US 12,459,620 B2
System for and method of controlling watercraft
Juan-Pablo Afman, Marietta, GA (US); Thomas Gurriet, Acworth, GA (US); and Jun Otsu, Shizuoka (JP)
Assigned to Yamaha Hatsudoki Kabushiki Kaisha, Shizuoka (JP)
Filed by Yamaha Hatsudoki Kabushiki Kaisha, Shizuoka (JP)
Filed on Mar. 22, 2022, as Appl. No. 17/655,962.
Claims priority of provisional application 63/210,878, filed on Jun. 15, 2021.
Claims priority of provisional application 63/165,025, filed on Mar. 23, 2021.
Prior Publication US 2022/0306257 A1, Sep. 29, 2022
Int. Cl. B63H 20/12 (2006.01); B63H 20/00 (2006.01); B63H 25/02 (2006.01); B63H 25/42 (2006.01)
CPC B63H 20/12 (2013.01) [B63H 25/02 (2013.01); B63H 25/42 (2013.01); B63H 2020/003 (2013.01); B63H 2025/026 (2013.01)] 43 Claims
OG exemplary drawing
 
1. A system for controlling a watercraft, the system comprising:
a left outboard motor on a port side of the watercraft;
a left steering actuator configured to change a left rudder angle of the left outboard motor;
a left gear shift actuator configured to change a gear position of the left outboard motor between at least a forward gear position and a neutral gear position;
a left motor output control actuator configured to adjust a power output of the left outboard motor between a first idle speed power operational mode and a first elevated speed power operational mode;
a right outboard motor on a starboard side of the watercraft;
a right steering actuator configured to change a right rudder angle of the right outboard motor;
a right gear shift actuator configured to change a gear position of the right outboard motor between at least a forward gear position and a neutral gear position;
a right motor output control actuator configured to adjust a power output of the right outboard motor between a second idle speed power operational mode and a second elevated speed power operational mode; and
a controller in communication with the right and left outboard motors, the left and right steering actuators, the left and right gear shift actuators, and the left and right motor output control actuators, the controller configured to receive a zero propulsion signal, and a first range of sub-idle speed forward propulsion signals;
wherein the controller is configured to, in response to receiving the zero propulsion signal, control the left and right steering actuators to adjust the left and right rudder angles to be directly opposed to each other, control the left and right gear shift actuators to maintain the forward gear position, and control the left and right motor output control actuators to maintain the left and right outboard motors in the idle speed power operational mode, thereby substantially cancelling all thrust generated by the left and right outboard motors; and
wherein the controller is configured to, in response to receiving a signal in the first range of forward propulsion signals, control the left and right steering actuators to adjust the left and right rudder angles to be non-parallel, directed partly toward each other and partly toward a forward direction of the watercraft, control the left and right shift actuators to maintain the forward gear position, and control the left and right motor output control actuators to maintain the left and right outboard motors in the idle speed power operational mode, thereby partly cancelling the thrust generated by the left and right outboard motors and generating a net forward thrust on the watercraft.