	US 12,234,002 B2
	Ship propulsion device controller, ship propulsion device control method, and program
Masato Shirao, Yokohama (JP); Marino Akita, Yokohama (JP); and Takafumi Oshima, Yokohama (JP)
Assigned to NHK SPRING CO., LTD., Yokohama (JP)
Appl. No. 17/616,316
Filed by NHK SPRING Co., Ltd., Yokohama (JP)
PCT Filed Jun. 5, 2020, PCT No. PCT/JP2020/022289 § 371(c)(1), (2) Date Dec. 3, 2021, PCT Pub. No. WO2020/246582, PCT Pub. Date Dec. 10, 2020.
Claims priority of application No. 2019-106521 (JP), filed on Jun. 6, 2019.
Prior Publication US 2022/0306263 A1, Sep. 29, 2022
Int. Cl. B63H 21/21 (2006.01); B63H 25/42 (2006.01)

CPC B63H 25/42 (2013.01) [B63H 21/21 (2013.01)]

8 Claims

1. A ship propulsion device controller for controlling a plurality of ship propulsion devices disposed on a rear portion of a hull of a ship,

wherein each of the plurality of ship propulsion devices comprises a propulsion unit configured to generate a propulsion force of the ship; and a steering actuator,

wherein the ship comprises an operation unit configured to operate the propulsion unit and the steering actuator,

wherein the operation unit is able to be positioned at least at a neutral region where the plurality of ship propulsion devices do not generate propulsion forces for the ship and a right-side propulsion force generating region where the plurality of ship propulsion devices generate propulsion forces for moving the ship in a right direction, a right-forward direction, or a right-backward direction or a left-side propulsion force generating region where the plurality of ship propulsion devices generate propulsion forces for moving the ship in a left direction, a left-forward direction, or a left-backward direction,

wherein, in a state in which the operation unit is moved from the neutral region to right-side propulsion force generating region and maintained therein, the ship propulsion device controller causes the plurality of ship propulsion devices to generate a first rotating moment that is a rotating moment in a direction in which a front portion of the hull relatively moves to the right with respect to the rear portion in the ship during only a first predetermined period immediately after the operation unit is moved to right-side propulsion force generating region, without the operation unit being instructed to generate any rotation force, and after the first predetermined period, while the operation unit is not returned to the neutral region and is maintained in the right-side propulsion force generating region, the ship propulsion device controller causes the plurality of ship propulsion devices to set the first rotating moment in the ship to zero and to keep generating a right-side propulsion force for moving the ship to a desired direction in which the operation unit is instructed, and

wherein, in a state in which the operation unit is moved from the neutral region to the left-side propulsion force generating region and maintained therein, the ship propulsion device controller causes the plurality of ship propulsion devices to generate a second rotating moment that is a rotating moment in a direction in which the front portion of the hull relatively moves to the left with respect to the rear portion in the ship during only a second predetermined period from immediately after the operation unit is moved to the left-side propulsion force generating region, without the operation unit being instructed to generate any rotation force, and after the second predetermined period, while the operation unit is not returned to the neutral region and is maintained in the left-side propulsion force generating region, the ship propulsion device controller causes the plurality of ship propulsion devices to set the second rotating moment in the ship to zero and to keep generating a left-side propulsion force for moving the ship to a desired direction in which the operation unit is instructed.