公开(公告)号：US12084161B2

公开(公告)日：2024-09-10

申请号：US17523980

申请日：2021-11-11

申请人： YAMAHA HATSUDOKI KABUSHIKI KAISHA

发明人： Yuki Morimoto ,  Yuji Ikegaya ,  Yoshikazu Nakayasu

IPC分类号： B63H5/08 ,  B63H5/125 ,  B63H20/00 ,  B63H21/17 ,  B63H21/21 ,  B63H25/02 ,  B63H25/42

CPC分类号： B63H5/08 ,  B63H5/125 ,  B63H21/17 ,  B63H21/21 ,  B63H25/02 ,  B63H25/42 ,  B63H2020/003 ,  B63H2021/216 ,  B63H2025/425

摘要： A controller for a watercraft controls first and second marine propulsion devices to start moving the watercraft by setting a first default angle, a second default angle, and a default thrust ratio as a first target rudder angle, a second target rudder angle, and a target thrust ratio respectively when a desired motion of the watercraft is straight sideways movement. The controller determines at least one of a first correcting angle, a second correcting angle, and a correcting thrust ratio to reduce an error between the straight sideways movement of the watercraft and an actual motion of the watercraft. The controller corrects the first target rudder angle, the second target rudder angle, and the target thrust ratio with the first correcting angle, the second correcting angle, and the correcting thrust ratio, respectively. The controller repeatedly detects the error and repeatedly updates the correcting angles and the correcting thrust ratio.

公开(公告)号：US12061479B2

公开(公告)日：2024-08-13

申请号：US17696399

申请日：2022-03-16

申请人： YAMAHA HATSUDOKI KABUSHIKI KAISHA

发明人： Yuki Morimoto

IPC分类号： G05D1/00 ,  B63B49/00 ,  B63B79/15 ,  B63B79/40 ,  B63H21/21 ,  G06F3/0484

CPC分类号： G05D1/0206 ,  B63B49/00 ,  B63B79/15 ,  B63B79/40 ,  B63H21/21 ,  G06F3/0484 ,  B63H2021/216

摘要： A watercraft maneuvering control apparatus for controlling a propulsion device of a watercraft in watercraft maneuvering modes includes a position detector to detect a position of the watercraft, a watercraft maneuvering mode selector operable by a user to select one of the watercraft maneuvering modes, a propulsion device controller configured or programmed to control the propulsion device in the selected watercraft maneuvering mode, a track display controller to generate track display data to display a track of the watercraft, and a display to display the watercraft track. The track display controller is configured or programmed to record track data, record watercraft maneuvering mode division information to divide the track data based on a watercraft maneuvering mode, and generate the track display data to display the watercraft track divided according to classification of the watercraft maneuvering modes.