Watercraft steering device and watercraft
A watercraft steering device can include at least one of steerage status detection device configured to detect a steerage status following an operation of the steering wheel, running status detecting device configured to detect a running status of the watercraft, watercraft propulsion unit status recognition device configured to recognize a status of an outboard motor such as an installation number thereof, and electric motor status detection device configured to detect a status of an electric motor, and can further include a lower unit turning force characteristic computation device configured to compute a lower unit turning force characteristic based on a detection value from at least one of the device, and an ECU configured to control at least one of a reaction force to the steering wheel, a limit lower unit turning angle, and a propulsive force based on a computed lower unit turning force characteristic and/or selecting the electric actuator to operate.
1. A boat steering device comprising:
a boat propulsion unit arranged to be disposed at a stern of a boat, the boat propulsion unit including a lower unit disposed under water;
a steering device including an electric actuator to change a direction in which the boat travels;
a steering wheel operable by an operator and electrically connected to the electric actuator to provide an actuation signal corresponding to an operation amount of the electric actuator;
a steering status detection device to detect an operation amount of the steering wheel;
an electric actuator status detection device to detect the operation amount of the electric actuator;
a turning force computation device to compute a turning force required to turn the lower unit based on at least the detected operation amount of the steering wheel; and
a control unit to control at least one parameter of the boat when the turning force required to turn the lower unit exceeds the operation amount of the electric actuator.
2. The boat steering device according to claim 1 , wherein the at least one parameter includes a reaction force to the steering wheel, a lower unit turning angle, a propulsive force of the boat propulsion unit, and a selection of the electric actuator; and
the control unit includes a reaction force control unit to control the reaction force to the steering wheel, a lower unit turning angle control unit to control the lower unit turning angle, a propulsive force control unit to control the propulsive force of the boat propulsion unit, and a selection control device to control the selection of the electric actuator.
3. The boat steering device according to claim 1 , wherein the control unit includes a running status detection unit to detect a running status of the boat.
4. The boat steering device according to claim 3 , wherein the running status detection unit includes at least one of a weight detection unit to detect at least one of a draft position and a weight of the boat, a trim angle detection unit to detect a trim angle of the boat, and a speed detection unit to detect at least one of a speed, an acceleration, a propulsive force of the boat, and an output of the boat propulsion unit.
5. The boat steering device according to claim 1 , wherein the control unit includes a boat propulsion unit status recognition unit to recognize a status of the boat propulsion unit.
6. The boat steering device according to claim 5 , wherein the boat propulsion unit status recognition unit includes a steerage storage device to store therein any one of information among a plurality of the boat propulsion units installed on the boat, an installation position of the boat propulsion unit, a rotational direction of a propeller provided in the boat propulsion unit, a propeller shape, a trim tab angle, and a trim tab shape.
7. The boat steering device according to claim 1 , wherein the electric actuator status detection device includes at least one of a temperature detection unit to detect a temperature of the electric actuator, and an operating device detection unit to detect a number of the electric actuators in operation.
8. The boat steering device according to claim 1 , wherein the steering status detection device includes a lower unit turning force detection unit to detect the lower unit turning force required to turn the lower unit, and a load detection unit to detect a load acting on the lower unit.
9. The boat steering device according to claim 1 , wherein the steering status detection device detects a steering wheel steering angle, a steering wheel steering speed, a direction in which the steering wheel is operated, a lower unit turning speed, and a direction in which the lower unit is turned.
10. The boat steering device according to claim 1 , wherein the steering status detection device includes a deviation detection unit to detect a deviation between a target lower unit turning angle corresponding to the operation amount of the steering wheel and an actual lower unit turning angle.
11. A boat comprising:
the boat steering device according to claim 1 .