Ship steering device and ship steering method

A ship steering device comprising:

• a pair of left and right engines;
• rotation speed changing actuators independently changing engine rotation speeds of the pair of left and right engines;
• a pair of left and right outdrive devices respectively connected to the pair of left and right engines and rotating screw propellers so as to propel a hull;
• forward/reverse switching clutches disposed between the engines and the screw propellers;
• a pair of left and right steering actuators respectively independently rotating the pair of left and right outdrive devices laterally;
• an operation means setting a traveling direction of a ship;
• an operation amount detection means detecting the operation amount of the operation means;
• and
• a control device controlling the rotation speed changing actuators, the forward/reverse switching clutches, and the steering actuators so as to travel to a direction set by the operation means,
• characterized in that the ship steering device further comprising:
• an elevation angle detection means detecting an elevation angle of the hull;
• a propulsion power calculation means for the outdrive devices;
• a storage means in which a relation among the elevation angle of the hull, the speed of the hull, and a correction value is stored;
• and
• a correction value determination means,
• wherein the correction value is determined by the correction value determination means based on the operation amount by which the operation means is operated such that the hull does not turn in a state in which the hull is obliquely sailed.

A ship steering device comprising:

• a pair of left and right engines;
• rotation speed changing actuators independently changing engine rotation speeds of the pair of left and right engines;
• a pair of left and right outdrive devices respectively connected to the pair of left and right engines and rotating screw propellers so as to propel a hull;
• forward/reverse switching clutches disposed between the engines and the screw propellers;
• a pair of left and right steering actuators respectively independently rotating the pair of left and right outdrive devices laterally;
• an operation means setting a traveling direction of a ship;
• an operation amount detection means detecting an operation amount of the operation means;
• and
• a control device controlling the rotation speed changing actuators, the forward/reverse switching clutches, and the steering actuators so as to travel to a direction set by the operation means,
• characterized in that the ship steering device further comprising:
• a rotation speed detection means for the outdrive devices;
• a lateral rotation angle detection means for the outdrive devices;
• a propulsion power vector calculation means calculating propulsion power vectors from rotation speeds and lateral rotation angles of the outdrive devices;
• a storage means in which a relation among propulsion power of the hull obtained from norms of the propulsion power vectors, an elevation angle of the hull obtained from angles of the propulsion power vectors, and a correction value is stored;
• and
• a correction value determination means,
• wherein the correction value is determined by the correction value determination means based on the operation amount by which the operation means is operated such that the hull does not turn in a state in which the hull is obliquely sailed.

A steering method for a ship having a pair of left and right outdrive devices rotatable laterally and sailing with propulsion power of the outdrive devices,

• characterized in that
• an operation means for actuating the outdrive devices, a confirmation means operated the leftward or rightward lateral movement of the ship is confirmed, and a control device to which the outdrive devices, the operation means and the confirmation means are connected are used,
• the operation means is operated and the outdrive devices are actuated so as to move the ship leftward and rightward,
• the confirmation means is operated when the leftward or rightward lateral movement of the ship is confirmed, and
• rotation angles of the outdrive devices at a time of operating the confirmation means is presumed with the control device.