Watercraft maneuvering system, and watercraft including the same
A watercraft maneuvering system includes watercraft maneuvering stations to steer and adjust a propulsive force of a watercraft and including a main station including a steering wheel to steer the watercraft and an acceleration lever to adjust the propulsive force, and a substation spaced apart from the main station and including a joystick to both steer the watercraft and adjust the propulsive force. By operating a joystick button provided in the substation, an operative station may be switched from the main station to the substation. At the same time, a control mode may be switched to a joystick mode.
1. A watercraft maneuvering system comprising:
a plurality of watercraft maneuvering stations to steer and adjust a propulsive force of a watercraft, the plurality of watercraft maneuvering stations including:
a main station including a steering wheel to steer the watercraft and an acceleration lever to adjust the propulsive force; and
a substation spaced apart from the main station and including a joystick to both steer the watercraft and adjust the propulsive force; and
a controller configured or programmed to perform a station management operation to select only one of the plurality of watercraft maneuvering stations as an operative station in which an operation to steer and adjust the propulsive force is enabled; wherein
the substation includes a joystick button operable by a user to enable an operation input with the joystick;
the controller is configured or programmed to select the substation as the operative station in response to the operation of the joystick button;
the controller is configured or programmed to perform a mode management operation to manage a propulsion system control mode;
the control mode includes an ordinary mode in which the operation of the joystick is disabled, and a joystick mode in which the operation of the joystick is enabled; and
the controller is configured or programmed to set the control mode to the joystick mode when the substation is selected as the operative station;
the joystick mode includes a first joystick mode in which propulsive forces of a plurality of propulsion systems are used, and a second joystick mode in which a propulsive force of a propulsive force of less than all propulsion systems is used; and
when the control mode is set to the joystick mode, the controller is configured or programmed to determine whether the plurality of propulsion systems are in a propulsive force operable state and, when all of the plurality of propulsion systems are in the propulsive force operable state, the controller is configured or programmed to set the control mode to the first joystick mode and, when not all of the plurality of propulsion systems are in the propulsive force operable state, the controller is configured or programmed to set the control mode to the second joystick mode.
2. The watercraft maneuvering system according to claim 1 , wherein
the controller is configured or programmed to determine, in response to the operation of the joystick button, whether a predetermined substation switching condition is satisfied and, when it is determined that the substation switching condition is satisfied, the controller is configured or programmed to select the substation as the operative station;
the substation switching condition includes at least one selected from the group consisting of:
a condition that an operation state of a current operative station is a propulsive force generation non-commanding state;
a condition that an operation state of the joystick of the substation is the propulsive force generation non-commanding state; and
a condition that at least one of propulsion systems provided in a watercraft including the watercraft maneuvering system is in a propulsive force operable state.
3. The watercraft maneuvering system according to claim 1 , wherein
the main station includes a joystick; and
the joystick mode is a control mode which responds to operation of either of the joystick of the main station when the main station is the operative station, or the joystick of the substation when the substation is the operative station.
4. A watercraft comprising:
a hull; and
a watercraft maneuvering system according to claim 1 provided in the hull.
5. The watercraft maneuvering system according to claim 1 , wherein
the main station includes a station changing button operable by the user to enable a watercraft maneuvering operation in the main station;
the controller is configured or programmed to determine, in response to the operation of the station changing button, whether a predetermined main station switching condition is satisfied and, when it is determined that the main station switching condition is satisfied, the controller is configured or programmed to select the main station as the operative station;
the main station switching condition includes at least one selected from the group consisting of:
a condition that an operation state of a current operative station is a propulsive force generation non-commanding state; and
a condition that an operation state of the main station as a switching destination is the propulsive force generation non-commanding state.
6. The watercraft maneuvering system according to claim 5 , wherein
in the ordinary mode, operation of the steering wheel and the acceleration lever is enabled; and
the controller is configured or programmed to set the control mode to the ordinary mode when the main station is selected as the operative station in response to the operation of the station changing button of the main station.
7. The watercraft maneuvering system according to claim 1 , wherein
the first joystick mode is a control mode in which the plurality of propulsion systems are controlled so as to achieve a predetermined hull behavior using the propulsive forces of the plurality of propulsion systems according to a predetermined operation of the joystick; and
the second joystick mode is a control mode in which the predetermined hull behavior is disabled.
8. The watercraft maneuvering system according to claim 7 , wherein the predetermined hull behavior includes at least one selected from the group consisting of a translating behavior to translate a hull substantially without turning a bow of the hull, and a fixed-point bow-turning behavior to turn the bow of the hull substantially without changing a position of the hull.
9. A watercraft maneuvering system comprising:
a plurality of propulsion systems;
a joystick; and
a controller configured or programmed to include, as a control mode to control the propulsion systems, a joystick mode in which the propulsion systems are controlled according to an operation of the joystick; wherein
the joystick mode includes a first joystick mode in which propulsive forces of the plurality of propulsion systems are used, and a second joystick mode in which a propulsive force of less than all propulsion systems is used;
when the control mode is set to the joystick mode, the controller is configured or programmed to determine whether the plurality of propulsion systems are in a propulsive force operable state and, when all of the plurality of propulsion systems are in the propulsive force operable state, the controller is configured or programmed to set the control mode to the first joystick mode and, when not all of the plurality of propulsion systems are in the propulsive force operable state, the controller is configured or programmed to set the control mode to the second joystick mode.
10. A watercraft comprising:
a hull; and
a watercraft maneuvering system according to claim 9 provided in the hull.
11. The watercraft maneuvering system according to claim 9 , wherein
the first joystick mode is a control mode in which the plurality of propulsion systems are controlled so as to achieve a predetermined hull behavior using the propulsive forces of the plurality of propulsion systems according to a predetermined operation of the joystick; and
the second joystick mode is a control mode in which the predetermined hull behavior is disabled.
12. The watercraft maneuvering system according to claim 11 , wherein the predetermined hull behavior includes at least one selected from the group consisting of a translating behavior to translate a hull substantially without turning a bow of the hull, and a fixed-point bow-turning behavior to turn the bow of the hull substantially without changing a position of the hull.