the joystick is positioned at the
position P2, the outboard motor control device 14 causes the
steering actuators 12A2 and 13A2 and the propulsion units 12A1 and
13A1 to generate a propulsion force for moving the boat 1 to the
right.
[0059] That is, the position P2 is a position where the outboard
motors 12 and 13 generate a propulsion force for moving the boat 1
to the right (specifically, translational movement).
[0060] In the example shown in FIG. 3C, the lever of the joystick
is tilted in a right-forward direction. Thus, the tip of the lever
of the joystick is positioned at the position P3 on the right front
side of the position P1. When the tip of the lever of the joystick
is positioned at the position P3, the outboard motor control device
14 causes the steering actuators 12A2 and 13A2 and the propulsion
units 12A1 and 13A1 to generate a propulsion force for moving the
boat 1 in the right-forward direction forming an acute angle
.theta.3 with respect to the left-right direction.
[0061] That is, the position P3 is a position where the outboard
motors 12 and 13 generate a propulsion force for moving the boat 1
in the right-forward direction (translational movement).
[0062] In the example shown in FIG. 3D, the lever of the joystick
is tilted in a right-rearward direction. Thus, the tip of the lever
of the joystick is positioned at the position P4 on the right rear
side of the position P1. When the tip of the lever of the joystick
is positioned at the position P4, the outboard motor control device
14 causes the steering actuators 12A2 and 13A2 and the propulsion
units 12A1 and 13A1 to generate a propulsion force for moving the
boat 1 in the right-rearward direction forming an acute angle
.theta.4 with respect to the left-right direction.
[0063] That is, the position P4 is a position where the outboard
motors 12 and 13 generate a propulsion force for moving the boat 1
in the right-rearward direction (translational movement).
[0064] In the example shown in FIG. 3E, the lever of the joystick
is tilted to the left. Thus, the tip of the lever of the joystick
is positioned at the position P5 on the left side of the position
P1. When the tip of the lever of the joystick is positioned at the
position P5, the outboard motor control device 14 causes the
steering actuators 12A2 and 13A2 and the propulsion units 12A1 and
13A1 to generate a propulsion force for moving the boat 1 to the
left.
[0065] That is, the position P5 is a position where the outboard
motors 12 and 13 generate a propulsion force for moving the boat 1
to the left (translational movement).
[0066] In the example shown in FIG. 3F, the lever of the joystick
is tilted in a left-forward direction. Thus, the tip of the lever
of the joystick is positioned at the position P6 on the left front
side of the position P1. When the tip of the lever of the joystick
is positioned at the position P6, the outboard motor control device
14 causes the steering actuators 12A2 and 13A2 and the propulsion
units 12A1 and 13A1 to generate a propulsion force for moving the
boat 1 in the left-forward direction forming an acute angle
.theta.6 with respect to the left-right direction.
[0067] That is, the position P6 is a position where the outboard
motors 12 and 13 generate a propulsion force for moving the boat 1
in the left-forward direction (translational movement).
[0068] In the example shown in FIG. 3G, the lever of the joystick
is tilted in a left-rearward direction. Thus, the tip of the lever
of the joystick is positioned at the position P7 on the left rear
side of the position P1. When the tip of the lever of the joystick
is positioned at the position P7, the outboard motor control device
14 causes the steering actuators 12A2 and 13A2 and the propulsion
units 12A1 and 13A1 to generate a propulsion force for moving the
boat 1 in the left-rearward direction forming an acute angle
.theta.7 with respect to the left-right direction.
[0069] That is, the position P7 is a position where the outboard
motors 12 and 13 generate a propulsion force for moving the boat 1
in the left-rearward direction (translational movement).
[0070] In the example shown in FIG. 3H, the lever of the joystick
is tilted forward. Thus, the tip of the lever of the joystick is
positioned at the position P8 on the front side of the position P1.
When the tip of the lever of the joystick is positioned at the
position P8, the outboard motor control device 14 causes the
steering actuators 12A2 and 13A2 and the propulsion units 12A1 and
13A1 to generate a propulsion force for moving the boat 1
forward.
[0071] That is, the position P8 is a position where the outboard
motors 12 and 13 generate a propulsion force for moving (advancing)
the boat 1 forward.
[0072] In the example shown in FIG. 3I, the lever of the joystick
is tilted rearward. Thus, the tip of the lever of the joystick is
positioned at the position P9 on the rear side of the position P1.
When the tip of the lever of the joystick is positioned at the
position P9, the outboard motor control device 14 causes the
steering actuators 12A2 and 13A2 and the propulsion units 12A1 and
13A1 to generate a propulsion force for moving the boat 1
rearward.
[0073] That is, the position P9 is a position where the outboard
motors 12 and 13 generate a propulsion force for moving (reversing)
the boat 1 rearward.
[0074] When the boat operator is not operating the operation unit
11D (the joystick), the tip of the lever of the joystick having an
automatic return function is positioned at the position P1. The tip
of the lever of the joystick can be positioned at positions such as
positions P1 to P9 in accordance with an operation of the boat
operator.
[0075] FIG. 4A-FIG. 4E and FIG. 5A and FIG. 5E are diagrams for
describing an example of a movement path of the operation unit 11D
(specifically, a movement path of the tip of the lever of the
joystick) in the boat 1 of the first embodiment.
[0076] In the example shown in FIG. 4A, the operation unit 11D
(specifically, the tip of the lever of the joystick) is moved from
the position P1 to the position P2 and maintained at the position
P2.
[0077] The movement path calculation unit 14A calculates a movement
path P1.fwdarw.P2 of the tip of the lever of the joystick on the
basis of the position of the lever at the timing when the tip of
the lever of the joystick is positioned at the position P1 and the
position of the lever at the timing when the tip of the lever of
the joystick is positioned at the position P2.
[0078] The elapsed time calculation unit 14B calculates an elapsed
time period from time t1 (see FIG. 6A-FIG. 6B) when the tip of the
lever of the joystick is moved from the position P1 to the position
P2. Specifically, the elapsed time calculation unit 14B calculates
a time period while the tip of the lever of the joystick is
continuously positioned at the position P2.
[0079] The propulsion force calculation unit 14C calculates a
rightward propulsion force FR to be generated by the outboard
motors 12 and 13 on the basis of the movement path P1.fwdarw.P2 of
the tip of the lever of the joystick calculated by the movement
path calculation unit 14A and the elapsed time period calculated by
the elapsed time calculation unit 14B (the time period while the
tip of the lever of the joystick is continuously positioned at the
position P2). Specifically, the propulsion force calculation unit
14C calculates a magnitude of a propulsion force for moving the
boat 1 to the right.
[0080] FIG. 6A and FIG. 6B are diagrams showing a relationship
between the rightward propulsion force FR generated by the steering
actuators 12A2 and 13A2 and the propulsion units 12A1 and 13A1 and
a timing (for example, time t1 when the tip of the lever of the
joystick is moved from the position P1 to the position P2 or the
like). The vertical axes in FIG. 6A and FIG. 6B represent the
rightward propulsion force FR generated by the steering actuators
12A2 and 13A2 and the propulsion units 12A1 and 13A1. The
horizontal axes in FIG. 6A and FIG. 6B represent time t1 when the
tip of the lever of the joystick is moved from the position P1 to
the position P2 or the like.
[0081] In the example shown in FIG. 6A, during a first period from
time t1 when the tip of the lever of the joystick is moved from the
position P1 to the position P2 to time t2, the propulsion force
calculation unit 14C calculates a first propulsion force FR1 as the
rightward propulsion force FR the outboard motor control device 14
causes the outboard motors 12 and 13 to generate. That is, during
the first period from time t1 to time t2, the outboard motor
control device 14 causes the outboard motors 12 and 13 to generate
the first propulsion force FR1.
[0082] Specifically, the outboard motor control device 14 causes
the outboard motors 12 and 13 to generate the first propulsion
force FR1 less than a second propulsion force FR2 to be described
below using the propulsion force calculation unit 14C so that the
front portion 111 of the hull 11 starts to move rightward without
the start of the movement of the front portion 111 of the hull 11
being later than the start of the movement of the rear portion 112
of the hull 11 during the first period from time t1 to time t2.
[0083] As a result, in the example shown in FIG. 6A, it is possible
to restrict the front portion 111 of the hull 11 from starting to
move later than the rear portion 112 of the hull 11 at time t1 and
it is possible to restrict the boat 1 from turning to the left
during the first period from time t1 to time t2.
[0084] In the example shown in FIG. 6A, subsequently, during a
second period after time t2, the propulsion force calculation unit
14C calculates the second propulsion force FR2 greater than the
first propulsion force FR1 as the rightward propulsion force FR the
outboard motor control device 14 causes the outboard motors 12 and
13 to generate. That is, during the second period after time t2,
the outboard motor control device 14 causes the outboard motors 12
and 13 to generate the second propulsion force FR2 greater than the
first propulsion force FR1.
[0085] As a result, in the example shown in FIG. 6A, the boat 1 can
be quickly moved to the right according to a request of the boat
operator during the second period after time t2.
[0086] In the example shown in FIG. 6B, during the first period
from time t1 when the tip of the lever of the joystick is moved
from the position P1 to the position P2 to time t2, the propulsion
force calculation unit 14C calculates the first propulsion force
FR1 (the first propulsion force FR1 is greater than or equal to a
value FR1A and less than the second propulsion force FR2) as the
rightward propulsion force FR the outboard motor control device 14
causes the outboard motors 12 and 13 to generate. That is, during
the first period from time t1 to time t2, the outboard motor
control device 14 causes the outboard motors 12 and 13 to generate
the first propulsion force FR1.
[0087] Specifically, the outboard motor control device 14 causes
the outboard motors 12 and 13 to generate the first propulsion
force FR1 less than the second propulsion force FR2 using the
propulsion force calculation unit 14C so that the front portion 111
of the hull 11 starts to move rightward without the start of the
movement of the front portion 111 of the hull 11 being later than
the start of the movement of the rear portion 112 of the hull 11
during the first period from time t1 to time t2.
[0088] As a result, in the example shown in FIG. 6B, it is possible
to restrict the front portion 111 of the hull 11 from starting to
move later than the rear portion 112 of the hull 11 at time t1 and
it is possible to restrict the boat 1 from turning to the left
during the first period from time t1 to time t2.
[0089] In the example shown in FIG. 6B, subsequently, during a
second period after time t2, the propulsion force calculation unit
14C calculates the second propulsion force FR2 greater than the
first propulsion force FR1 as the rightward propulsion force FR the
outboard motor control device 14 causes the outboard motors 12 and
13 to generate. That is, during the second period after time t2,
the outboard motor control device 14 causes the outboard motors 12
and 13 to generate the second propulsion force FR2 greater than the
first propulsion force FR1.
[0090] As a result, in the example shown in FIG. 6B, the boat 1 can
be quickly moved to the right according to a request of the boat
operator during the second period after time t2.
[0091] The boat operator may want to move the boat 1 in the
right-forward direction (translational movement).
[0092] In such a case, the operation unit 11D (the tip of the lever
of the joystick) is moved from the position P1 to the position P3
as in the example shown in FIG. 4B.
[0093] The movement path calculation unit 14A calculates a movement
path P1.fwdarw.P3 of the tip of the lever of the joystick on the
basis of the position of the lever at the timing when the tip of
the lever of the joystick is positioned at the position P1 and the
position of the lever at the timing when the tip of the lever of
the joystick is positioned at the position P3.
[0094] The elapsed time calculation unit 14B calculates an elapsed
time period from a timing when the tip of the lever of the joystick
is moved from the position P1 to the position P3. Specifically, the
elapsed time calculation unit 14B calculates a time period while
the tip of the lever of the joystick is continuously positioned at
the position P3.
[0095] The propulsion force calculation unit 14C calculates a
propulsion force to be generated by the outboard motors 12 and 13
on the basis of the movement path P1.fwdarw.P3 of the tip of the
lever of the joystick calculated by the movement path calculation
unit 14A and the elapsed time period calculated by the elapsed time
calculation unit 14B (the time period while the tip of the lever of
the joystick is continuously positioned at the position P3).
Specifically, the propulsion force calculation unit 14C calculates
a magnitude of a propulsion force for moving the boat 1 in the
right-forward direction.
[0096] The outboard motor control device 14 causes the steering
actuators 12A2 and 13A2 and the propulsion units 12A1 and 13A1 to
generate a right-forward propulsion force of a magnitude calculated
by the propulsion force calculation unit 14C.
[0097] As a result, the boat 1 moves in the right-forward direction
(translational movement).
[0098] The boat operator may want to move the boat 1 to the right
(translational movement) and the boat 1 may also be affected by a
rearward force due to, for example, wind, tidal current, or the
like.
[0099] In such a case, the operation unit 11D (the tip of the lever
of the joystick) is first moved from the position P1 to the
position P2, as in the example shown in FIG. 4C. Because the boat 1
may be swept rearward by a rearward force due to wind, tidal
current, or the like, the operation unit 11D (the tip of the lever
of the joystick) is subsequently moved from the position P2 to the
position P3.
[0100] That is, in the example shown in FIG. 4C, the operation unit
11D (the tip of the lever of the joystick) is moved from the
position P1 to the position P3 via the position P2.
[0101] The movement path calculation unit 14A calculates a movement
path P1.fwdarw.P2.fwdarw.P3 of the tip of the lever of the joystick
on the basis of the position of the lever at the timing when the
tip of the lever of the joystick is positioned at the position P1,
the position of the lever at the timing when the tip of the lever
of the joystick is positioned at the position P2, and the position
of the lever at the timing when the tip of the lever of the
joystick is positioned at the position P3.
[0102] The elapsed time calculation unit 14B calculates an elapsed
time period from the timing when the tip of the lever of the
joystick is moved from the position P1 to the position P2 and an
elapsed time period from the timing when the tip of the lever of
the joystick is moved from the position P2 to the position P3.
Specifically, the elapsed time calculation unit 14B calculates a
time period while the tip of the lever of the joystick is
continuously positioned at the position P2 and a time period while
the tip of the lever of the joystick is continuously positioned at
the position P3.
[0103] The propulsion force calculation unit 14C calculates a
propulsion force to be generated by the outboard motors 12 and 13
on the basis of the movement path P1.fwdarw.P2.fwdarw.P3 of the tip
of the lever of the joystick calculated by the movement path
calculation unit 14A and the elapsed time period calculated by the
elapsed time calculation unit 14B (the time period for which the
tip of the lever of the joystick is continuously positioned at the
position P2 and the time period while the tip of the lever of the
joystick is continuously positioned at the position P3).
Specifically, the propulsion force calculation unit 14C calculates
a magnitude of a propulsion force (i.e., a right-forward propulsion
force) for moving the boat 1 to the right against the rearward
force due to, for example, wind, tidal current, or the like.
[0104] The outboard motor control device 14 causes the steering
actuators 12A2 and 13A2 and the propulsion units 12A1 and 13A1 to
generate the right-forward propulsion force of the magnitude
calculated by the propulsion force calculation unit 14C.
[0105] From intensive research, the inventors of the present
invention and the like have found that, if a magnitude of a
forward-rearward direction component of the right-forward
propulsion force generated by the outboard motors 12 and 13 when
the operation unit 11D (the tip of the lever of the joystick) is
moved from the position P1 to the position P3 via the position P2
(the example shown in FIG. 4C) is set to be equal to a magnitude of
a forward-rearward direction component of the right-forward
propulsion force generated by the outboard motors 12 and 13 when
the operation unit 11D (the tip of the lever of the joystick) is
directly moved from the position P1 to the position P3 (the example
shown in FIG. 4B), a magnitude of a forward-rearward direction
component of the propulsion force against a rearward force, for
example, due to wind, tidal current, or the like, may be not
sufficient and the boat 1 may be swept rearward without being moved
to the right (translational movement) according to a request of the
boat operator.
[0106] Therefore, in the example shown in FIG. 4C, the outboard
motor control device 14 causes the steering actuators 12A2 and 13A2
and the propulsion units 12A1 and 13A1 to generate a right-forward
propulsion force having a forward-rearward direction component
(specifically, a forward component) greater than that in the
example of FIG. 4B during the period when the operation unit 11D is
positioned at the position P3.
[0107] As a result, the boat 1 moves to the right (translational
movement) according to a request of the boat operator and against
the rearward force due to, for example, wind, tidal current, or the
like.
[0108] FIG. 7A-FIG. 7D are diagrams showing a comparison of a
propulsion force the outboard motor control device 14 causes the
outboard motors 12 and 13 to generate in a right-forward direction
in an example shown in FIG. 4B, a propulsion force the outboard
motor control device 14 causes the outboard motors 12 and 13 to
generate in the right-forward direction in an example shown in FIG.
4C, and the like.
[0109] FIG. 7A shows a right-forward propulsion force F11 the
outboard motor control device 14 causes the outboard motors 12 and
13 to generate (i.e., calculated by the propulsion force
calculation unit 14C) and a forward-rearward direction component
F11F and a left-right direction component F11R of the right-forward
propulsion force F11 when the operation unit 11D (the tip of the
lever of the joystick) is moved directly from the position P1 to
the position P3 (in the example shown in FIG. 4B
[0110] FIG. 7B shows a right-forward propulsion force F12 the
outboard motor control device 14 causes the outboard motors 12 and
13 to generate (i.e., calculated by the propulsion force
calculation unit 14C) and a forward-rearward direction component
F12F and a left-right direction component F12R of the right-forward
propulsion force F12 when the operation unit 11D (the tip of the
lever of the joystick) is moved from the position P1 to the
position P3 via the position P2 (in the example shown in FIG.
4C).
[0111] In the examples shown in FIG. 7A and FIG. 7B, the magnitude
of the left-right direction component F11R of the right-forward
propulsion force F11 and the magnitude of the left-right direction
component F12R of the right-forward propulsion force F12 are set to
be equal. Further, the forward-rearward direction component F12F of
the right-forward propulsion force F12 is set to be greater than
the forward-rearward direction component F11F of the right-forward
propulsion force F11. As a result, the right-forward propulsion
force F12 is also greater than the right-forward propulsion force
F11.
[0112] Accordingly, in the examples shown in FIG. 7A and FIG. 7B,
even if the boat 1 is affected by a rearward force during a period
in which the boat operator moves the operation unit 11D (the tip of
the lever of the joystick) from the position P1 to the position P2
and moves the boat 1 to the right, the boat operator moves the
operation unit 11D (the tip of the lever of the joystick) from the
position P2 to the position P3, so that the outboard motors 12 and
13 generate the right-forward propulsion force F12 in which the
forward-rearward direction component F12F is greater than the
forward-rearward direction component F11F. As a result, the boat
operator can move the boat 1 to the right without the boat 1 being
swept rearward.
[0113] FIG. 8A-FIG. 8B are diagrams showing an example of a
relationship between a rightward propulsion force (or the
left-right direction component of the right-forward propulsion
force) FR generated by the steering actuators 12A2 and 13A2 and the
propulsion units 12A1 and 13A1 and a timing (for example, time t11
when the tip of the lever of the joystick is moved from the
position P1 to the position P2 or the like) in the example shown in
FIG. 4C and the like. Specifically, FIG. 8A is a diagram showing an
example of a relationship between a rightward propulsion force (or
the left-right direction component of the right-forward propulsion
force) FR generated by the steering actuators 12A2 and 13A2 and the
propulsion units 12A1 and 13A1 and a timing (for example, time t11
when the tip of the lever of the joystick is moved from the
position P1 to the position P2 or the like) in the example shown in
FIG. 4C. The vertical axis in FIG. 8A represents the rightward
propulsion force (or the left-right direction component of the
right-forward propulsion force) FR generated by the steering
actuators 12A2 and 13A2 and the propulsion units 12A1 and 13A1.
[0114] The horizontal axis in FIG. 8A represents time t11 when the
tip of the lever of the joystick is moved from the position P1 to
the position P2 and the like.
[0115] In the example shown in FIG. 8A, during the first period
from time t11 when the tip of the lever of the joystick is moved
from the position P1 to the position P2 to time t12, the propulsion
force calculation unit 14C calculates the first propulsion force
FR1 as the rightward propulsion force FR the outboard motor control
device 14 causes the outboard motors 12 and 13 to generate. That
is, during the first period from time t11 to time t12, the outboard
motor control device 14 causes the outboard motors 12 and 13 to
generate the first propulsion force FR1.
[0116] Next, during the second period from time t12 to time t13,
the propulsion force calculation unit 14C calculates the second
propulsion force FR2 greater than the first propulsion force FR1 as
the rightward propulsion force FR the outboard motor control device
14 causes the outboard motors 12 and 13 to generate. That is,
during the second period from time t12 to time t13, the outboard
motor control device 14 causes the outboard motors 12 and 13 to
generate the second propulsion force FR2 greater than the first
propulsion force FR1.
[0117] In the example shown in FIG. 8A, the tip of the lever of the
joystick is moved from the position P2 to the position P3 at time
t13 during the second period. After time t13, the propulsion force
calculation unit 14C calculates the left-right direction component
F12R shown in (B) of FIG. 7 as the left-right direction component
FR of the right-forward propulsion force the outboard motor control
device 14 causes the outboard motors 12 and 13 to generate. That
is, after time t13, the outboard motor control device 14 causes the
outboard motors 12 and 13 to generate a right-forward propulsion
force F12 (see FIG. 7B) including the left-right direction
component F12R having the same magnitude as the second propulsion
force FR2.
[0118] In the examples shown in FIG. 7A and FIG. 7B, as described
above, a magnitude of the left-right direction component F11R of
the right-forward propulsion force F11 and a magnitude of the
left-right direction component F12R of the right-forward propulsion
force F12 are set to be equal. Further, the forward-rearward
direction component F12F of the right-forward propulsion force F12
is set to be greater than the forward-rearward direction component
F11F of the right-forward propulsion force F11.
[0119] In another example, a magnitude of the forward-rearward
direction component F12F of the right-forward propulsion force F12
and a magnitude of the forward-rearward direction component F11F of
the right-forward propulsion force F11 are set to be equal and the
left-right direction component F12R of the right-forward propulsion
force F12 is set to be less than the left-right direction component
F11R of the right-forward propulsion force F11. That is, in the
present example, the right-forward propulsion force F12 is less
than the right-forward propulsion force F11.
[0120] Accordingly, in the present example, even if the boat 1 is
affected by a rearward force during the period in which the boat
operator moves the operation unit 11D (the tip of the lever of the
joystick) from the position P1 to the position P2 and moves the
boat 1 to the right, the boat operator moves the operation unit 11D
(the tip of the lever of the joystick) from the position P2 to the
position P3, so that the outboard motors 12 and 13 generate the
right-forward propulsion force F12 in which the left-right
direction component F12R is less than the left-right direction
component F11R. As a result, in the present example, the boat
operator can also move the boat 1 to the right without the boat 1
being swept rearward.
[0121] FIG. 8B is a diagram showing an example of a relationship
between a rightward propulsion force (or the left-right direction
component of the right-forward propulsion force) FR generated by
the steering actuators 12A2 and 13A2 and the propulsion units 12A1
and 13A1 and a timing (for example, time t11 when the tip of the
lever of the joystick is moved from the position P1 to the position
P2 or the like) in the other example described above and the like.
The vertical axis in FIG. 8B shows the rightward propulsion force
(or the left-right direction component of the right-forward
propulsion force) FR generated by the steering actuators 12A2 and
13A2 and the propulsion units 12A1 and 13A1. The horizontal axis in
FIG. 8B shows time t11 when the tip of the lever of the joystick is
moved from the position P1 to the position P2 and the like.
[0122] In the example shown in FIG. 8B, the propulsion force
calculation unit 14C calculates the first propulsion force FR1 as
the rightward propulsion force FR the outboard motor control device
14 causes the outboard motors 12 and 13 to generate during the
period from time t11 when the tip of the lever of the joystick is
moved from the position P1 to the position P2 to time t12. That is,
during the period from time t11 to time t12, the outboard motor
control device 14 causes the outboard motors 12 and 13 to generate
the first propulsion force FR1.
[0123] Next, during the period from time t12 to time t13, the
propulsion force calculation unit 14C calculates the second
propulsion force FR2 greater than the first propulsion force FR1 as
the rightward propulsion force FR the outboard motor control device
14 causes the outboard motors 12 and 13 to generate. That is,
during the period from time t12 to time t13, the outboard motor
control device 14 causes the outboard motors 12 and 13 to generate
the second propulsion force FR2 greater than the first propulsion
force FR1.
[0124] In the example shown in FIG. 8B, the tip of the lever of the
joystick is moved from the position P2 to the position P3 at time
t13. During a period after time t13, the propulsion force
calculation unit 14C calculates the left-right direction component
F12R less than the left-right direction component F11R shown in
FIG. 7A as the left-right direction component FR of the
right-forward propulsion force the outboard motor control device 14
causes the outboard motors 12 and 13 to generate. That is, during a
period after time t13, the outboard motor control device 14 causes
the outboard motors 12 and 13 to generate a right-forward
propulsion force F12 including the left-right direction component
F12R less than the second propulsion force FR2.
[0125] Although the rightward propulsion force FR increases
stepwise at time t12 in the examples shown in FIG. 8A and FIG. 8B,
the rightward propulsion force FR may be increased linearly during
the first period as in the example shown in FIG. 6B in another
example.
[0126] When the boat is not affected by a force in the
forward-rearward direction due to, for example, wind, tidal
current, or the like, the boat operator may switch the direction of
the boat 1 moving to the right (translational movement) from the
right direction to the right-forward direction.
[0127] In such a case, the operation unit 11D (the tip of the lever
of the joystick) is first moved from the position P1 to the
position P2, as in the example shown in FIG. 4C. The operation unit
11D (the tip of the lever of the joystick) is subsequently moved
from the position P2 to the position P3 so that the direction of
the boat 1 moving to the right is switched from the right direction
to the right-forward direction.
[0128] That is, in the example shown in FIG. 4C, the operation unit
11D (the tip of the lever of the joystick) is moved from the
position P1 to the position P3 via the position P2.
[0129] The movement path calculation unit 14A calculates a movement
path P1.fwdarw.P2.fwdarw.P3 of the tip of the lever of the joystick
on the basis of the position of the lever at the timing when the
tip of the lever of the joystick is positioned at the position P1,
the position of the lever at the timing when the tip of the lever
of the joystick is positioned at the position P2, and the position
of the lever at the timing when the tip of the lever of the
joystick is positioned at the position P3.
[0130] The elapsed time calculation unit 14B calculates an elapsed
time period from the timing when the tip of the lever of the
joystick is moved from the position P1 to the position P2 and an
elapsed time period from the timing when the tip of the lever of
the joystick is moved from the position P2 to the position P3.
Specifically, the elapsed time calculation unit 14B calculates a
time period while the tip of the lever of the joystick is
continuously positioned at the position P2 and a time period while
the tip of the lever of the joystick is continuously positioned at
the position P3.
[0131] The propulsion force calculation unit 14C calculates a
propulsion force to be generated by the outboard motors 12 and 13
on the basis of the movement path P1.fwdarw.P2.fwdarw.P3 of the tip
of the lever of the joystick calculated by the movement path
calculation unit 14A and the elapsed time period calculated by the
elapsed time calculation unit 14B (the time period while the tip of
the lever of the joystick is continuously positioned at the
position P2 and the time period while the tip of the lever of the
joystick is continuously positioned at the position P3).
Specifically, the propulsion force calculation unit 14C calculates
a magnitude of a propulsion force (i.e., a right-forward propulsion
force) for switching the direction of the boat 1 moving to the
right from the right direction to the right-forward direction.
[0132] The outboard motor control device 14 causes the steering
actuators 12A2 and 13A2 and the propulsion units 12A1 and 13A1 to
generate a right-forward propulsion force of a magnitude calculated
by the propulsion force calculation unit 14C.
[0133] From intensive research, the inventors of the present
invention and the like have found that, because a rightward
inertial force is generated in the boat 1 moving to the right, the
boat operator may feel that a response operation of the boat 1 to a
correction operation of the boat operator is slow (i.e., a
changeover of the direction of the boat 1 from the right direction
to the right-forward direction is slow) if a magnitude of a
forward-rearward direction component of the right-forward
propulsion force generated by the outboard motors 12 and 13 when
the operation unit 11D (the tip of the lever of the joystick) is
moved from the position P1 to the position P3 via the position P2
(the example shown in FIG. 4C) is set to be equal to a magnitude of
a forward-rearward direction component of the right-forward
propulsion force generated by the outboard motors 12 and 13 when
the operation unit 11D (the tip of the lever of the joystick) is
directly moved from the position P1 to the position P3 (the example
shown in FIG. 4B).
[0134] Therefore, in the example shown in FIG. 4C, the outboard
motor control device 14 causes the steering actuators 12A2 and 13A2
and the propulsion units 12A1 and 13A1 to generate a right-forward
propulsion force FR12 having a forward-rearward direction component
greater than that in the example of FIG. 4B(specifically, in which
the forward component F12F is greater than the forward component
F11F) during the period when the operation unit 11D is positioned
at the position P3. As a result, the direction of the boat 1 can be
quickly switched from the right direction to the right-forward
direction according to a request of the boat operator.
[0135] In another example, the outboard motor control device 14
causes the steering actuators 12A2 and 13A2 and the propulsion
units 12A1 and 13A1 to generate a right-forward propulsion force
FR12 having a left-right direction component less than that in the
example of FIG. 4B (specifically, in which the forward component
F12F is equal to the forward component F11F and the rightward
component F12R is less than the rightward component F11R). As a
result, in the present example, the direction of the boat 1 can
also be quickly switched from the right direction to the
right-forward direction according to a request of the boat
operator.
[0136] Incidentally, if the control as shown in FIG. 8B is
performed when a time period from time t12 to time t13 in FIG. 8B
described above is short, the rightward propulsion force FR
increases from the first propulsion force FR1 to the second
propulsion force FR2 within a short time period (from t12 to t13)
even though the boat operator does not intend to increase or
decrease the rightward propulsion force (or the left-right
direction component of the right-forward propulsion force) FR, and
then the left-right direction component FR of the right-forward
propulsion force decreases from the second propulsion force FR2 to
the left-right direction component F12R.
[0137] Therefore, in the boat 1 of the first embodiment, when the
time period (from t12 to t13) from time t12 to time t13 in FIG. 8A
and FIG. 8B is short (when the time period from time t12 to time
t13 is less than a threshold value TH1), the outboard motor control
device 14 prohibits the control as shown in FIG. 8B from being
performed and executes the control as shown in FIG. 8A.
[0138] That is, when the time period from time t12 to time t13 is
less than the threshold value TH1, the outboard motor control
device 14 prohibits the outboard motors 12 and 13 from generating
the right-forward propulsion force F12 by decreasing the rightward
propulsion force (or the left-right direction component of the
right-forward propulsion force) FR from the second propulsion force
FR2 to the left-right direction component F12R at time t13 as shown
in FIG. 8B.
[0139] Thus, in the boat 1 of the first embodiment, it is possible
to restrict the rightward propulsion force (or the left-right
direction component of the right-forward propulsion force) FR from
increasing or decreasing within the short time period (t12 to t13)
even though the boat operator does not intend to increase or
decrease the rightward propulsion force (or the left-right
direction component of the right-forward propulsion force) FR.
[0140] Also, in the boat 1 of the first embodiment, when the time
period (t12 to t13) from time t12 to time t13 in FIG. 8A and FIG.
8B is long (the time period from time t12 to time t13 is greater
than or equal to the threshold value TH1), the outboard motor
control device 14 allows the control as shown in FIG. 8B to be
performed and executes either the control as shown in FIG. 8A or
the control as shown in FIG. 8B.
[0141] That is, when the time period from time t12 to time t13 is
greater than or equal to the threshold value TH1, the outboard
motor control device 14 allows the outboard motors 12 and 13 to
generate the right-forward propulsion force F12 by decreasing the
rightward propulsion force (or the left-right direction component
of the right-forward propulsion force) FR from the second
propulsion force FR2 to the left-right direction component F12R at
time t13 as shown in FIG. 8B.
[0142] Also, the boat operator may want to move the boat 1 in the
right-rearward direction (translational movement).
[0143] In such a case, the operation unit 11D (the tip of the lever
of the joystick) is moved from the position P1 to the position P4
as in the example shown in FIG. 4D.
[0144] The movement path calculation unit 14A calculates a movement
path P1.fwdarw.P4 of the tip of the lever of the joystick on the
basis of the position of the lever at the timing when the tip of
the lever of the joystick is positioned at the position P1 and the
position of the lever at the timing when the tip of the lever of
the joystick is positioned at the position P4.
[0145] The elapsed time calculation unit 14B calculates an elapsed
time period from a timing when the tip of the lever of the joystick
is moved from the position P1 to the position P4. Specifically, the
elapsed time calculation unit 14B calculates a time period while
the tip of the lever of the joystick is continuously positioned at
the position P4.
[0146] The propulsion force calculation unit 14C calculates a
propulsion force to be generated by the outboard motors 12 and 13
on the basis of the movement path P1.fwdarw.P4 of the tip of the
lever of the joystick calculated by the movement path calculation
unit 14A and the elapsed time period calculated by the elapsed time
calculation unit 14B (the time period while the tip of the lever of
the joystick is continuously positioned at the position P4).
Specifically, the propulsion force calculation unit 14C calculates
a magnitude of a propulsion force for moving the boat 1 in the
right-rearward direction.
[0147] The outboard motor control device 14 causes the steering
actuators 12A2 and 13A2 and the propulsion units 12A1 and 13A1 to
generate a right-rearward propulsion force of the magnitude
calculated by the propulsion force calculation unit 14C.
[0148] As a result, the boat 1 moves in the right-rearward
direction (translational movement).
[0149] The boat operator may want to move the boat 1 to the right
(translational movement) and the boat 1 may be affected by a
forward force due to, for example, wind, tidal current, or the
like.
[0150] In such a case, the operation unit 11D (the tip of the lever
of the joystick) is first moved from the position P1 to the
position P2, as in the example shown in FIG. 4E. Because the boat 1
may be swept forward by a forward force due to wind, tidal current,
or the like, the operation unit 11D (the tip of the lever of the
joystick) is subsequently moved from the position P2 to the
position P4.
[0151] That is, in the example shown in FIG. 4E, the operation unit
11D (the tip of the lever of the joystick) is moved from the
position P1 to the position P4 via the position P2.
[0152] The movement path calculation unit 14A calculates a movement
path P1.fwdarw.P2.fwdarw.P4 of the tip of the lever of the joystick
on the basis of the position of the lever at the timing when the
tip of the lever of the joystick is positioned at the position P1,
the position of the lever at the timing when the tip of the lever
of the joystick is positioned at the position P2, and the position
of the lever at the timing when the tip of the lever of the
joystick is positioned at the position P4.
[0153] The elapsed time calculation unit 14B calculates an elapsed
time period from the timing when the tip of the lever of the
joystick is moved from the position P1 to the position P2 and an
elapsed time period from the timing when the tip of the lever of
the joystick is moved from the position P2 to the position P4.
Specifically, the elapsed time calculation unit 14B calculates a
time period while the tip of the lever of the joystick is
continuously positioned at the position P2 and a time period while
the tip of the lever of the joystick is continuously positioned at
the position P4.
[0154] The propulsion force calculation unit 14C calculates a
propulsion force to be generated by the outboard motors 12 and 13
on the basis of the movement path P1.fwdarw.P2.fwdarw.P4 of the tip
of the lever of the joystick calculated by the movement path
calculation unit 14A and the elapsed time period calculated by the
elapsed time calculation unit 14B (the time period while the tip of
the lever of the joystick is continuously positioned at the
position P2 and the time period while the tip of the lever of the
joystick is continuously positioned at the position P4).
Specifically, the propulsion force calculation unit 14C calculates
a magnitude of a propulsion force (i.e., a right-rearward
propulsion force) for moving the boat 1 to the right against the
forward force due to, for example, wind, tidal current, or the
like.
[0155] The outboard motor control device 14 causes the steering
actuators 12A2 and 13A2 and the propulsion units 12A1 and 13A1 to
generate a right-rearward propulsion force of the magnitude
calculated by the propulsion force calculation unit 14C.
[0156] In the example shown in FIG. 4E, the outboard motor control
device 14 causes the steering actuators 12A2 and 13A2 and the
propulsion units 12A1 and 13A1 to generate a right-rearward
propulsion force having a forward-rearward direction component
(specifically, a rearward component) greater than that in the
example of FIG. 4D during the period when the operation unit 11D is
positioned at the position P4.
[0157] As a result, the boat 1 moves to the right (translational
movement) according to a request of the boat operator and against
the forward force due to, for example, wind, tidal current, or the
like.
[0158] FIG. 7C shows a right-rearward propulsion force F21 the
outboard motor control device 14 causes the outboard motors 12 and
13 to generate (i.e., calculated by the propulsion force
calculation unit 14C) and a forward-rearward direction component
F21B and a left-right direction component F21R of the
right-rearward propulsion force F21 when the operation unit 11D
(the tip of the lever of the joystick) is moved directly from the
position P1 to the position P4 (in the example shown in FIG.
4D).
[0159] FIG. 7D shows a right-rearward propulsion force F22 the
outboard motor control device 14 causes the outboard motors 12 and
13 to generate (i.e., calculated by the propulsion force
calculation unit 14C) and a forward-rearward direction component
F22B and a left-right direction component F22R of the
right-rearward propulsion force F22 when the operation unit 11D
(the tip of the lever of the joystick) is moved from the position
P1 to the position P4 via the position P2 (in the example shown in
FIG. 4E).
[0160] In the examples shown in FIG. 7C and FIG. 7D, the magnitude
of the left-right direction component F21R of the right-rearward
propulsion force F21 and the magnitude of the left-right direction
component F22R of the right-rearward propulsion force F22 are set
to be equal. Further, the forward-rearward direction component F22B
of the right-rearward propulsion force F22 is set to be greater
than the forward-rearward direction component F21B of the
right-rearward propulsion force F21. As a result, the
right-rearward propulsion force F22 is also greater than the
right-rearward propulsion force F21.
[0161] Accordingly, in the examples shown in FIG. 7C and FIG. 7D,
even if the boat 1 is affected by a forward force during a period
in which the boat operator moves the operation unit 11D (the tip of
the lever of the joystick) from the position P1 to the position P2
and moves the boat 1 to the right, the boat operator moves the
operation unit 11D (the tip of the lever of the joystick) from the
position P2 to the position P4, so that the outboard motors 12 and
13 generate the right-rearward propulsion force F22 in which the
forward-rearward direction component F22B is greater than the
forward-rearward direction component F21B. As a result, the boat
operator can move the boat 1 to the right without the boat 1 being
swept forward.
[0162] FIG. 9A-FIG. 9B are diagrams showing an example of a
relationship between a rightward propulsion force (or the
left-right direction component of the right-rearward propulsion
force) FR generated by the steering actuators 12A2 and 13A2 and the
propulsion units 12A1 and 13A1 and a timing (for example, time t21
when the tip of the lever of the joystick is moved from the
position P1 to the position P2 or the like) in the example shown in
FIG. 4E and the like. Specifically, FIG. 9A is a diagram showing an
example of a relationship between a rightward propulsion force (or
the left-right direction component of the right-rearward propulsion
force) FR generated by the steering actuators 12A2 and 13A2 and the
propulsion units 12A1 and 13A1 and a timing (for example, time t21
when the tip of the lever of the joystick is moved from the
position P1 to the position P2 or the like) in the example shown in
FIG. 4E. The vertical axis in FIG. 9A represents the rightward
propulsion force (or the left-right direction component of the
right-rearward propulsion force) FR generated by the steering
actuators 12A2 and 13A2 and the propulsion units 12A1 and 13A1. The
horizontal axis in FIG. 9A represents time t21 when the tip of the
lever of the joystick is moved from the position P1 to the position
P2 and the like.
[0163] In the example shown in FIG. 9A, during the first period
from time t21 when the tip of the lever of the joystick is moved
from the position P1 to the position P2 to time t22, the propulsion
force calculation unit 14C calculates the first propulsion force
FR1 as the rightward propulsion force FR the outboard motor control
device 14 causes the outboard motors 12 and 13 to generate. That
is, during the first period from time t21 to time t22, the outboard
motor control device 14 causes the outboard motors 12 and 13 to
generate the first propulsion force FR1.
[0164] Next, during the second period from time t22 to time t23,
the propulsion force calculation unit 14C calculates the second
propulsion force FR2 greater than the first propulsion force FR1 as
the rightward propulsion force FR the outboard motor control device
14 causes the outboard motors 12 and 13 to generate. That is,
during the second period from time t22 to time t23, the outboard
motor control device 14 causes the outboard motors 12 and 13 to
generate the second propulsion force FR2 greater than the first
propulsion force FR1.
[0165] In the example shown in FIG. 9A, the tip of the lever of the
joystick is moved from the position P2 to the position P4 at time
t23 during the second period. After time t23, the propulsion force
calculation unit 14C calculates the left-right direction component
F22R shown in FIG. 7D as the left-right direction component FR of
the right-rearward propulsion force the outboard motor control
device 14 causes the outboard motors 12 and 13 to generate. That
is, after time t23, the outboard motor control device 14 causes the
outboard motors 12 and 13 to generate a right-rearward propulsion
force F22 (see (D) of FIG. 7) including the left-right direction
component F22R having the same magnitude as the second propulsion
force FR2.
[0166] In the examples shown in FIG. 7C and FIG. 7D, as described
above, a magnitude of the left-right direction component F21R of
the right-rearward propulsion force F21 and a magnitude of the
left-right direction component F22R of the right-rearward
propulsion force F22 are set to be equal. Further, the
forward-rearward direction component F22B of the right-rearward
propulsion force F22 is set to be greater than the forward-rearward
direction component F21B of the right-rearward propulsion force
F21.
[0167] In another example, a magnitude of the forward-rearward
direction component F22B of the right-rearward propulsion force F22
and a magnitude of the forward-rearward direction component F21B of
the right-rearward propulsion force F21 are set to be equal, and
the left-right direction component F22R of the right-rearward
propulsion force F22 is set to be less than the left-right
direction component F21R of the right-rearward propulsion force
F21. That is, in the present example, the right-rearward propulsion
force F22 is less than the right-rearward propulsion force F21.
[0168] Accordingly, in the present example, even if the boat 1 is
affected by a forward force during the period in which the boat
operator moves the operation unit 11D (the tip of the lever of the
joystick) from the position P1 to the position P2, and moves the
boat 1 to the right, the boat operator moves the operation unit 11D
(the tip of the lever of the joystick) from the position P2 to the
position P4, so that the outboard motors 12 and 13 generates the
right-rearward propulsion force F22 in which the left-right
direction component F22R is less than the left-right direction
component F21R. As a result, in the present example, the boat
operator can also move the boat 1 to the right without the boat 1
being swept forward.
[0169] FIG. 9B is a diagram showing an example of a relationship
between a rightward propulsion force (or the left-right direction
component of the right-rearward propulsion force) FR generated by
the steering actuators 12A2 and 13A2 and the propulsion units 12A1
and 13A1 and a timing (for example, time t21 when the tip of the
lever of the joystick is moved from the position P1 to the position
P2 or the like) in the other example described above and the like.
The vertical axis in FIG. 9B shows the rightward propulsion force
(or the left-right direction component of the right-rearward
propulsion force) FR generated by the steering actuators 12A2 and
13A2 and the propulsion units 12A1 and 13A1. The horizontal axis in
FIG. 9B shows time t21 when the tip of the lever of the joystick is
moved from the position P1 to the position P2 and the like.
[0170] In the example shown in FIG. 9B, the propulsion force
calculation unit 14C calculates the first propulsion force FR1 as
the rightward propulsion force FR the outboard motor control device
14 causes the outboard motors 12 and 13 to generate during the
period from time t21 when the tip of the lever of the joystick is
moved from the position P1 to the position P2 to time t22. That is,
during the period from time t21 to time t22, the outboard motor
control device 14 causes the outboard motors 12 and 13 to generate
the first propulsion force FR1.
[0171] Next, during the period from time t22 to time t23, the
propulsion force calculation unit 14C calculates the second
propulsion force FR2 greater than the first propulsion force FR1 as
the rightward propulsion force FR the outboard motor control device
14 causes the outboard motors 12 and 13 to generate. That is,
during the period from time t22 to time t23, the outboard motor
control device 14 causes the outboard motors 12 and 13 to generate
the second propulsion force FR2 greater than the first propulsion
force FR1.
[0172] In the example shown in FIG. 9B, the tip of the lever of the
joystick is moved from the position P2 to the position P4 at time
t23. During the period after time t23, the propulsion force
calculation unit 14C calculates the left-right direction component
F22R less than the left-right direction component F21R shown in
FIG. 7C as the left-right direction component FR of the
right-rearward propulsion force the outboard motor control device
14 causes the outboard motors 12 and 13 to generate. That is,
during the period after time t23, the outboard motor control device
14 causes the outboard motors 12 and 13 to generate the
right-rearward propulsion force F22 including the left-right
direction component F22R less than the second propulsion force
FR2.
[0173] Although the rightward propulsion force FR increases
stepwise at time t22 in the examples shown in FIG. 9A and FIG. 9B,
the rightward propulsion force FR may be increased linearly during
the first period as in the example shown in FIG. 6B in another
example.
[0174] When the boat is not affected by a force in the
forward-rearward direction due to, for example, wind, tidal
current, or the like, the boat operator may switch the direction of
the boat 1 moving to the right (translational movement) from the
right direction to the right-rearward direction.
[0175] In such a case, the operation unit 11D (the tip of the lever
of the joystick) is first moved from the position P1 to the
position P2, as in the example shown in FIG. 4E. The operation unit
11D (the tip of the lever of the joystick) is subsequently moved
from the position P2 to the position P4 so that the direction of
the boat 1 moving to the right is switched from the right direction
to the right-rearward direction.
[0176] That is, in the example shown in FIG. 4E, the operation unit
11D (the tip of the lever of the joystick) is moved from the
position P1 to the position P4 via the position P2.
[0177] The movement path calculation unit 14A calculates a movement
path P1.fwdarw.P2.fwdarw.P4 of the tip of the lever of the joystick
on the basis of the position of the lever at the timing when the
tip of the lever of the joystick is positioned at the position P1,
the position of the lever at the timing when the tip of the lever
of the joystick is positioned at the position P2, and the position
of the lever at the timing when the tip of the lever of the
joystick is positioned at the position P4.
[0178] The elapsed time calculation unit 14B calculates an elapsed
time period from the timing when the tip of the lever of the
joystick is moved from the position P1 to the position P2 and an
elapsed time period from the timing when the tip of the lever of
the joystick is moved from the position P2 to the position P4.
Specifically, the elapsed time calculation unit 14B calculates a
time period while the tip of the lever of the joystick is
continuously positioned at the position P2 and a time period while
the tip of the lever of the joystick is continuously positioned at
the position P4.
[0179] The propulsion force calculation unit 14C calculates a
propulsion force to be generated by the outboard motors 12 and 13
on the basis of the movement path P1.fwdarw.P2.fwdarw.P4 of the tip
of the lever of the joystick calculated by the movement path
calculation unit 14A and the elapsed time period calculated by the
elapsed time calculation unit 14B (the time period while the tip of
the lever of the joystick is continuously positioned at the
position P2 and the time period while the tip of the lever of the
joystick is continuously positioned at the position P4).
Specifically, the propulsion force calculation unit 14C calculates
a magnitude of a propulsion force (i.e., a right-rearward
propulsion force) for switching the direction of the boat 1 moving
to the right from the right direction to the right-rearward
direction.
[0180] The outboard motor control device 14 causes the steering
actuators 12A2 and 13A2 and the propulsion units 12A1 and 13A1 to
generate a right-rearward propulsion force of the magnitude
calculated by the propulsion force calculation unit 14C.
[0181] Therefore, in the example shown in FIG. 4E, the outboard
motor control device 14 causes the steering actuators 12A2 and 13A2
and the propulsion units 12A1 and 13A1 to generate a right-rearward
propulsion force FR22 having a forward-rearward direction component
greater than that in the example of FIG. 4D (specifically, in which
the rearward component F22B is greater than the rearward component
F21B) during the period when the operation unit 11D is positioned
at the position P4. As a result, the direction of the boat 1 can be
quickly switched from the right direction to the right-rearward
direction according to a request of the boat operator.
[0182] In another example, the outboard motor control device 14
causes the steering actuators 12A2 and 13A2 and the propulsion
units 12A1 and 13A1 to generate a right-rearward propulsion force
FR22 having a left-right direction component less than that in the
example of FIG. 4D (specifically, in which the rearward component
F22B is equal to the rearward component F21B and the rightward
component F22R is less than the rightward component F21R). As a
result, in the present example, the direction of the boat 1 can
also be quickly switched from the right direction to the
right-rearward direction according to a request of the boat
operator.
[0183] In the boat 1 of the first embodiment, when the time period
(t22 to t23) from time t22 to time t23 in FIG. 9A and FIG. 9B is
short (the time period from time t22 to time t23 is less than the
threshold value TH1), the outboard motor control device 14
prohibits the control as shown in FIG. 9B from being performed and
executes the control as shown in FIG. 9A.
[0184] That is, when the time period from time t22 to time t23 is
less than the threshold value TH1, the outboard motor control
device 14 prohibits the outboard motors 12 and 13 from generating
the right-rearward propulsion force F22 by decreasing the rightward
propulsion force (or the left-right direction component of the
right-rearward propulsion force) FR from the second propulsion
force FR2 to the left-right direction component F22R at time t23 as
shown in FIG. 9B.
[0185] Thus, in the boat 1 of the first embodiment, it is possible
to restrict the rightward propulsion force (or the left-right
direction component of the right-rearward propulsion force) FR from
increasing or decreasing within the short time period (t22 to t23)
even though the boat operator does not intend to increase or
decrease the rightward propulsion force (or the left-right
direction component of the right-rearward propulsion force) FR.
[0186] Also, in the boat 1 of the first embodiment, when the time
period (t22 to t23) from time t22 to time t23 in FIG. 9A and FIG.
9B is long (the time period from time t22 to time t23 is greater
than or equal to the threshold value TH1), the outboard motor
control device 14 allows the control as shown in FIG. 9B to be
performed and executes either the control as shown in FIG. 9A or
the control as shown in FIG. 9B.
[0187] That is, when the time period from time t22 to time t23 is
greater than or equal to the threshold value TH1, the outboard
motor control device 14 allows the outboard motors 12 and 13 to
generate the right-rearward propulsion force F22 by decreasing the
rightward propulsion force (or the left-right direction component
of the right-rearward propulsion force) FR from the second
propulsion force FR2 to the left-right direction component F22R at
time t23 as shown in FIG. 9B.
[0188] The boat operator may want to move the boat 1 to the left
(translational movement).
[0189] In such a case, the operation unit 11D (specifically, the
tip of the lever of the joystick) is moved from the position P1 to
the position P5 and maintained at the position P5 as in the example
shown in FIG. 5A.
[0190] The movement path calculation unit 14A calculates a movement
path P1.fwdarw.P5 of the tip of the lever of the joystick on the
basis of the position of the lever at the timing when the tip of
the lever of the joystick is positioned at the position P1 and the
position of the lever at the timing when the tip of the lever of
the joystick is positioned at the position P5.
[0191] The elapsed time calculation unit 14B calculates an elapsed
time period from time t31 (see FIG. 10) when the tip of the lever
of the joystick is moved from the position P1 to the position P5.
Specifically, the elapsed time calculation unit 14B calculates a
time period while the tip of the lever of the joystick is
continuously positioned at the position P5.
[0192] The propulsion force calculation unit 14C calculates a
leftward propulsion force FL to be generated by the outboard motors
12 and 13 on the basis of the movement path P1.fwdarw.P5 of the tip
of the lever of the joystick calculated by the movement path
calculation unit 14A and the elapsed time period calculated by the
elapsed time calculation unit 14B (the time period while the tip of
the lever of the joystick is continuously positioned at the
position P5). Specifically, the propulsion force calculation unit
14C calculates a magnitude of a propulsion force for moving the
boat 1 to the left.
[0193] FIG. 10 is a diagram showing a relationship between a
leftward propulsion force FL generated by the steering actuators
12A2 and 13A2 and the propulsion units 12A1 and 13A1 and a timing
(for example, time t31 when the tip of the lever of the joystick is
moved from the position P1 to the position P5 or the like). The
vertical axes in FIG. 10A and FIG. 10B represent the leftward
propulsion force FL generated by the steering actuators 12A2 and
13A2 and the propulsion units 12A1 and 13A1. The horizontal axes in
FIG. 10A and FIG. 10B represent time t31 when the tip of the lever
of the joystick is moved from the position P1 to the position P5 or
the like.
[0194] In the example shown in FIG. 10A, during the first period
from time t31 when the tip of the lever of the joystick is moved
from the position P1 to the position P5 to time t32, the propulsion
force calculation unit 14C calculates a first propulsion force FL1
as the leftward propulsion force FL the outboard motor control
device 14 causes the outboard motors 12 and 13 to generate. That
is, during the first period from time t31 to time t32, the outboard
motor control device 14 causes the outboard motors 12 and 13 to
generate the first propulsion force FL1.
[0195] Specifically, the outboard motor control device 14 causes
the outboard motors 12 and 13 to generate the first propulsion
force FL1 less than a second propulsion force FL2 to be described
below using the propulsion force calculation unit 14C so that the
front portion 111 of the hull 11 starts to move leftward without
the start of the movement of the front portion 111 of the hull 11
being later than the start of the movement of the rear portion 112
of the hull 11 during the first period from time t31 to time
t32.
[0196] As a result, in the example shown in FIG. 10A, it is
possible to restrict the front portion 111 of the hull 11 from
starting to move later than the rear portion 112 of the hull 11 at
time t31 and it is possible to restrict the boat 1 from turning to
the right during the first period from time t31 to time t32.
[0197] In the example shown in FIG. 10A, subsequently, during a
second period after time t32, the propulsion force calculation unit
14C calculates the second propulsion force FL2 greater than the
first propulsion force FL1 as the leftward propulsion force FL the
outboard motor control device 14 causes the outboard motors 12 and
13 to generate. That is, during the second period after time t32,
the outboard motor control device 14 causes the outboard motors 12
and 13 to generate the second propulsion force FL2 greater than the
first propulsion force FL1.
[0198] As a result, in the example shown in FIG. 10A, the boat 1
can be quickly moved to the left according to a request of the boat
operator during the second period after the time t32.
[0199] In the example shown in FIG. 10B, during the first period
from time t31 when the tip of the lever of the joystick is moved
from the position P1 to the position P5 to time t32, the propulsion
force calculation unit 14C calculates the first propulsion force
FL1 (the first propulsion force FL1 is greater than or equal to a
value FL1A and less than the second propulsion force FL2) as a
leftward propulsion force FL the outboard motor control device 14
causes the outboard motors 12 and 13 to generate. That is, during
the first period from time t31 to time t32, the outboard motor
control device 14 causes the outboard motors 12 and 13 to generate
the first propulsion force FL1.
[0200] Specifically, the outboard motor control device 14 causes
the outboard motors 12 and 13 to generate the first propulsion
force FL1 less than the second propulsion force FL2 using the
propulsion force calculation unit 14C so that the front portion 111
of the hull 11 starts to move leftward without the start of the
movement of the front portion 111 of the hull 11 being later than
the start of the movement of the rear portion 112 of the hull 11
during the first period from time t31 to time t32.
[0201] As a result, in the example shown in FIG. 10B, it is
possible to restrict the front portion 111 of the hull 11 from
starting to move later than the rear portion 112 of the hull 11 at
time t31 and it is possible to restrict the boat 1 from turning to
the right during the first time period from time t31 to time
t32.
[0202] In the example shown in FIG. 10B, subsequently, during a
second period after time t32, the propulsion force calculation unit
14C calculates the second propulsion force FL2 greater than the
first propulsion force FL1 as the leftward propulsion force FL the
outboard motor control device 14 causes the outboard motors 12 and
13 to generate. That is, during the second period from time t32,
the outboard motor control device 14 causes the outboard motors 12
and 13 to generate the second propulsion force FL2 greater than the
first propulsion force FL1.
[0203] As a result, in the example shown in FIG. 10B, the boat 1
can be quickly moved to the left according to a request of the boat
operator during the second period after time t32.
[0204] The boat operator may want to move the boat 1 in the
left-forward direction (translational movement).
[0205] In such a case, the operation unit 11D (the tip of the lever
of the joystick) is moved from the position P1 to the position P6
as in the example shown in FIG. 5B
[0206] The outboard motor control device 14 executes control in
which control executed when the operation unit 11D (the tip of the
lever of the joystick) is moved from the position P1 to the
position P3 is reversed left and right.
[0207] As a result, the boat 1 moves in the left-forward direction
(translational movement).
[0208] The boat operator may want to move the boat 1 to the left
(translational movement) and the boat 1 may also be affected by a
rearward force due to, for example, wind, tidal current, or the
like.
[0209] In such a case, the operation unit 11D (the tip of the lever
of the joystick) is first moved from the position P1 to the
position P5, as in the example shown in FIG. 5C. Because the boat 1
may be swept rearward by a rearward force due to wind, tidal
current, or the like, the operation unit 11D (the tip of the lever
of the joystick) is subsequently moved from the position P5 to the
position P6.
[0210] That is, in the example shown in FIG. 5C, the operation unit
11D (the tip of the lever of the joystick) is moved from the
position P1 to the position P6 via the position P5.
[0211] The outboard motor control device 14 executes control in
which the control executed when the operation unit 11D (the tip of
the lever of the joystick) is moved from the position P1 to the
position P3 via the position P2 is reversed left and right.
[0212] As a result, the boat 1 moves to the left (translational
movement) according to a request of the boat operator and against
the rearward force due to, for example, wind, tidal current, or the
like.
[0213] When the boat is not affected by a force in the
forward-rearward direction due to, for example, wind, tidal
current, or the like, the boat operator may switch the direction of
the boat 1 moving to the left (translational movement) from the
left direction to the left-forward direction.
[0214] In such a case, the operation unit 11D (the tip of the lever
of the joystick) is first moved from the position P1 to the
position P5, as shown in the example shown in FIG. 5C. The
operation unit 11D (the tip of the lever of the joystick) is
subsequently moved from the position P5 to the position P6 so that
the direction of the boat 1 moving to the left is switched from the
left direction to the left-forward direction.
[0215] That is, in the example shown in FIG. 5C, the operation unit
11D (the tip of the lever of the joystick) is moved from the
position P1 to the position P6 via the position P5.
[0216] The outboard motor control device 14 executes control in
which the control executed when the operation unit 11D (the tip of
the lever of the joystick) is moved from the position P1 to the
position P3 via the position P2 is reversed left and right.
[0217] As a result, the direction of the boat 1 can be quickly
switched from the left direction to the left-forward direction
according to a request of the boat operator.
[0218] Also, the boat operator may want to move the boat 1 in the
left-rearward direction (translational movement).
[0219] In such a case, the operation unit 11D (the tip of the lever
of the joystick) is moved from the position P1 to the position P7
as in the example shown in FIG. 5D.
[0220] The outboard motor control device 14 executes control in
which the control executed when the operation unit 11D (the tip of
the lever of the joystick) is moved from the position P1 to the
position P4 is reversed left and right.
[0221] As a result, the boat 1 moves in the left-rearward direction
(translational movement).
[0222] The boat operator may want to move the boat 1 to the left
(translational movement) and the boat 1 may also be affected by a
forward force due to, for example, wind, tidal current, or the
like.
[0223] In such a case, the operation unit 11D (the tip of the lever
of the joystick) is first moved from the position P1 to the
position P5, as in the example shown in FIG. 5E. Because the boat 1
may be swept forward by a forward force due to wind, tidal current,
or the like, the operation unit 11D (the tip of the lever of the
joystick) is subsequently moved from the position P5 to the
position P7.
[0224] That is, in the example shown in FIG. 5E, the operation unit
11D (the tip of the lever of the joystick) is moved from the
position P1 to the position P7 via the position P5.
[0225] The outboard motor control device 14 executes control in
which the control executed when the operation unit 11D (the tip of
the lever of the joystick) is moved from the position P1 to the
position P4 via the position P2 is reversed left and right.
[0226] As a result, the boat 1 moves to the left (translational
movement) according to a request of the boat operator and against
the forward force due to, for example, wind, tidal current, or the
like.
[0227] When the boat is not affected by a force in the
forward-rearward direction due to, for example, wind, tidal
current, or the like, the boat operator may switch the direction of
the boat 1 moving to the left (translational movement) from the
left direction to the left-rearward direction.
[0228] In such a case, the operation unit 11D (the tip of the lever
of the joystick) is first moved from the position P1 to the
position P5, as in the example shown in FIG. 5E. The operation unit
11D (the tip of the lever of the joystick) is subsequently moved
from the position P5 to the position P7 so that the direction of
the boat 1 moving to the left is switched from the left direction
to the left-rearward direction.
[0229] That is, in the example shown in FIG. 5E, the operation unit
11D (the tip of the lever of the joystick) is moved from the
position P1 to the position P7 via the position P5.
[0230] The outboard motor control device 14 executes control in
which the control executed when the operation unit 11D (the tip of
the lever of the joystick) is moved from the position P1 to the
position P4 via the position P2 is reversed left and right.
[0231] As a result, the direction of the boat 1 can be quickly
switched from the left direction to the left-rearward direction
according to a request of the boat operator.
[0232] FIG. 11 is a flowchart for describing an example of a
process executed by the outboard motor control device 14 of the
first embodiment.
[0233] The process shown in FIG. 11 starts when the operation unit
11D (the joystick) has received an input operation for operating
the steering actuators 12A2 and 13A2 and the propulsion units 12A1
and 13A1 of the outboard motors 12 and 13.
[0234] In the example shown in FIG. 11, in step S10, the outboard
motor control device 14 acquires a position of the operation unit
11D (a position of the lever of the joystick) detected by a sensor
such as a micro switch.
[0235] Subsequently, in step S20, the movement path calculation
unit 14A of the outboard motor control device 14 calculates a
movement path of the operation unit 11D (a movement path of the tip
of the lever of the joystick) on the basis of a plurality of
positions of the operation unit 11D (a plurality of positions of
the lever of the joystick) acquired in step S10.
[0236] Next, in step S30, the elapsed time calculation unit 14B of
the outboard motor control device 14 calculates an elapsed time
period from a timing when the operation unit 11D (the tip of the
lever of the joystick) is moved to each position.
[0237] Next, in step S40, the propulsion force calculation unit 14C
of the outboard motor control device 14 calculates a propulsion
force to be generated by the steering actuators 12A2 and 13A2 and
the propulsion units 12A1 and 13A1 on the basis of the movement
path of the operation unit 11D (the movement path of the tip of the
lever of the joystick) calculated in step S20 and the elapsed time
period calculated in step S30.
[0238] Next, in step S50, the outboard motor control device 14
controls the steering actuators 12A2 and 13A2 and the propulsion
units 12A1 and 13A1 of the outboard motors 12 and 13 so that the
steering actuators 12A2 and 13A2 and the propulsion units 12A1 and
13A1 of the outboard motors 12 and 13 generate the propulsion force
calculated in step S20.
Second Embodiment
[0239] Hereinafter, a second embodiment of an outboard motor
control device, an outboard motor control method, and a program of
the present invention will be described.
[0240] A boat 1 to which an outboard motor control device 14 of the
second embodiment is applied has a configuration similar to that of
the boat 1 to which the outboard motor control device 14 of the
first embodiment described above is applied, except for differences
to be described below. Accordingly, the boat 1 of the second
embodiment can obtain effects similar to those of the boat 1 of the
first embodiment described above, except for differences to be
described below.
[0241] FIG. 12 is a diagram showing an example of the boat 1 to
which the outboard motor control device 14 of the second embodiment
is applied.
[0242] As described above, in the boat 1 of the first embodiment
(the examples shown in FIG. 1 and FIG. 2), the operation unit 11D
includes the joystick having the lever.
[0243] On the other hand, in the boat 1 of the second embodiment
(the example shown in FIG. 12), an operation unit 11D includes a
touch panel. A boat operator can operate steering actuators 12A2
and 13A2 and propulsion units 12A1 and 13A1 by operating a steering
device 11A (a steering wheel) and remote control devices 11B and
11C (remote control levers) and can also operate the steering
actuators 12A2 and 13A2 and the propulsion units 12A1 and 13A1 by
operating the operation unit 11D (a touch panel).
[0244] In another example, a hull 11 may not include the steering
device 11A, the remote control device 11B, and the remote control
device 11C.
[0245] In the example shown in FIG. 12, the outboard motor control
device 14 controls the steering actuator 12A2 and the propulsion
unit 12A1 of an outboard motor 12 and the steering actuator 13A2
and the propulsion unit 13A1 of an outboard motor 13 on the basis
of an input operation on the operation unit 11D.
[0246] Specifically, the outboard motor control device 14 controls
a magnitude and a direction of a propulsion force of the boat 1
that is generated by the steering actuators 12A2 and 13A2 and the
propulsion units 12A1 and 13A1 on the basis of, for example, a
flick input operation on the operation unit 11D (the touch
panel).
[0247] In the flick input operation, for example, a boat operator
slides a finger pressing the touch panel in a desired direction
while pressing the touch panel.
[0248] A movement path calculation unit 14A calculates a movement
path of the operation unit 11D. Specifically, the movement path
calculation unit 14A calculates the movement path of the finger the
boat operator slides while pressing the touch panel.
[0249] An elapsed time calculation unit 14B calculates an elapsed
time period from a timing when the operation unit 11D (the finger
of the boat operator who presses the touch panel) is moved to a
certain position.
[0250] A propulsion force calculation unit 14C calculates a
propulsion force to be generated by the outboard motors 12 and 13
on the basis of the movement path of the operation unit 11D
calculated by the movement path calculation unit 14A (the movement
path of the finger allowed to slid while pressing the touch panel)
and the elapsed time period calculated by the elapsed time
calculation unit 14B.
[0251] In the example shown in FIG. 12, the operation unit 11D is
configured so that a flick input operation can be performed on the
operation unit 11D (the touch panel) and a rotation input operation
can be performed.
[0252] For example, in a state in which one finger is in contact
with the touch panel and fixed as a center point, the boat operator
performs a rotation input operation by sliding another finger in a
circumferential direction while pressing the touch panel.
[0253] When the boat operator performs a clockwise rotation input
operation on the operation unit 11D (the touch panel), the outboard
motor control device 14 controls the steering actuators 12A2 and
13A2 and the propulsion units 12A1 and 13A1 so that the hull 11
turns to the right. On the other hand, when the boat operator
performs a counterclockwise rotation input operation on the
operation unit 11D (the touch panel), the outboard motor control
device 14 controls the steering actuators 12A2 and 13A2 and the
propulsion units 12A1 and 13A1 so that the hull 11 turns to the
left.
[0254] Also, when the boat operator performs a flick input
operation on the operation unit 11D (the touch panel), the outboard
motor control device 14 controls the steering actuators 12A2 and
13A2 and the propulsion units 12A1 and 13A1 so that the hull 11
moves in a direction in which the boat operator's finger is allowed
to slide while the hull 11 maintains its attitude. That is, when
the boat operator performs a flick input operation on the operation
unit 11D (the touch panel), a front portion 111 of the hull 11 and
a rear portion 112 of the hull 11 are translated.
[0255] When the boat operator does not perform a flick input
operation on the operation unit 11D (the touch panel) (i.e., when
the boat operator's finger does not touch the touch panel), the
operation unit 11D is in a state similar to the state shown in FIG.
3A. As a result, the outboard motor control device 14 does not
cause the steering actuators 12A2 and 13A2 and the propulsion units
12A1 and 13A1 to generate the propulsion force of the boat 1.
[0256] Although modes for carrying out the present invention have
been described above using the embodiments, the present invention
is not limited to the embodiments and various modifications and
replacements can be applied without departing from the spirit and
scope of the present invention. The configurations described in the
above-described embodiments and the above-described examples may be
combined.
[0257] Also, all or some of the functions of the parts provided in
the outboard motor control device 14 according to the
above-described embodiment may be implemented by recording a
program for implementing the functions on a computer-readable
recording medium and causing a computer system to read and execute
the program recorded on the recording medium. Also, the "computer
system" described here is assumed to include an operating system
(OS) and hardware such as peripheral devices.
[0258] Also, the "computer-readable recording medium" refers to a
flexible disk, a magneto-optical disc, a ROM, a portable medium
such as a CD-ROM, or a storage unit such as a hard disk embedded in
the computer system. Further, the "computer-readable recording
medium" may include a computer-readable recording medium for
dynamically retaining the program for a short time period as in a
communication line when the program is transmitted via a network
such as the Internet or a communication circuit such as a telephone
circuit and a computer-readable recording medium for retaining the
program for a given time period as in a volatile memory inside the
computer system including a server and a client when the program is
transmitted. Also, the above-described program may be a program for
implementing some of the above-described functions. Further, the
above-described program may be a program capable of implementing
the above-described function in combination with a program already
recorded on the computer system.
REFERENCE SIGNS LIST
[0259] 1 Boat
[0260] 111 Front portion
[0261] 112 Rear portion
[0262] 11 Hull
[0263] 11A Steering device
[0264] 11B Remote control device
[0265] 11C Remote control device
[0266] 11D Operation unit
[0267] P1 Position
[0268] P2 Position
[0269] P3 Position
[0270] P4 Position
[0271] P5 Position
[0272] P6 Position
[0273] P7 Position
[0274] P8 Position
[0275] P9 Position
[0276] 12 Outboard motor
[0277] 12A Outboard motor main body
[0278] 12A1 Propulsion unit
[0279] 12A2 Steering actuator
[0280] 12AX Steering shaft
[0281] 12B Bracket
[0282] 13 Outboard motor
[0283] 13A Outboard motor main body
[0284] 13A1 Propulsion unit
[0285] 13A2 Steering actuator
[0286] 13AX Steering shaft
[0287] 13B Bracket
[0288] 14 Outboard motor control device
[0289] 14A Movement path calculation unit
[0290] 14B Elapsed time calculation unit
[0291] 14C Propulsion force calculation unit
* * * * *