US 12,012,196 B2
System for and method of controlling watercraft
Kento Sakurada, Shizuoka (JP)
Assigned to YAMAHA HATSUDOKI KABUSHIKI KAISHA, Shizuoka (JP)
Filed by YAMAHA HATSUDOKI KABUSHIKI KAISHA, Iwata (JP)
Filed on Jan. 6, 2022, as Appl. No. 17/569,759.
Claims priority of application No. 2021-026667 (JP), filed on Feb. 22, 2021.
Prior Publication US 2022/0266973 A1, Aug. 25, 2022
Int. Cl. B63H 25/42 (2006.01); B63H 20/00 (2006.01); B63H 20/12 (2006.01)
CPC B63H 25/42 (2013.01) [B63H 20/12 (2013.01); B63H 2020/003 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A system for controlling a watercraft, the system comprising:
a first marine propulsion device including a first shift mechanism switchable to a forward moving state and a rearward moving state, the first marine propulsion device being rotatable about a first steering shaft;
a first steering actuator to rotate the first marine propulsion device about the first steering shaft;
a second marine propulsion device including a second shift mechanism switchable to the forward moving state and the rearward moving state, the second marine propulsion device being rotatable about a second steering shaft;
a second steering actuator to rotate the second marine propulsion device about the second steering shaft; and
a controller configured or programmed to:
control the first marine propulsion device, the first steering actuator, the second marine propulsion device, and the second steering actuator in a swaying mode to cause translational movement of the watercraft in a sideways direction;
set either of the first and second shift mechanisms to the forward moving state and set the other of the first and second shift mechanisms to the rearward moving state, while controlling a rudder angle of the first marine propulsion device and a rudder angle of the second marine propulsion device such that a net thrust of a thrust generated by the first marine propulsion device and a thrust generated by the second marine propulsion device is oriented in the sideways direction in the swaying mode; and
when setting the first shift mechanism to the forward moving state and setting the second shift mechanism to the rearward moving state at a start of the swaying mode, switch the second shift mechanism to the rearward moving state and then switch the first shift mechanism to the forward moving state after a delay.