Watercraft maneuvering system, watercraft control device, watercraft control method, and non-volatile storage medium storing program

Abstract

A watercraft maneuvering system includes an actuator having a function of generating a propulsion force of a watercraft and a function of causing the watercraft to generate a moment, an operation unit configured to receive an input operation of a watercraft operator, and a watercraft control device configured to operate the actuator. When the operation unit has received an input operation for stopping an operation of the actuator while the watercraft control device is operating the actuator, the watercraft control device operates the actuator without any need for the operation unit to receive the input operation for at least one function of the actuator generating the propulsion force in an opposite direction to a direction of an inertial force occurring in the watercraft and causing the watercraft to generate the moment in an opposite direction to a direction of a moment of inertia occurring in the watercraft.

1 . A watercraft maneuvering system comprising:
 an actuator having a function of generating a propulsion force of a watercraft and a function of causing the watercraft to generate a moment;   an operation unit configured to receive an input operation of a watercraft operator; and   a watercraft control device configured to operate the actuator,   wherein, when the operation unit has received an input operation for stopping an operation of the actuator while the watercraft control device is operating the actuator,   the watercraft control device operates the actuator without any need for the operation unit to receive the input operation for at least one function of the actuator generating the propulsion force in an opposite direction to a direction of an inertial force occurring in the watercraft and causing the watercraft to generate the moment in an opposite direction to a direction of a moment of inertia occurring in the watercraft.   
     
     
         2 . The watercraft maneuvering system according to  claim 1 , wherein the watercraft control device sets a period in which the actuator is operated for the at least one function of the actuator generating the propulsion force in the opposite direction to the direction of the inertial force occurring in the watercraft and causing the watercraft to generate the moment in the opposite direction to the direction of the moment of inertia occurring in the watercraft on the basis of an elapsed time from the time when the operation unit receives the input operation for stopping the operation of the actuator. 
     
     
         3 . The watercraft maneuvering system according to  claim 1 , wherein the watercraft control device sets a period in which the actuator is operated for the at least one function of the actuator generating the propulsion force in the opposite direction to the direction of the inertial force occurring in the watercraft and causing the watercraft to generate the moment in the opposite direction to the direction of the moment of inertia occurring in the watercraft on the basis of a speed or an angular speed of the watercraft. 
     
     
         4 . The watercraft maneuvering system according to  claim 1 ,
 wherein the watercraft maneuvering system includes the watercraft and an input device provided separately from the watercraft,   wherein the watercraft includes the actuator and the watercraft control device,   wherein the input device includes the operation unit, and   wherein, when the operation unit of the input device has received the input operation for stopping the operation of the actuator while the watercraft control device is operating the actuator,   the watercraft control device operates the actuator without any need for the operation unit of the input device to receive the input operation for the at least one function of the actuator generating the propulsion force in the opposite direction to the direction of the inertial force occurring in the watercraft and causing the watercraft to generate the moment in the opposite direction to the direction of the moment of inertia occurring in the watercraft.   
     
     
         5 . The watercraft maneuvering system according to  claim 1 , wherein, when the operation unit has received an input operation for stopping the generation of the propulsion force for moving the watercraft forward or backward while the actuator is generating the propulsion force for moving the watercraft forward or backward,
 the watercraft control device operates the actuator without any need for the operation unit to receive the input operation so that the actuator generates the propulsion force in the opposite direction to the direction of the inertial force occurring in the watercraft.   
     
     
         6 . The watercraft maneuvering system according to  claim 1 , wherein, when the operation unit has received an input operation for stopping generation of a moment for turning the watercraft in place while the actuator is generating the moment for turning the watercraft in place,
 the watercraft control device operates the actuator without any need for the operation unit to receive the input operation so that the actuator causes the watercraft to generate the moment in the opposite direction to the direction of the moment of inertia occurring in the watercraft.   
     
     
         7 . The watercraft maneuvering system according to  claim 1 , wherein, when the operation unit has received an input operation for stopping the generation of the propulsion force for moving the watercraft forward and a moment for turning the watercraft while the actuator is generating the propulsion force for moving the watercraft forward and is causing
 the watercraft to generate the moment for turning the watercraft, the watercraft control device operates the actuator without any need for the operation unit to receive the input operation so that the actuator generates the propulsion force in the opposite direction to the direction of the inertial force occurring in the watercraft and causes the watercraft to generate the moment in the opposite direction to the direction of the moment of inertia occurring in the watercraft.   
     
     
         8 . The watercraft maneuvering system according to  claim 1 , wherein, when the operation unit has received an input operation for stopping the generation of the propulsion force for moving the watercraft forward and a moment for turning the watercraft while the actuator is generating the propulsion force for moving the watercraft backward and is causing the watercraft to generate the moment for turning the watercraft,
 the watercraft control device operates the actuator without any need for the operation unit to receive the input operation so that the actuator generates the propulsion force in the opposite direction to the direction of the inertial force occurring in the watercraft and causes the watercraft to generate the moment in the opposite direction to the direction of the moment of inertia occurring in the watercraft.   
     
     
         9 . A watercraft control device provided in a watercraft maneuvering system including an actuator having a function of generating a propulsion force of a watercraft and a function of causing the watercraft to generate a moment and an operation unit for receiving an input operation of a watercraft operator and configured to operate the actuator,
 wherein, when the operation unit has received an input operation for stopping an operation of the actuator while the watercraft control device is operating the actuator,   the watercraft control device operates the actuator without any need for the operation unit to receive the input operation for at least one function of the actuator generating the propulsion force in an opposite direction to a direction of an inertial force occurring in the watercraft and causing the watercraft to generate the moment in an opposite direction to a direction of a moment of inertia occurring in the watercraft.   
     
     
         10 . A watercraft control method for use in a watercraft control device provided in a watercraft maneuvering system including an actuator having a function of generating a propulsion force of a watercraft and a function of causing the watercraft to generate a moment and an operation unit for receiving an input operation of a watercraft operator and configured to operate the actuator, the watercraft control method comprising:
 a first step of operating the actuator in accordance with an input operation received by the operation unit; and   a second step of operating the actuator without any need for the operation unit to receive the input operation for at least one function of the actuator generating the propulsion force in an opposite direction to a direction of an inertial force occurring in the watercraft and causing the watercraft to generate the moment in an opposite direction to a direction of a moment of inertia occurring in the watercraft when the operation unit has received an input operation for stopping an operation of the actuator while the watercraft control device is operating the actuator.   
     
     
         11 . A non-volatile storage medium storing a program for causing a computer, which is mounted in a watercraft control device provided in a watercraft maneuvering system including an actuator having a function of generating a propulsion force of a watercraft and a function of causing the watercraft to generate a moment and an operation unit for receiving an input operation of a watercraft operator and configured to operate the actuator, to execute:
 a first step of operating the actuator in accordance with an input operation received by the operation unit; and   a second step of operating the actuator without any need for the operation unit to receive the input operation for at least one function of the actuator generating the propulsion force in an opposite direction to a direction of an inertial force occurring in the watercraft and causing the watercraft to generate the moment in an opposite direction to a direction of a moment of inertia occurring in the watercraft when the operation unit has received an input operation for stopping an operation of the actuator while the watercraft control device is operating the actuator.