# US 10,501,161 B2 · Ship steering device and ship including the same

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- Number: US 10,501,161 B2
- Document ID: US10501161B2
- Status: Granted
- Kind: B2
- Application number: 16/087,916
- Filed: 2017-03-24
- Published: 2019-03-28
- Granted: 2019-12-10
- Earliest claimed: 2016-03-25
- Assignees: Yanmar Co., Ltd.
- Applicants: Yanmar Co., Ltd.
- Inventors: Gakuji Tamura; Jun Watanabe
- Web page: https://patentgrep.com/patent/US10501161B2

## CPC

- B63H 25/42: Steering or dynamic anchoring by propulsive elements (by jets B63H25/46); Steering or dynamic anchoring by propellers used therefor only; Steering or dynamic anchoring by rudders carrying propellers
- B63H 21/21: Control means for engine or transmission, specially adapted for use on marine vessels
- B63H 25/02: Initiating means for steering {, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring}
- B63H 5/08: of more than one propeller
- B63H 21/24: {the vessels being small craft, e.g. racing boats}
- B63H 25/04: automatic, e.g. reacting to compass
- B63H 2021/216: {using electric control means}
- B63H: MARINE PROPULSION OR STEERING (propulsion of air-cushion vehicles B60V1/14; specially adapted for submarines, other than nuclear propulsion, B63G; specially adapted for torpedoes F42B19/00)

## Abstract

A ship steering device including: an engine; an auto-drive unit that exerts propulsive power on a ship hull by power from the engine; detection means for detecting a current position and an orientation of the ship hull; a ship steering control device that controls an output of the engine and propulsive power of the auto-drive unit; and a calibration switch that starts calibration of a ship. When the ship steering control device detects that the calibration switch is turned on, the ship steering control device controls the engine and the auto-drive unit to cause the ship hull to move in a predetermined direction or to turn, and if a difference between, for instance, a traveling amount and speed in the predetermined direction and an intended traveling amount and speed exceeds a predetermined value, the ship steering control device corrects control values of the engine and the auto-drive unit.

## Claims

### Claim 1

A ship steering device comprising:
an engine;
a propulsion unit configured to exert propulsive power on a ship hull by power from the engine;
detection means for detecting a current position and an orientation of the ship hull;
a control device configured to control an output of the engine and propulsive power of the propulsion unit; and
manipulation means configured to start calibration of a ship, wherein
when the control device detects that the manipulation means is turned on, the control device controls the engine and the propulsion unit to cause the ship hull to move in a predetermined direction or to turn, and
if a difference between
a traveling amount and a travelling speed or a turning amount and a turning speed in the predetermined direction and
an intended traveling amount and an intended traveling speed or an intended turning amount and an intended turning speed
exceeds a predetermined value, the control device corrects control values of the engine and the propulsion unit.

### Claim 2 (depends on 1)

The ship steering device according to claim 1, further comprising manipulation means including an accelerator device configured to change number of revolutions of the engine, wherein
the control device simulates manipulation of the accelerator device to control the engine and the propulsion unit, and based on a correlation among an amount of the simulated manipulation of the accelerator device and a traveling amount and a traveling speed of the ship hull, the control device corrects a control value of the engine.

### Claim 3 (depends on 1)

A ship comprising the ship steering device according to claim 1.

### Claim 4 (depends on 2)

A ship comprising the ship steering device according to claim 2.