Yamaha Hatsudoki Kabushiki Kaisha

Nine Hours, Inc.

Yusuke Ashida

Shu Akuzawa

Hirotaka Aoki

Yukitaka Okamoto

Satoshi Koyano

Katsuya Aonuma

Jun Komine

Yugo Hirai

Takayuki Susaki

A boat includes a boat body, a propulsion device, an operator that operates the propulsion device, and a controller. The propulsion device is disposed in the boat body and generates a propulsion force to move the boat body. The controller executes an automatic shore arrival control to control the propulsion device so as to cause the boat body to move toward a target position. The controller ends the automatic shore arrival control when the operator is positioned in a non-neutral position that differs from a neutral position.

Boat

A sensor detects a shape of a shore arrival location and a positional relationship of the shore arrival location and a boat body and outputs environment information indicating the shape of the shore arrival location and the positional relationship. A controller receives the environment information and generates an instruction signal to control a propulsion device to cause the boat body to move toward the shore arrival position set based on the environment information and to push the boat body to the shore arrival location.

Boat and control method for same

A sensor that detects a shape of a surrounding environment of a boat and a positional relationship between the surrounding environment and the boat body outputs environment information indicating the shape of the surrounding environment and the positional relationship. A display displays an environment map indicating the surrounding environment. An input accepts an input of a shore arrival target position of the boat body on the environment map and outputs target position information indicating the shore arrival target position. A controller receives the environment information and the target position information, determines a possible shore arrival space of the boat body in the surrounding environment based on the environment information, and corrects the shore arrival target position based on the possible shore arrival space. The controller generates an instruction signal to control a propulsion device so as to cause the boat body to arrive at the shore at the corrected shore arrival target position.

A positional sensor detects a current position and a current bearing of a boat body and outputs position information indicating the current position and the current bearing. A controller receives the position information. The controller determines a first target position of the boat body and a target bearing in the first target position. The controller calculates a bearing difference between the current bearing and the target bearing. The controller determines an offset amount of the first target position in response to the bearing difference or an outside disturbance. The controller determines a position spaced away by the offset amount from the first target position on a side toward the current position as a second target position. The controller generates an instruction signal to control a propulsion device so as to cause the boat body to arrive at the second target position.

A positional sensor detects a current position of a boat body and outputs position information indicating the current position. A controller receives the position information. The controller determines a target position of the boat body. The controller calculates the distance between the current position and the target position. The controller determines a target speed of the boat body to reach the target position in accordance with the distance. The controller calculates the force of an outside disturbance. The controller determines a target propulsion force of a propulsion device based on the force of the outside disturbance and the target speed. The controller generates an instruction signal to control the propulsion device to produce the target propulsion force.

A first sensor detects first environment information indicating a shape of a shore arrival location and a positional relationship between the shore arrival location and a boat body. A second sensor, different from the first sensor, detects second environment information indicating the shape of the shore arrival location and the positional relationship between the shore arrival location and the boat body. A controller is communicatively connected to the first sensor and the second sensor. When the distance from the boat body to the shore arrival location is greater than a predetermined distance threshold, the controller generates, based on the first environment information, an instruction signal to control a propulsion device to as to cause the boat body to arrive at the shore arrival location. When the distance from the boat body to the shore arrival location is equal to or less than the distance threshold, the controller generates an instruction signal based on the second environment information.

A navigation system includes a sensing device and an environment map creator. The sensing device generates environment information which indicates a shape of a shore arrival location. The environment map creator creates an environment map which indicates the shape of the shore arrival location based on the environment information.

Navigation system

A small craft includes a craft body, a propulsion device configured to propel the craft body, a position acquisition portion configured to acquire positional information about a trailer on which the craft body is loadable, and a controller configured to control the propulsion device on the basis of the positional information about the trailer acquired by the position acquisition portion during an operation for releasing the craft body from the trailer and/or an operation for attaching the craft body to the trailer.

Small craft and small craft trailing system

A marine vessel includes a distance detector that measures a distance to an object, a speed detector that detects a vessel speed, and a controller that executes on-shore/off-shore assistance control to control a propulsion unit to generate a thrust that moves a vessel body in a direction opposite to a direction toward the object based on the distance to the object measured by the distance detector and the vessel speed detected by the speed detector.

Growing community of inventors

Shizuoka, Japan

Yusuke Ashida