Abstract:
Provided is a technology that facilitates a calibrating operation. A ship steering system for outdrive device includes an outdrive device, a control device that provides an instruction about a turning direction of the outdrive device, and a ship steering lever that instructs the control device about a traveling direction of a hull, and is provided with a monitor capable of displaying an image for matching an actual traveling direction with the traveling direction of the hull according to the instruction from the ship steering lever. The monitor shows the direction in which the ship steering lever is tipped, and indicates that the operation is proper if the direction in which the ship steering lever is tipped corresponds to a pre-set direction.

Description:
CROSS REFERENCE TO RELATED APPLICATIONS 
       [0001]    This is the U.S. national stage of application No. PCT/JP2014/052127, filed on Jan. 30, 2014, the disclosure of which is incorporated herein by reference. 
     
    
     TECHNICAL FIELD 
       [0002]    The present invention relates to an art of a ship steering system for an outdrive device. 
       BACKGROUND ART 
       [0003]    Conventionally, an inboard engine (inboard engine-outboard drive) in which an engine is arranged inside a hull and power is transmitted to an outdrive device arranged outside the hull is known (for example, see the Patent Literature 1). The outdrive device is a propulsion device propelling the hull by rotating a screw propeller. The outdrive device is also a rudder device which is rotated concerning a traveling direction of the hull so as to turn the hull. 
         [0004]    In addition to the outdrive device, a ship steering system for the outdrive device has a control device instructing a rotation direction of the outdrive device and an operation lever instructing a traveling direction of a hull to a control device. The ship steering system for the outdrive device has a calibration function for adjusting an actual traveling direction to the traveling direction of the hull instructed by the operation lever. Work adjusting the actual traveling direction to the traveling direction of the hull instructed by the operation lever is referred to as calibration work. 
       PRIOR ART REFERENCE 
     Patent Literature 
       [0000]    
       
         Patent Literature 1: the Japanese Patent Laid Open Gazette 2011-246052 
       
     
       DISCLOSURE OF INVENTION 
     Problems to be Solved by the Invention 
       [0006]    The purpose of the present invention is to provide an art making calibration work easy. 
       Means for Solving the Problems 
       [0007]    The problems to be solved by the present invention have been described above, and subsequently, the means of solving the problems will be described below. 
         [0008]    According to the present invention, a ship steering system for an outdrive device has the outdrive device, a control device instructing a rotation direction of the outdrive device, an operation lever instructing a traveling direction of a hull to the control device, and a monitor which can display an image for adjusting an actual traveling direction to the traveling direction of the hull instructed by the operation lever. The monitor shows a direction along which the operation lever is moved, and when the direction along which the operation lever is moved is in agreement with a direction set preferably, shows purport that the operation is proper. 
         [0009]    According to the present invention, the monitor shows a direction along which the operation lever should be moved, and when the operation lever is moved to the shown direction, shows purport that the operation is proper. 
         [0010]    According to the present invention, the monitor shows a direction along which the operation lever should be moved by a range of predetermined angle centering on a fulcrum of the operation lever, and when the operation lever is moved along the shown range, shows purport that the operation is proper. 
         [0011]    According to the present invention, when a gap exists between the traveling direction of the hull instructed by the operation lever and the actual traveling direction, the monitor shows the direction along which the operation lever should be moved which is collected so as to cancel the gap. 
         [0012]    According to the present invention, when a gap exists between the traveling direction of the hull instructed by the operation lever and the actual traveling direction, the monitor collects the rotation direction of the outdrive device so as to cancel the gap and shows purport that the collection is finished. 
         [0013]    According to the present invention, the monitor shows the image of parallel movement, and subsequently shows the image of skid movement. 
       Effect of the Invention 
       [0014]    The present invention configured as the above brings the following effects. 
         [0015]    According to the present invention, the monitor shows the direction along which the operation lever is moved, and when the direction along which the operation lever is moved is in agreement with the direction set preferably, shows the purport that the operation is proper. Accordingly, an operator can perform the operation while confirming the direction along which the operation lever is moved and can confirm the purport that the operation is proper. Therefore, the calibration work can be performed easily. 
         [0016]    According to the present invention, the monitor shows the direction along which the operation lever should be moved, and when the operation lever is moved to the shown direction, shows the purport that the operation is proper. Accordingly, an operator can operate the operation lever without hesitation and recognize the purport that the operation is proper. Therefore, the calibration work can be performed easily. 
         [0017]    According to the present invention, the monitor shows the direction along which the operation lever should be moved by the range of predetermined angle centering on the fulcrum of the operation lever, and when the operation lever is moved along the shown range, shows the purport that the operation is proper. Accordingly, an operator can operate the operation lever without being too careful and can recognize the purport that the operation is proper. Therefore, the calibration work can be performed easily. 
         [0018]    According to the present invention, when the gap exists between the traveling direction of the hull instructed by the operation lever and the actual traveling direction, the monitor shows the direction along which the operation lever should be moved which is collected so as to cancel the gap. Accordingly, an operator can make the traveling direction of the hull instructed by the operation lever in agreement with the actual traveling direction accurately. Therefore, the calibration work can be performed easily. 
         [0019]    According to the present invention, when the gap exists between the traveling direction of the hull instructed by the operation lever and the actual traveling direction, the monitor collects the rotation direction of the outdrive device so as to cancel the gap and shows the purport that the collection is finished. Accordingly, an operator can make the traveling direction of the hull instructed by the operation lever in agreement with the actual traveling direction accurately. Therefore, the calibration work can be performed easily. 
         [0020]    According to the present invention, the monitor shows the image of parallel movement, and subsequently shows the image of skid movement. Accordingly, an operator can perform correctly the calibration work without mistaking the order. Therefore, the calibration work can be performed easily. 
     
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         [0021]      FIG. 1  is a drawing of an outline of a ship steering system for an outdrive device. 
           [0022]      FIG. 2  is a drawing of a configuration of the ship steering system for the outdrive device. 
           [0023]      FIG. 3  is a drawing of a configuration of the outdrive device. 
           [0024]      FIGS. 4A-4D  are drawings of action of a hull when a steering lever is operated. 
           [0025]      FIGS. 5A-5D  are drawings of action of the hull when the steering lever is operated. 
           [0026]      FIGS. 6A-6B  are drawings of calibration images. 
           [0027]      FIG. 7  is a diagram of steps of calibration work by parallel movement. 
           [0028]      FIGS. 8A-8D  are drawings of change of the calibration image. 
           [0029]      FIG. 9  is a diagram of steps of calibration work by skid movement. 
           [0030]      FIGS. 10A-10D  are drawings of change of the calibration image. 
           [0031]      FIG. 11  is a diagram of steps of calibration work by parallel movement. 
           [0032]      FIGS. 12A-12D  are drawings of change of the calibration image. 
           [0033]      FIG. 13  is a diagram of steps of calibration work by skid movement. 
           [0034]      FIGS. 14A-14D  are drawings of change of the calibration image. 
           [0035]      FIG. 15  is a drawing of attachment structure of the outdrive device. 
           [0036]      FIG. 16  is a drawing of a configuration of a steering hydraulic actuator. 
           [0037]      FIG. 17  is another drawing of the configuration of the steering hydraulic actuator. 
           [0038]      FIG. 18  is a drawing of a configuration of a proportional electromagnetic valve. 
           [0039]      FIG. 19  is a schematic diagram of proofreading of a driver of the proportional electromagnetic valve. 
           [0040]      FIG. 20  is a diagram of control flow of proofreading of a ship having an automatic proofreading function. 
           [0041]      FIG. 21  is a diagram of control flow of connection confirmation control A of the ship having the automatic proofreading function. 
           [0042]      FIG. 22  is a diagram of control flow of actuator proofreading control B of the ship having the automatic proofreading function. 
           [0043]      FIG. 23  is a diagram of control flow of short circuit failure confirmation control C of the ship having the automatic proofreading function. 
           [0044]      FIG. 24  is a diagram of control flow of driver proofreading control D of the ship having the automatic proofreading function. 
           [0045]      FIG. 25  is a diagram of control flow of relation of steering control and the automatic proofreading function of the ship having the automatic proofreading function. 
       
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
       [0046]    Firstly, outline and a configuration of a ship steering system  100  for an outdrive device is explained. 
         [0047]      FIG. 1  is a drawing of an outline of the ship steering system  100  for the outdrive device.  FIG. 2  is a drawing of a configuration of the ship steering system  100  for the outdrive device.  FIG. 3  is a drawing of a configuration of the outdrive device  10 . The ship steering system  100  for the outdrive device is used for a so-called biaxial propulsion ship which has the two outdrive devices  10 . 
         [0048]    The ship steering system  100  for the outdrive device can control driving state of an engine  5  corresponding to operation of a throttle lever  2 , and as a result, rotation speed of a screw propeller  15  can be changed. The ship steering system  100  can change rotation angle of the outdrive device  10  corresponding to operation of a steering wheel  3  and an operation lever  4 . In addition to the operation lever (hereinafter, referred to as “joystick”)  4 , the ship steering system  100  includes the outdrive device  10 , a steering hydraulic actuator  20 , an electromagnetic proportional valve  30  and a control device  40 . 
         [0049]    The outdrive device  10  propels the hull  1  by rotating the screw propeller  15 . The outdrive device  10  turns the hull  1  by rotating itself concerning the hull  1 . The outdrive device  10  includes an input shaft  11 , a switching clutch  12 , a drive shaft  13 , an output shaft  14  and the screw propeller  15 . 
         [0050]    The input shaft  11  transmits rotation power of the engine  5 , transmitted via a universal joint  6 , to the switching clutch  12 . One of ends of the input shaft  11  is connected to the universal joint  6  attached to an output shaft of the engine  5 , and the other end thereof is connected to the switching clutch  12  arranged inside an upper housing  10 U. 
         [0051]    The switching clutch  12  can switch the rotation power of the engine  5 , transmitted via the input shaft  11  and the like, to forward or reverse direction. The switching clutch  12  has a forward bevel gear and a reverse bevel gear which are connected to an inner drum having disc plates, and the rotation direction is changed according to whether one of the disc plates is pressed by a pressure plate of an outer drum connected to the input shaft  11 . 
         [0052]    The drive shaft  13  transmits the rotation power of the engine  5 , transmitted via the switching clutch  12  and the like, to the output shaft  14 . A bevel gear provided at one of ends of the drive shaft  13  is meshed with the forward bevel gear and the reverse bevel gear provided in the switching clutch  12 , and a bevel gear provided at the other end is meshed with a bevel gear provided on the output shaft  14  arranged inside a lower housing  10 R. 
         [0053]    The output shaft  14  transmits the rotation power of the engine  5 , transmitted via the drive shaft  13  and the like, to the screw propeller  15 . As mentioned above, the bevel gear provided at one of ends of the output shaft  14  is meshed with the bevel gear of the drive shaft  13 , and the other end is attached thereto with the screw propeller  15 . 
         [0054]    The screw propeller  15  is rotated so as to generate propulsion power. The screw propeller  15  is driven by the rotation power of the engine  5  transmitted via the output shaft  14  and the like so that a plurality of blades  15   a  arranged around a rotation shaft paddle surrounding water, whereby the propulsion power is generated. 
         [0055]    The outdrive device  10  is supported by a gimbal housing  7  attached to a stern board (transom board) of the hull  1 . Concretely, the outdrive device  10  is supported by the gimbal housing  7  so as to make a gimbal ring  16  of the outdrive device  10  substantially perpendicular to a waterline w 1 . The gimbal ring  16  is a substantially cylindrical rotation shaft attached to the outdrive device  10 , and the outdrive device  10  is rotated centering on the gimbal ring  16 . 
         [0056]    A steering arm  17  extended into the hull  1  is attached to an upper end of the gimbal ring  16 . The steering arm  17  rotates the outdrive device  10  centering on the gimbal ring  16 . The steering arm  17  is driven by the steering hydraulic actuator  20 . The steering hydraulic actuator  20  is driven by the electromagnetic proportional valve  30  interlocked with operation of the steering wheel  3  and the joystick  4 . 
         [0057]    Next, action of the hull  1  at the time of operating the joystick  4  is explained. 
         [0058]      FIGS. 4A-4D and 5A-5D  show the action of the hull  1  at the time of operating the joystick  4 . A direction of an arrow P in each of the drawings shows a traveling direction of the hull  1 , and a direction of an arrow F in each of the drawings shows a direction of a propulsion power generated by the outdrive device  10 . The outdrive device  10  at the right side is referred to as a right outdrive device  10 R, and the outdrive device  10  at the left side is referred to as a left outdrive device  10 L. 
         [0059]    As shown in  FIG. 4A , when the propulsion powers of the right outdrive device  10 R and the left outdrive device  10 L are in parallel to a bow direction of the hull  1 , the hull  1  travels along the forward direction which is a direction of resultant of the propulsion powers. On the other hand, as shown in  FIG. 4B , when the propulsion powers of the right outdrive device  10 R and the left outdrive device  10 L are in parallel to a stem direction of the hull  1 , the hull  1  travels along the rearward direction which is a direction of resultant of the propulsion powers. 
         [0060]    As shown in  FIG. 4C , when the propulsion power of the right outdrive device  10 R is tilted leftward concerning the bow direction of the hull  1  and the propulsion power of the left outdrive device  10 L is in parallel to the bow direction of the hull  1 , the hull  1  travels along the left oblique direction which is a direction of resultant of the propulsion powers. On the other hand, as shown in  FIG. 4D , when the propulsion power of the left outdrive device  10 L is tilted rightward concerning the bow direction of the hull  1  and the propulsion power of the right outdrive device  10 R is in parallel to the bow direction of the hull  1 , the hull  1  travels along the right oblique direction which is a direction of resultant of the propulsion powers. Such operation of the ship can suppress a steering characteristic of the hull  1  so as to realize skid movement with the fixed bow direction. 
         [0061]    Furthermore, as shown in  FIG. 5A , when the propulsion power of the right outdrive device  10 R is tilted leftward concerning the bow direction of the hull  1  and the propulsion power of the left outdrive device  10 L is tilted leftward concerning the stem direction of the hull  1 , the hull  1  travels along the left direction which is a direction of resultant of the propulsion powers. On the other hand, as shown in  FIG. 5B , when the propulsion power of the left outdrive device  10 L is tilted rightward concerning the bow direction of the hull  1  and the propulsion power of the right outdrive device  10 R is tilted rightward concerning the stem direction of the hull  1 , the hull  1  travels along the right direction which is a direction of resultant of the propulsion powers. Such operation of the ship does not generate steering moment on the hull  1  so as to realize parallel movement with the fixed bow direction. 
         [0062]    As shown in  FIG. 5C , when the propulsion power of the right outdrive device  10 R is in parallel to the bow direction of the hull  1  and the propulsion power of the left outdrive device  10 L is in parallel to the stem direction of the hull  1 , the hull  1  turns along the left direction which is a generation direction of the steering moment. On the other hand, as shown in  FIG. 5D , when the propulsion power of the left outdrive device  10 L is in parallel to the bow direction of the hull  1  and the propulsion power of the right outdrive device  10 R is in parallel to the stem direction of the hull  1 , the hull  1  turns along the right direction which is a generation direction of the steering moment. Such operation of the ship generates only the steering moment on the hull  1  so as to realize steering movement in which the bow direction is changed. 
         [0063]    Next, calibration work is explained concretely. 
         [0064]    In the calibration work, an actual traveling direction is adjusted to a traveling direction of the hull  1  instructed by the joystick  4 . An operator can perform the calibration work following a calibration image displayed on a monitor  8 . The control device  40  can display information about the calibration work on the monitor  8  (see  FIGS. 1 and 2 ). 
         [0065]      FIG. 6A-6B  are drawings of calibration images.  FIG. 6A  shows the calibration image according to this embodiment.  FIG. 6B  shows the calibration image according to another embodiment. 
         [0066]    In the calibration image, an operation guide part  81  is provided. In the operation guide part  81 , an operation method of each step of the calibration work is displayed. 
         [0067]    In the calibration image, an operation instruction part  82  of the joystick  4  is provided. In the operation instruction part  82 , an icon  82   a  instructing a direction along which the joystick  4  should be moved and an icon  82   b  showing a direction along which the joystick  4  was moved are displayed. Details of the icons  82   a  and  82   b  are described later. 
         [0068]    Furthermore, in the calibration image, another display part  83  is provided. In the display part  83 , driving state (rotation speed) of the engine  5  and the like are displayed. Since the ship steering system  100  for the outdrive device has the two engines  5 , the driving state (rotation speed) of each of the engines  5  is displayed. 
         [0069]      FIG. 7  is a diagram of steps of the calibration work by parallel movement.  FIGS. 8A-8D  are drawings of change of the calibration image. 
         [0070]    Firstly, in a step S 101 , the control device  40  displays the direction along which the joystick  4  should be moved on the monitor  8 . Namely, the monitor  8  shows the direction along which the joystick  4  should be moved. Since the calibration work by the parallel movement is performed in this case, the icon  82   a  is displayed so as to move the joystick  4  laterally (see  FIGS. 8A and 8B ). Accordingly, an operator can operate the joystick  4  without hesitation. 
         [0071]    Next, in a step S 102 , the control device  40  displays the direction along which the joystick  4  was moved on the monitor  8 . Namely, the monitor  8  shows the direction along which the joystick  4  was moved. It is realized by the control device  40  recognizing the direction along which the joystick  4  was moved and displaying the icon  82   b  (see  FIGS. 8A and 8B ). Accordingly, an operator can operate the joystick  4  while confirming the direction along which the joystick  4  was moved. 
         [0072]    Next, in a step S 103 , the control device  40  judges whether the operation of the joystick  4  is proper or not. In detail, the control device  40  judges whether the direction along which the joystick  4  was moved is in agreement with the direction along which the joystick  4  should be moved shown in the step S 101 . The control device  40  shifts to a step S 104  when the operation of the joystick  4  is judged to be proper, and returns to the step S 102  when the operation of the joystick  4  is judged not to be proper. 
         [0073]    Next, in the step S 104 , the control device  40  displays the purport that the operation of the joystick  4  is proper on the monitor  8 . Namely, the monitor  8  shows the purport that the operation of the joystick  4  is proper. In this embodiment, it is realized by changing color of the icon  82   b  shown in the step S 102  from red to green. However, it is not limited thereto and may alternatively be displayed by letters. Accordingly, an operator can recognize the purport that the operation of the joystick  4  is proper. 
         [0074]    Next, in a step S 105 , the control device  40  judges whether a RUN button is pushed while the joystick  4  is operated properly or not. When the RUN button is judged to be pushed while the joystick  4  is operated properly, the control device  40  fixes a rotation angle of the outdrive device  10 . Namely, the control device  40  cancels temporarily the interlocking state of the joystick  4  and the outdrive device  10 . When the RUN button is judged not to be pushed while the joystick  4  is operated properly, the control device  40  returns to the step S 104 . 
         [0075]    Next, in a step S 106 , the control device  40  calculates a collection value of the rotation angle of the outdrive device  10 . In detail, the control device  40  recognizes a gap of the traveling direction of the hull  1  instructed by the joystick  4  (lateral direction) and the actual traveling direction based on information from a global positioning system (GPS), and calculates the collection value so as to cancel the gap. 
         [0076]    Next, in a step S 107 , the control device  40  displays the direction along which the joystick  4  should be moved on the monitor  8 . Namely, the monitor  8  shows the direction along which the joystick  4  should be moved. In this case, since the collection value of the rotation angle of the outdrive device  10  is calculated in the step S 106 , the icon  82   a  in consideration of the collection value is displayed (see  FIGS. 8C and 8D ). Accordingly, an operator can operate the joystick  4  without hesitation. 
         [0077]    Next, in a step S 108 , the control device  40  displays the direction along which the joystick  4  was moved on the monitor  8 . Namely, the monitor  8  shows the direction along which the joystick  4  was moved. It is realized by the control device  40  recognizing the direction along which the joystick  4  was moved and displaying the icon  82   b  (see  FIGS. 8C and 8D ). Accordingly, an operator can operate the joystick  4  while confirming the direction along which the joystick  4  was moved. 
         [0078]    Next, in a step S 109 , the control device  40  judges whether the operation of the joystick  4  is proper or not. In detail, the control device  40  judges whether the direction along which the joystick  4  was moved is in agreement with the direction along which the joystick  4  should be moved shown in the step S 107 . The control device  40  shifts to a step S 110  when the operation of the joystick  4  is judged to be proper, and returns to the step S 108  when the operation of the joystick  4  is judged not to be proper. 
         [0079]    Next, in the step S 110 , the control device  40  displays the purport that the operation of the joystick  4  is proper on the monitor  8 . Namely, the monitor  8  shows the purport that the operation of the joystick  4  is proper. In this embodiment, it is realized by changing color of the icon  82   b  shown in the step S 108  from red to green. However, it is not limited thereto and may alternatively be displayed by letters. Accordingly, an operator can recognize the purport that the operation of the joystick  4  is proper. 
         [0080]    Next, in a step S 111 , the control device  40  judges whether the RUN button is pushed while the joystick  4  is operated properly or not. When the RUN button is judged to be pushed while the joystick  4  is operated properly, the control device  40  performs the calibration. Namely, when the joystick  4  is moved laterally, the control device  40  set the rotation angle of the outdrive device  10  to be the value in the step S 110 . 
         [0081]    As the above, the monitor  8  shows the direction along which the joystick  4  should be moved (see the steps S 101  and S 107 ), and shows when the joystick  4  is moved along the shown direction, the monitor  8  shows the purport that the operation of the joystick  4  is proper (see the steps S 104  and S 110 ). Accordingly, an operator can operate the joystick  4  without hesitation and recognize the purport that the operation is proper. Therefore, the calibration work can be performed easily. 
         [0082]    Furthermore, in detail, when the gap exists between the traveling direction of the hull  1  instructed by the joystick  4  and the actual traveling direction, the monitor  8  shows the direction along which the joystick  4  should be moved which is collected so as to cancel the gap (see the step S 107 ). Accordingly, an operator can make the traveling direction of the hull  1  instructed by the joystick  4  in agreement with the actual traveling direction accurately. Therefore, the calibration work can be performed easily. 
         [0083]    The above is the calibration work by the parallel movement. After the calibration work by the parallel movement, the ship steering system  100  for the outdrive device performs the calibration work by the skid movement. 
         [0084]      FIG. 9  is a diagram of steps of the calibration work by the skid movement.  FIGS. 10A-10D  are drawings of change of the calibration image. 
         [0085]    Firstly, in a step S 201 , the control device  40  displays the direction along which the joystick  4  should be moved on the monitor  8 . Namely, the monitor  8  shows the direction along which the joystick  4  should be moved. Since the calibration work by the skid movement is performed in this case, the icon  82   a  is displayed so as to move the joystick  4  aslant (see  FIGS. 10A and 10B ). Accordingly, an operator can operate the joystick  4  without hesitation. 
         [0086]    Next, in a step S 202 , the control device  40  displays the direction along which the joystick  4  was moved on the monitor  8 . Namely, the monitor  8  shows the direction along which the joystick  4  was moved. It is realized by the control device  40  recognizing the direction along which the joystick  4  was moved and displaying the icon  82   b  (see  FIGS. 10A and 10B ). Accordingly, an operator can operate the joystick  4  while confirming the direction along which the joystick  4  was moved. 
         [0087]    Next, in a step S 203 , the control device  40  judges whether the operation of the joystick  4  is proper or not. In detail, the control device  40  judges whether the direction along which the joystick  4  was moved is in agreement with the direction along which the joystick  4  should be moved shown in the step S 201 . The control device  40  shifts to a step S 204  when the operation of the joystick  4  is judged to be proper, and returns to the step S 202  when the operation of the joystick  4  is judged not to be proper. 
         [0088]    Next, in the step S 204 , the control device  40  displays the purport that the operation of the joystick  4  is proper on the monitor  8 . Namely, the monitor  8  shows the purport that the operation of the joystick  4  is proper. In this embodiment, it is realized by changing color of the icon  82   b  shown in the step S 202  from red to green. However, it is not limited thereto and may alternatively be displayed by letters. Accordingly, an operator can recognize the purport that the operation of the joystick  4  is proper. 
         [0089]    Next, in a step S 205 , the control device  40  judges whether the RUN button is pushed while the joystick  4  is operated properly or not. When the RUN button is judged to be pushed while the joystick  4  is operated properly, the control device  40  fixes a rotation angle of the outdrive device  10 . Namely, the control device  40  cancels temporarily the interlocking state of the joystick  4  and the outdrive device  10 . When the RUN button is judged not to be pushed while the joystick  4  is operated properly, the control device  40  returns to the step S 204 . 
         [0090]    Next, in a step S 206 , the control device  40  calculates a collection value of the rotation angle of the outdrive device  10 . In detail, the control device  40  recognizes a gap of the traveling direction of the hull  1  instructed by the joystick  4  (slanting direction) and the actual traveling direction based on information from the global positioning system (GPS), and calculates the collection value so as to cancel the gap. 
         [0091]    Next, in a step S 207 , the control device  40  displays the direction along which the joystick  4  should be moved on the monitor  8 . Namely, the monitor  8  shows the direction along which the joystick  4  should be moved. In this case, since the collection value of the rotation angle of the outdrive device  10  is calculated in the step S 206 , the icon  82   a  in consideration of the collection value is displayed (see  FIGS. 10C and 10D ). Accordingly, an operator can operate the joystick  4  without hesitation. 
         [0092]    Next, in a step S 208 , the control device  40  displays the direction along which the joystick  4  was moved on the monitor  8 . Namely, the monitor  8  shows the direction along which the joystick  4  was moved. It is realized by the control device  40  recognizing the direction along which the joystick  4  was moved and displaying the icon  82   b  (see  FIGS. 10C and 10D ). Accordingly, an operator can operate the joystick  4  while confirming the direction along which the joystick  4  was moved. 
         [0093]    Next, in a step S 209 , the control device  40  judges whether the operation of the joystick  4  is proper or not. In detail, the control device  40  judges whether the direction along which the joystick  4  was moved is in agreement with the direction along which the joystick  4  should be moved shown in the step S 207 . The control device  40  shifts to a step S 210  when the operation of the joystick  4  is judged to be proper, and returns to the step S 208  when the operation of the joystick  4  is judged not to be proper. 
         [0094]    Next, in the step S 210 , the control device  40  displays the purport that the operation of the joystick  4  is proper on the monitor  8 . Namely, the monitor  8  shows the purport that the operation of the joystick  4  is proper. In this embodiment, it is realized by changing color of the icon  82   b  shown in the step S 208  from red to green. However, it is not limited thereto and may alternatively be displayed by letters. Accordingly, an operator can recognize the purport that the operation of the joystick  4  is proper. 
         [0095]    Next, in a step S 211 , the control device  40  judges whether the RUN button is pushed while the joystick  4  is operated properly or not. When the RUN button is judged to be pushed while the joystick  4  is operated properly, the control device  40  performs the calibration. Namely, when the joystick  4  is moved aslant, the control device  40  set the rotation angle of the outdrive device  10  to be the value in the step S 210 . 
         [0096]    As the above, the monitor  8  shows the direction along which the joystick  4  should be moved (see the steps S 201  and S 207 ), and shows when the joystick  4  is moved along the shown direction, the monitor  8  shows the purport that the operation of the joystick  4  is proper (see the steps S 204  and S 210 ). Accordingly, an operator can operate the joystick  4  without hesitation and recognize the purport that the operation is proper. Therefore, the calibration work can be performed easily. 
         [0097]    Furthermore, in detail, when the gap exists between the traveling direction of the hull  1  instructed by the joystick  4  and the actual traveling direction, the monitor  8  shows the direction along which the joystick  4  should be moved which is collected so as to cancel the gap (see the step S 207 ). Accordingly, an operator can make the traveling direction of the hull  1  instructed by the joystick  4  in agreement with the actual traveling direction accurately. Therefore, the calibration work can be performed easily. 
         [0098]    When the ship steering system  100  for the outdrive device is not interlocked with the global positioning system, an operator may operate the joystick  4  so as to collect the rotation angle of the outdrive device  10 . When the ship steering system  100  is not interlocked with the global positioning system, the collection value explained in the step S 106  or S 206  cannot be calculated. Therefore, the icon  82   a  in consideration of the collection value explained in the step S 107  or S 207  cannot be displayed. Accordingly, when an operator operates the joystick  4  so as to collect the rotation angle of the outdrive device  10  and pushes the RUN button, the control device  40  performs the calibration. 
         [0099]    In this case, the monitor  8  shows the direction along which the joystick  4  was moved, and when the direction along which the joystick  4  was moved is in agreement with the direction set preferably, shows the purport that the operation is proper. Accordingly, an operator can perform the operation while confirming the direction along which the joystick  4  was moved and can confirm the purport that the operation is proper. Therefore, the calibration work can be performed easily. 
         [0100]    Next, calibration work according to another embodiment is explained. 
         [0101]      FIG. 11  is a diagram of steps of the calibration work by the parallel movement.  FIGS. 12A-12D  are drawings of change of the calibration image. 
         [0102]    Steps S 301  to S 306  are similar to the above calibration work. Accordingly, explanations of these steps are omitted. 
         [0103]    In a step S 307 , the control device  40  collects the rotation angle of the outdrive device  10 . In detail, the control device  40  collects the rotation angle of the outdrive device  10  so as to cancel the gap of the traveling direction of the hull  1  instructed by the joystick  4  (lateral direction) and the actual traveling direction. In this case, since the collection value of the rotation angle of the outdrive device  10  is calculated in the step S 306 , the rotation direction of the outdrive device  10  is collected based on the collection value. At this time, the purport that the collection is being performed is displayed in the calibration image (see  FIG. 12C ). 
         [0104]    Next, in a step S 308 , the control device  40  displays the purport that the collection is finished on the monitor  8 . Namely, the monitor  8  shows the purport that the collection is finished (see  FIG. 12D ). Accordingly, an operator can recognize the purport that the collection of the rotation direction of the outdrive device  10  is finished. 
         [0105]    Next, in a step S 309 , the control device  40  judges whether the RUN button is pushed or not. When the RUN button is judged to be pushed, the control device  40  performs the calibration. Namely, when the joystick  4  is moved laterally, the control device  40  set the rotation angle of the outdrive device  10  to be the value in the step S 308 . 
         [0106]    As the above, when the gap exists between the traveling direction of the hull  1  instructed by the joystick  4  and the actual traveling direction, the monitor  8  collects the rotation direction of the outdrive device  10  so as to cancel the gap (see the step S 307 ) and shows the purport that the collection is finished (see the step S 308 ). Accordingly, an operator can make the traveling direction of the hull  1  instructed by the joystick  4  in agreement with the actual traveling direction accurately. Therefore, the calibration work can be performed easily. 
         [0107]    The above is the calibration work by the parallel movement. As mentioned above, after the calibration work by the parallel movement, the ship steering system  100  for the outdrive device performs the calibration work by the skid movement. 
         [0108]      FIG. 13  is a diagram of steps of the calibration work by the skid movement.  FIGS. 14A-14D  are drawings of change of the calibration image. 
         [0109]    Steps S 401  to S 406  are similar to the above calibration work. Accordingly, explanations of these steps are omitted. 
         [0110]    In a step S 407 , the control device  40  collects the rotation angle of the outdrive device  10 . In detail, the control device  40  collects the rotation angle of the outdrive device  10  so as to cancel the gap of the traveling direction of the hull  1  instructed by the joystick  4  (slanting direction) and the actual traveling direction. In this case, since the collection value of the rotation angle of the outdrive device  10  is calculated in the step S 406 , the rotation direction of the outdrive device  10  is collected based on the collection value. At this time, the purport that the collection is being performed is displayed in the calibration image (see  FIG. 14C ). 
         [0111]    Next, in a step S 408 , the control device  40  displays the purport that the collection is finished on the monitor  8 . Namely, the monitor  8  shows the purport that the collection is finished (see  FIG. 14D ). Accordingly, an operator can recognize the purport that the collection of the rotation direction of the outdrive device  10  is finished. 
         [0112]    Next, in a step S 409 , the control device  40  judges whether the RUN button is pushed or not. When the RUN button is judged to be pushed, the control device  40  performs the calibration. Namely, when the joystick  4  is moved aslant, the control device  40  set the rotation angle of the outdrive device  10  to be the value in the step S 408 . 
         [0113]    As the above, when the gap exists between the traveling direction of the hull instructed by the joystick  4  and the actual traveling direction, the monitor  8  collects the rotation direction of the outdrive device  10  so as to cancel the gap (see the step S 407 ) and shows the purport that the collection is finished (see the step S 408 ). Accordingly, an operator can make the traveling direction of the hull  1  instructed by the joystick  4  in agreement with the actual traveling direction accurately. Therefore, the calibration work can be performed easily. 
         [0114]    It is a prerequisite that the calibration work according to this embodiment is interlocked with the global positioning system. When not interlocked with the global positioning system, the collection value explained in the step S 306  or S 406  cannot be calculated. Accordingly, the rotation angle of the outdrive device  10  cannot be collected as explained in the step S 307  or S 407 . 
         [0115]    Next, the icon  82   a  is explained. 
         [0116]    As shown in  FIG. 6A , the icon  82   a  is shown with an arrow-like shape and shows the direction along which the joystick  4  should be moved. The icon  82   a  can express clearly the direction along which the joystick  4  should be moved. However, when the direction shown by the icon  82   a  is not in agreement completely with the direction along which the joystick  4  was moved, the operation is not judged to be proper. Accordingly, an operator must operate the joystick  4  carefully. 
         [0117]    In that respect, the icon  82   a  shown in  FIG. 6B  makes the operation of the joystick  4  easy. Namely, the icon  82   a  shows the direction along which the joystick  4  should be moved by a range of predetermined angle centering on a fulcrum of the joystick  4 , whereby an operator just has to move the joystick  4  to the range shown by the icon  82   a . Then, the purport that the operation is proper should be shown when the joystick is moved to the shown range. 
         [0118]    As the above, the monitor  8  shows the direction along which the joystick  4  should be moved by the range of the predetermined angle centering on the fulcrum of the joystick  4 , and shows the purport that the operation is proper when the joystick is moved to the shown range. Accordingly, an operator can operate the joystick  4  without being too careful and can recognize the purport that the operation is proper. Therefore, the calibration work can be performed easily. 
         [0119]    Next, the other features of the ship steering system  100  for the outdrive device are explained. 
         [0120]    As the above, in the calibration work, the calibration work by the skid movement is performed after the calibration work by the parallel movement. This is the matter naturally known in the case of performing the calibration work. However, when an operation is unfamiliar to the calibration work, the order may be mistaken. Accordingly, the monitor  8  displays the image for the calibration by the parallel movement, and subsequently displays the image for the calibration by the skid movement. 
         [0121]    As the above, the monitor  8  displays the image for the calibration by the parallel movement, and subsequently displays the image for the calibration by the skid movement. Accordingly, an operator can perform correctly the calibration work without mistaking the order. Therefore, the calibration work can be performed easily. 
         [0122]    By the way, for attaching the conventional outdrive device to the hull in the suitable state, proofreading of the outdrive device such as propriety of piping and wiring of a hydraulic cylinder, a proportional electromagnetic valve switching a flow direction of pressure oil and a piston position detection device, setting of a stroke end of the hydraulic cylinder, and the like should be executed. However, in the proofreading of the outdrive device, steps of work are complicated and confirmation by viewing may be difficult because of structures such as the engine arranged around the outdrive device. Accordingly, in the proofreading of the outdrive device, there is a problem in that proofreading results without a skilled operator may not be uniform. 
         [0123]    For operating appropriately the ship by the conventional outdrive device, the proofreading of the outdrive device such as propriety of piping and wiring of the hydraulic cylinder, the proportional electromagnetic valve switching the flow direction of pressure oil and the piston position detection device, setting of the stroke end of the hydraulic cylinder, and the like should be executed. Namely, the ship cannot be operated correctly by the outdrive device in which the proofreading is not finished. However, there is a problem in that there is no means for confirming objectively whether the proofreading of the outdrive device attached to the ship is finished or not and the operation of the ship in which the proofreading of the outdrive device is not finished appropriately cannot be prevented certainly. 
         [0124]    Then, the ship having an automatic proofreading function which can execute the proofreading of the outdrive device certainly while suppressing variation and can prevent the operation of the outdrive device before the proofreading so as to suppress incorrect operation of the outdrive device is disclosed. 
         [0125]    Firstly, a whole outline and a configuration of a ship  50  having the outdrive device  10  is explained referring to  FIGS. 1 to 19 . The ship  50  in  FIGS. 1 and 2  is a so-called biaxial propulsion ship which has the two outdrive devices  10 . However, the ship is not limited thereto and may alternatively be a monoaxial propulsion ship. 
         [0126]    As shown in  FIGS. 1 and 2 , in the ship  50 , driving state of an engine  5  is controlled corresponding to operation of the throttle lever  2 , and as a result, rotation speed of the screw propeller  15  can be changed. In the ship  50 , the hull  1  has the outdrive devices  10 , the steering hydraulic actuator  20 , the electromagnetic proportional valve  30  and the control device  40 . In the ship  50 , the hull  1  has the steering wheel  3  and the joystick  4  for controlling the outdrive devices  10 . Furthermore, in the hull  1 , the monitor  8  displaying operation state of the steering wheel  3  and the joystick  4  is arranged near them. The ship  50  is configured so that the outdrive devices  10  can be rotated corresponding to operation of the steering wheel  3  and the joystick  4 . 
         [0127]    As shown in  FIG. 3 , the outdrive devices  10  propel the hull  1  by rotating the screw propellers  15 . The outdrive devices  10  rotate itself concerning the traveling direction of the hull  1  so as to turn the hull  1 . As shown in  FIG. 3 , each of the outdrive devices  10  includes mainly the input shaft  11 , the switching clutch  12 , the drive shaft  13 , the output shaft  14  and the screw propeller  15 . 
         [0128]    The input shaft  11  transmits rotation power of the engine  5  to the switching clutch  12 . One of ends of the input shaft  11  is connected to a universal joint attached to the output shaft of the engine  5 , and the other end thereof is connected to the switching clutch  12  arranged inside the upper housing  10 U. 
         [0129]    The switching clutch  12  can switch the rotation power of the engine  5 , transmitted via the input shaft  11  and the like, to forward or reverse direction. The switching clutch  12  has a forward bevel gear and a reverse bevel gear which are connected to an inner drum having disc plates, and the rotation direction is changed according to whether one of the disc plates is pressed by a pressure plate of an outer drum connected to the input shaft  11 . 
         [0130]    The drive shaft  13  transmits the rotation power of the engine  5 , transmitted via the switching clutch  12  and the like, to the output shaft  14 . A bevel gear provided at one of ends of the drive shaft  13  is meshed with the forward bevel gear and the reverse bevel gear provided in the switching clutch  12 , and a bevel gear provided at the other end is meshed with a bevel gear provided on the output shaft  14  arranged inside the lower housing  10 R. 
         [0131]    The output shaft  14  transmits the rotation power of the engine  5 , transmitted via the drive shaft  13  and the like, to the screw propeller  15 . As mentioned above, the bevel gear provided at one of ends of the output shaft  14  is meshed with the bevel gear of the drive shaft  13 , and the other end is attached thereto with the screw propeller  15 . 
         [0132]    The screw propeller  15  is rotated so as to generate propulsion power. The screw propeller  15  is driven by the rotation power of the engine  5  transmitted via the output shaft  14  and the like so that a plurality of blades  15   a  arranged around a rotation shaft paddle surrounding water, whereby the propulsion power is generated. 
         [0133]    The outdrive device  10  is supported by the gimbal housing  7  attached to the stern board (transom board) of the hull  1 . Concretely, the outdrive device  10  is supported by the gimbal housing  7  so as to make the gimbal ring  16  of the outdrive device  10  substantially perpendicular to the waterline w 1 . The gimbal ring  16  is a substantially cylindrical rotation shaft attached to the outdrive device  10 , and the outdrive device  10  is rotated centering on the gimbal ring  16 . 
         [0134]    The steering arm  17  extended into the hull  1  is attached to an upper end of the gimbal ring  16 . The steering arm  17  rotates the outdrive device  10  centering on the gimbal ring  16 . The steering arm  17  is driven by the steering hydraulic actuator  20  interlocked with operation of the steering wheel  3  and the joystick  4 . 
         [0135]    An attachment structure of the outdrive device  10  is explained in detail referring to  FIGS. 15 to 17 . 
         [0136]    A bracket  42  is attached to a front surface side of the stern board (transom board). The gimbal housing  7  is attached to a rear surface side of the stern board (transom board). Two rotation shafts  41  are provided substantially vertically in the gimbal housing  7 , and the gimbal ring  16  is supported rotatably by the rotation shafts  41 . In a middle part of the gimbal ring  16 , two rotation shafts  18  are provided horizontally, and an upper front part of the upper housing  10 U is supported rotatably by the rotation shafts  18 . 
         [0137]    The steering arm  17  is attached to an upper end of corresponding one of the rotation shafts  41 . The steering arm  17  is extended into the hull  1  via through holes  1 H and  42 H provided in the hull  1  and the bracket  42 . An end of the steering arm  17  is connected to the steering hydraulic actuator  20  (see  FIG. 3 ). Accordingly, by operating the steering hydraulic actuator  20 , the outdrive device  10  is rotated laterally centering on the gimbal ring  16 . 
         [0138]    A lifting hydraulic actuator  9  is interposed between a lower part of the gimbal ring  16  and the upper housing  10 U (see  FIG. 3 ). Accordingly, by operating the lifting hydraulic actuator  9 , the outdrive device  10  is rotated vertically centering on the rotation shafts  18 . 
         [0139]    The steering hydraulic actuator  20  drives the steering arm  17  of the outdrive device  10  so as to rotate the outdrive device  10 . As shown in  FIG. 16 , the steering hydraulic actuator  20  includes mainly a cylinder sleeve  21 , a piston  22 , a rod  23 , a first cylinder cap  24 , a second cylinder cap  25  and a position sensor  26 . The steering hydraulic actuator  20  according to this embodiment is so-called single rod type hydraulic actuator. However, the steering hydraulic actuator  20  may alternatively be double rod type shown in  FIG. 17 . 
         [0140]    The cylinder sleeve  21  is provided slidably therein with the piston  22 . In each of end parts of the cylinder sleeve  21 , a flange part projecting in a peripheral direction is provided. The first cylinder cap  24  or the second cylinder cap  25  is fixed to the flange part. 
         [0141]    The piston  22  is slid in the cylinder sleeve  21  by receiving hydraulic pressure. In the piston  22 , a through hole  22   h  is provided coaxially to an axis of the piston  22 , and the rod  23  is inserted into the through hole  22   h . Ring grooves are provided in an outer peripheral surface of the piston  22  along a peripheral direction thereof, and a seal ring is attached circularly to each of the ring grooves. A permanent magnet  222  is attached to the outer peripheral surface of the piston  22  between the seal rings. 
         [0142]    The rod  23  transmits the sliding of the piston  22  to the steering arm  17 . At one of ends of the rod  23 , a reduced diameter part  23   ta  at which an outer diameter of the rod  23  is reduced is provided. A nut  231  is screwed to the rod  23  while the reduced diameter part  23   ta  is inserted into the through hole  22   h  of the piston  22 , whereby the rod  23  is fixed to the piston  22 . At the other end of the rod  23 , a reduced diameter part  23   tb  at which the outer diameter of the rod  23  is reduced is provided. A nut  232  is screwed to the rod  23  while the reduced diameter part  23   tb  is inserted into a through hole  27   h  of a clevis  27 , whereby the rod  23  is fixed to the clevis  27 . The clevis  27  is a connection member connecting the rod  23  to the steering arm  17 . 
         [0143]    The first cylinder cap  24  seals one of ends of the cylinder sleeve  21 . In the first cylinder cap  24 , a first oil passage  24   p  communicated with a first oil chamber Oc 1  configured by the cylinder sleeve  21  and the piston  22  is provided. A ring groove is provided in a peripheral wall surface, which is inserted into the cylinder sleeve  21 , along a peripheral direction thereof, and a seal ring is attached circularly to the ring groove. Accordingly, the first oil chamber Oc 1  configures a pressure-resistant chamber which can resist predetermined hydraulic pressure. 
         [0144]    The second cylinder cap  25  seals the other end of the cylinder sleeve  21  and supports slidably the rod  23 . In the second cylinder cap  25 , a second oil passage  25   p  communicated with a second oil chamber Oc 2  configured by the cylinder sleeve  21  and the piston  22  is provided. A ring groove is provided in a peripheral wall surface, which is inserted into the cylinder sleeve  21 , along a peripheral direction thereof, and a seal ring is attached circularly to the ring groove. Furthermore, in the second cylinder cap  25 , a through hole  25   h  is provided coaxially to an axis of the cylinder sleeve  21 , and the rod  23  is inserted into the through hole  25   h . A ring groove is provided in an inner peripheral surface of the through hole  25   h  along a peripheral direction thereof, and a seal ring is attached circularly to the ring groove. 
         [0145]    Accordingly, the second oil chamber Oc 2  configures a pressure-resistant chamber which can resist predetermined hydraulic pressure. 
         [0146]    The position sensor  26  detects magnetic force of the permanent magnet  222  attached to the piston  22 . The position sensor  26  is attached to an outer peripheral surface of the cylinder sleeve  21  so as to be in parallel to a sliding direction of the piston  22  at least within a slidable range of the piston  22 . Accordingly, the control device  40  can grasp a position of the piston  22 , as a result can grasp a steering angle of the outdrive device  10 . The control device  40  can recognize the sliding direction of the piston  22  by grasping the position of the piston  22  for every unit time. 
         [0147]    The position sensor  26  is configured by a so-called hall element which exchanges output voltage mainly corresponding to change of magnetic flux density. The hall element detects strength of a magnetic field from potential difference caused by Lorentz force (hall voltage) by using a fact that the Lorentz force acts on electrons by interaction of the magnetic field and current. In this embodiment, the hall element is used as a main component of the position sensor  26 . However, the configuration is not limited thereto and a magnetoresistive element whose electric resistance value is changed corresponding to the strength of the magnetic field may alternatively be used. 
         [0148]    The electromagnetic proportional valve  30  changes a flow direction of pressure oil of the steering hydraulic actuator  20 . As shown in  FIGS. 18 and 19 , the electromagnetic proportional valve  30  includes mainly a valve body  31 , a spool shaft  32 , a first solenoid  33  and a second solenoid  34 . In the valve body  31 , the spool shaft  32  is provided slidably. The spool shaft  32  is slid in the valve body  31  so as to switch an oil passage of pressure oil. The first solenoid  33  slides the spool shaft  32  to one of sides. The second solenoid  34  slides the spool shaft  32  to the other side. In the electromagnetic proportional valve  30 , current I is supplied from a driver  35  to the first solenoid  33  or the second solenoid  34 . In this embodiment, the electromagnetic proportional valve  30  is a so-called direct acting type proportional electromagnetic valve. However, the electromagnetic proportional valve  30  may alternatively be a pilot type proportional electromagnetic valve and the operation type is not limited. 
         [0149]    The driver  35  sends the current I to the electromagnetic proportional valve  30  based on a signal from the control device  40 . As shown in  FIG. 19 , the driver  35  is configured by a PWM circuit (pulse width modulation circuit)  36 , a proportional electromagnetic valve driving circuit  37  and a current detection circuit  38 . The PWM circuit  36  can receive the control signal from the control device  40 . The PWM circuit  36  can transmit a control pulse to the proportional electromagnetic valve driving circuit  37  based on the received control signal. The proportional electromagnetic valve driving circuit  37  can supply the current I to the electromagnetic proportional valve  30  based on the control pulse received from the PWM circuit  36 . The current detection circuit  38  can be sent thereto with the current I supplied to the electromagnetic proportional valve  30 . The current detection circuit  38  detects a current value from voltage reduction at a shunt resistor (not shown) to which the current I is sent. The current detection circuit  38  can input a current value, which is detected via a subtracter  39 , to the PWM circuit  36 . Namely, the driver  35  performs current feedback control based on deviation of the control signal and the current detection value. 
         [0150]    As shown in  FIG. 2 , the control device  40  makes the control signal based on detection signals from the throttle lever  2 , the steering wheel  3  and the joystick  4 . The control device  40  transmits the control signal to the driver  35  of the electromagnetic proportional valve  30  and the like. The control device  40  can make the control signal based on information from the global positioning system (GPS) and can transmit the made control signal to the electromagnetic proportional valve  30  and the like. Namely, in addition to operation performed manually by an operator, the control device  40  can perform so-called automatic operation in which a route is calculated from its position and a set destination and the operation is performed automatically. 
         [0151]    The control device  40  has an automatic proofreading function of the outdrive device  10  which is performed when the outdrive device  10  is attached to the hull  1 . Concretely, the control device  40  can perform automatic proofreading in which connection confirmation and setting of movable range of the steering hydraulic actuator  20 , propriety judgment of wiring of electric wires of the position sensor  26 , propriety judgment of piping of hydraulic pipes of the electromagnetic proportional valve  30 , presence judgment of short circuit failure of the control signal to the driver  35  of the electromagnetic proportional valve  30 , and the like can be executed. Various programs, data and the like for executing the automatic proofreading are stored in the control device  40 . 
         [0152]    Concerning the ship  50  having the outdrive device  10  configured as the above, when the hull  1  is turned leftward, the control device  40  should slide the piston  22  of the steering hydraulic actuator  20  along a direction of an arrow L shown in  FIGS. 16 and 17 . Therefore, the control device  40  transmits the control signal to the electromagnetic proportional valve  30  so as to actuate the second solenoid  34 . Accordingly, the second solenoid  34  slides the spool shaft  32  to a predetermined position. As a result, the piston  22  of the steering hydraulic actuator  20  is slid along the direction of the arrow L shown in  FIGS. 16 and 17 . 
         [0153]    When the hull  1  is turned rightward, the control device  40  should slide the piston  22  of the steering hydraulic actuator  20  along a direction of an arrow R shown in  FIGS. 16 and 17 . Therefore, the control device  40  transmits the control signal to the electromagnetic proportional valve  30  so as to actuate the first solenoid  33 . Accordingly, the first solenoid  33  slides the spool shaft  32  to a predetermined position. As a result, the piston  22  of the steering hydraulic actuator  20  is slid along the direction of the arrow R shown in  FIGS. 16 and 17 . 
         [0154]    Operation mode of the automatic proofreading function of the outdrive device  10  of the ship  50  is explained. 
         [0155]    As shown in  FIGS. 1 and 16 , when “proofreading execution” displayed on the monitor  8  is selected, the control device  40  actuates the piston  22  of the steering hydraulic actuator  20  configuring the outdrive device  10  and confirms the connection of the electric wires and the hydraulic pipes of the steering hydraulic actuator  20 , the position sensor  26 , the electromagnetic proportional valve  30  and the driver  35 . Next, the control device  40  moves the piston  22  so as to set values of the position sensor  26  at the one end and the other end, and judges incorrect wiring of the electric wires and incorrect piping of the hydraulic pipes of the steering hydraulic actuator  20 , the position sensor  26 , the electromagnetic proportional valve  30  and the driver  35 . Next, the control device  40  judges short circuit failure of a driving circuit of the electromagnetic proportional valve  30 . Finally, the control device  40  sets a minimum current value Imin required for actuating the steering hydraulic actuator  20 . 
         [0156]    Next, control mode of the automatic proofreading of the control device  40  is explained concretely referring to  FIGS. 20 to 24 . 
         [0157]    As shown in  FIG. 20 , in a step S 500 , the control device  40  judges whether a proofreading signal caused by selecting “proofreading execution” displayed on the monitor  8  (see  FIG. 1 ) is received or not. 
         [0158]    As a result, when the proofreading signal is judged to be received, the control device  40  shifts to a step S 600 . 
         [0159]    On the other hand, when the proofreading signal is judged not to be received, the control device  40  finishes control of the automatic proofreading. 
         [0160]    In the step S 600 , the control device  40  starts connection confirmation control A and shifts to a step S 601  (see  FIG. 21 ). When the connection confirmation control A is finished, the control device  40  shifts to a step S 700  (see  FIG. 20 ). 
         [0161]    In the step S 700 , the control device  40  judges whether connection failure exists in the electric wires or the hydraulic pipes or not based on the judgment result of the connection confirmation control A. 
         [0162]    As a result, when the connection failure is judged not to exist in the electric wires and the hydraulic pipes, the control device  40  shifts to a step S 800 . 
         [0163]    On the other hand, when the connection failure is judged to exist in the electric wires or the hydraulic pipes, the control device  40  finishes control of the automatic proofreading. In this case, the purport that the connection failure exists in the electric wires or the hydraulic pipes is displayed on the monitor  8 . 
         [0164]    In the step S 800 , the control device  40  starts actuator collection control B and shifts to a step S 801  (see  FIG. 22 ). When the actuator collection control B is finished, the control device  40  shifts to a step S 900  (see  FIG. 20 ). 
         [0165]    In the step S 900 , the control device  40  judges whether the incorrect wiring of the electric wires, the incorrect piping of the hydraulic pipes, or operation failure of the steering hydraulic actuator  20  exists or not based on the judgment result of the actuator collection control B. 
         [0166]    As a result, when the incorrect wiring of the electric wires, the incorrect piping of the hydraulic pipes, and the operation failure of the steering hydraulic actuator  20  are judged not to exist, the control device  40  shifts to a step S 1000 . 
         [0167]    On the other hand, when the incorrect wiring of the electric wires, the incorrect piping of the hydraulic pipes, or the operation failure of the steering hydraulic actuator  20  is judged to exist, the control device  40  finishes control of the automatic proofreading. In this case, the purport that the incorrect wiring of the electric wires, the incorrect piping of the hydraulic pipes, or the operation failure of the steering hydraulic actuator  20  exists is displayed on the monitor  8 . 
         [0168]    In the step S 1000 , the control device  40  starts short circuit failure confirmation control C and shifts to a step S 1001  (see  FIG. 23 ). When the short circuit failure confirmation control C is finished, the control device  40  shifts to a step S 1100  (see  FIG. 20 ). 
         [0169]    In the step S 1100 , the control device  40  judges whether the short circuit failure of the driving circuit of the electromagnetic proportional valve  30  exists or not based on the judgment result of the short circuit failure confirmation control C. 
         [0170]    As a result, when the short circuit failure of the driving circuit of the electromagnetic proportional valve  30  is judged not to exist, the control device  40  shifts to a step S 1200 . 
         [0171]    On the other hand, when the short circuit failure of the driving circuit of the electromagnetic proportional valve  30  is judged to exist, the control device  40  finishes control of the automatic proofreading. In this case, the purport that the short circuit failure of the driver  35  exists is displayed on the monitor  8 . 
         [0172]    In the step S 1200 , the control device  40  starts driver proofreading control D and shifts to a step S 1201  (see  FIG. 24 ). When the driver proofreading control D is finished, the control device  40  finishes control of the automatic proofreading (see  FIG. 20 ). Namely, when the operation failure, the incorrect piping, the failure or the like is judged to exist in the connection confirmation control A, the actuator collection control B, the short circuit failure confirmation control C and the driver proofreading control D, the control device  40  finishes control of the automatic proofreading. 
         [0173]    As shown in  FIG. 21 , in the step S 601  of the connection confirmation control A, the control device  40  actuates the steering hydraulic actuator  20  along a predetermined direction and shifts to a step S 602 . Concretely, the control device  40  switches a direction of pressure oil by the electromagnetic proportional valve  30  so as to move the piston  22  of the steering hydraulic actuator  20  for a predetermined amount Sv toward one side, the other side and the one side in this order, and shifts to a step S 602 . 
         [0174]    In the step S 602 , the control device  40  judges whether a detection value P of the position sensor  26  is changed for not less than a predetermined value Pv following the operation of the steering hydraulic actuator  20  or not. 
         [0175]    As a result, when the detection value P of the position sensor  26  is judged to be changed for not less than the predetermined value Pv, the control device  40  shifts to a step S 603 . 
         [0176]    On the other hand, when the detection value P of the position sensor  26  is judged not to be changed for not less than the predetermined value Pv, the control device  40  shifts to a step S 613 . 
         [0177]    In the step S 603 , the control device  40  judges that the connection failure does not exist in the electric wires or the hydraulic pipes, and finishes the connection confirmation control A. Concretely, the control device  40  judges that the connection failure of the electric wires concerning the position sensor  26 , the electromagnetic proportional valve  30  and the driver  35  and the connection failure of the hydraulic pipes concerning the steering hydraulic actuator  20  do not exist, and finishes the connection confirmation control A. 
         [0178]    In the step S 613 , the control device  40  judges that the connection failure exists in the electric wires or the hydraulic pipes, and finishes the connection confirmation control A. Concretely, the control device  40  judges that the connection failure of the electric wires concerning the position sensor  26 , the electromagnetic proportional valve  30  and the driver  35  or the connection failure of the hydraulic pipes concerning the steering hydraulic actuator  20  exist, and finishes the connection confirmation control A. 
         [0179]    As shown in  FIG. 22 , in the step S 801  of the actuator collection control B, the control device  40  moves the piston  22  of the steering hydraulic actuator  20  toward the one side and the other side, and shifts to a step S 802 . 
         [0180]    In the step S 802 , the control device  40  judges whether the detection value P of the position sensor  26  at the time of moving the piston  22  of the steering hydraulic actuator  20  toward the one side or the other side is within a first proofreading range R 1  or a second proofreading range R 2  or not. 
         [0181]    As a result, when the detection value P is judged to be within the first proofreading range R 1  or the second proofreading range R 2 , the control device  40  shifts to a step S 803 . 
         [0182]    On the other hand, when the detection value P is judged not to be within the first proofreading range R 1  or the second proofreading range R 2 , the control device  40  shifts to the step S 801 . 
         [0183]    In the step S 803 , the control device  40  judges whether the detection value P of the position sensor  26  at the time of moving the piston  22  of the steering hydraulic actuator  20  toward the one side or the other side is detected continuously for a predetermined time t 1  or not. 
         [0184]    As a result, when the detection value P is judged to be detected continuously for the predetermined time t 1 , the control device  40  shifts to a step S 804 . 
         [0185]    On the other hand, when the detection value P is judged not to be detected continuously for the predetermined time t 1 , the control device  40  shifts to the step S 801 . 
         [0186]    In the step S 804 , the control device  40  sets a detection value P 1  of the position sensor  26  at the time of moving the piston  22  of the steering hydraulic actuator  20  toward the one side as a position at one of end (hereinafter, simply referred to as “one end position P 1 ”), sets a detection value P 2  of the position sensor  26  at the time of moving the piston  22  of the steering hydraulic actuator  20  toward the other side as a position at the other end (hereinafter, simply referred to as “the other end position P 2 ”), and shifts to a step S 805 . In this embodiment, the detection value P of the position sensor  26  is increased following movement of the piston  22  to one of sides of the steering hydraulic actuator  20 . 
         [0187]    In the step S 805 , the control device  40  judges whether the one end position P 1  is larger than the other end position P 2  or not. 
         [0188]    As a result, when the one end position P 1  is judged to be larger than the other end position P 2 , the control device  40  shifts to a step S 806 . 
         [0189]    On the other hand, when the one end position P 1  is judged to be not more than the other end position P 2 , the control device  40  shifts to a step S 827 . 
         [0190]    In the step S 806 , the control device  40  judges whether difference of the one end position P 1  and the other end position P 2  is not less than a predetermined value Lv or not. As a result, when the difference of the one end position P 1  and the other end position P 2  is judged not to be less than the predetermined value Lv, the control device  40  shifts to a step S 807 . 
         [0191]    On the other hand, when the difference of the one end position P 1  and the other end position P 2  is judged to be less than the predetermined value Lv, the control device  40  shifts to a step S 817 . In this embodiment, the predetermined value Lv is a standard stroke of the steering hydraulic actuator  20 . 
         [0192]    In the step S 807 , the control device  40  judges that the incorrect wiring, the incorrect piping and the operation failure do not exist and finishes the actuator collection control B. Concretely, the control device  40  judges that the connection failure of the electric wires concerning the position sensor  26 , the electromagnetic proportional valve  30  and the driver  35 , the connection failure of the hydraulic pipes concerning the steering hydraulic actuator  20 , and the operation failure of the steering hydraulic actuator  20  do not exist, and finishes the actuator collection control B. 
         [0193]    In the step S 817 , the control device  40  judges as the operation failure, and finishes the actuator collection control B. Concretely, the control device  40  judges as the operation failure of the steering hydraulic actuator  20 , and finishes the actuator collection control B. 
         [0194]    In the step S 827 , the control device  40  judges that the incorrect wiring or the incorrect piping exists, and finishes the actuator collection control B. Concretely, the control device  40  judges that the connection failure of the electric wires concerning the position sensor  26 , the electromagnetic proportional valve  30  and the driver  35 , or the connection failure of the hydraulic pipes concerning the steering hydraulic actuator  20  exists, and finishes the actuator collection control B. 
         [0195]    As shown in  FIG. 23 , in the step S 1001  of the short circuit failure confirmation control C, the control device  40  sends current I 0  whose magnitude is not enough to operate the electromagnetic proportional valve  30  from the driver  35  to the electromagnetic proportional valve  30 , and shifts to a step S 1002 . 
         [0196]    In the step S 1002 , the control device  40  judges whether the detection value P of the position sensor  26  is changed or not. Namely, the control device  40  judges whether the electromagnetic proportional valve  30  is operated by the current I from the driver  35  or not. 
         [0197]    As a result, when the detection value P of the position sensor  26  is judged not to be changed, that is, when it is judged that the current I sent from the driver  35  to the electromagnetic proportional valve  30  is the current I 0  and the electromagnetic proportional valve  30  is not operated, the control device  40  shifts to a step S 1003 . 
         [0198]    On the other hand, when the detection value P of the position sensor  26  is judged to be changed, that is, when it is judged that the current I sent from the driver  35  to the electromagnetic proportional valve  30  is larger than the current I 0  and the electromagnetic proportional valve  30  is operated, the control device  40  shifts to a step S 1013 . 
         [0199]    In the step S 1003 , the control device  40  judges that the short circuit failure of the driving circuit of the electromagnetic proportional valve  30  does not exist, and finishes the short circuit failure confirmation control C. Concretely, the control device  40  judges that a current value detected by the current detection circuit  38  of the driver  35  is the same as a current value of the current I 0  and the short circuit failure of the driving circuit of the electromagnetic proportional valve  30  does not exist, and finishes the short circuit failure confirmation control C. 
         [0200]    In the step S 1013 , the control device  40  judges that the short circuit failure of the driving circuit of the electromagnetic proportional valve  30  exists, and finishes the short circuit failure confirmation control C. Concretely, as shown in  FIG. 19 , when the short circuit failure of the driving circuit of the electromagnetic proportional valve  30  to a GND occurs, a part of the current I sent from the electromagnetic proportional valve  30  to the current detection circuit  38  (see an arrow of a solid line in  FIG. 19 ) is sent to the GND (see an arrow of a dashed line in  FIG. 19 ). As a result, the current value detected by the current detection circuit  38  becomes smaller than the current value of the current I 0 . The driver  35  judges that the current I sent to the electromagnetic proportional valve  30  is smaller than the current I 0 , and increases the current value of the current I supplied to the electromagnetic proportional valve  30  by the current feedback control. By operating the electromagnetic proportional valve  30  by the increased current I, the steering hydraulic actuator  20  is operated. Namely, the control device  40  judges that the short circuit failure of the driving circuit of the electromagnetic proportional valve  30  occurs by changing the detection value P of the position sensor  26 , and finishes the short circuit failure confirmation control C. 
         [0201]    As shown in  FIG. 24 , in the step S 1201  of the driver proofreading control D, the control device  40  sends a current I(n) from the driver  35  to the electromagnetic proportional valve  30  for a predetermined time, and shifts to a step S 1202 . 
         [0202]    In the step S 1202 , the control device  40  judges whether the detection value P of the position sensor  26  is changed or not. Namely, the control device  40  judges whether a current value of the current I(n) from the driver  35  is not less than a minimum current value Imin driving the electromagnetic proportional valve  30  or not. 
         [0203]    As a result, when the detection value P of the position sensor  26  is judged to be changed, namely, when the current value of the current I(n) from the driver  35  is judged not to be less than the minimum current value Imin driving the electromagnetic proportional valve  30 , the control device  40  shifts to a step S 1203 . 
         [0204]    On the other hand, when the detection value P of the position sensor  26  is judged not to be changed, the control device  40  shifts to a step S 1223 . 
         [0205]    In the step S 1203 , the control device  40  sends a current I(n+1) whose current value is smaller for a predetermined value Iv than that of the current I(n) sent from the driver  35  to the electromagnetic proportional valve  30 , and shifts to a step S 1204 . 
         [0206]    In the step S 1204 , the control device  40  judges whether the detection value P of the position sensor  26  is not changed or not. 
         [0207]    As a result, when the detection value P of the position sensor  26  is judged not to be changed, the control device  40  shifts to a step S 1205 . 
         [0208]    On the other hand, when the detection value P of the position sensor  26  is judged to be changed, the control device  40  shifts to a step S 1214 . 
         [0209]    In the step S 1205 , the control device  40  sets the minimum current value Imin as the current value of the current I(n), and finishes the driver proofreading control D. 
         [0210]    In the step S 1214 , the control device  40  shifts to the step S 1203  so as to make n of the current I(n) be n=n+1, that is, set the current I(n+1) whose current value is smaller for the predetermined value Iv than that of the current I(n) as the current I(n), thereby reducing a current value of the new current I(n) for the predetermined value Iv. 
         [0211]    In the step S 1223 , the control device  40  sends the current I(n+1) whose current value is larger for the predetermined value Iv than that of the current I(n) sent from the driver  35  to the electromagnetic proportional valve  30 , and shifts to the step S 1204 . 
         [0212]    In a step S 1224 , the control device  40  judges whether the detection value P of the position sensor  26  is not changed or not. 
         [0213]    As a result, when the detection value P of the position sensor  26  is judged to be changed, the control device  40  shifts to a step S 1225 . 
         [0214]    On the other hand, when the detection value P of the position sensor  26  is judged not to be changed, the control device  40  shifts to a step S 1234 . 
         [0215]    In the step S 1225 , the control device  40  sets the current value of the current I(n+1) as the minimum current value Imin, and finishes the driver proofreading control D. 
         [0216]    In the step S 1234 , the control device  40  shifts to the step S 1223  so as to make n of the current I(n) be n=n+1, that is, set the current I(n+1) whose current value is smaller for the predetermined value Iv than that of the current I(n) as the current I(n), thereby increasing a current value of the new current I(n) for the predetermined value Iv. 
         [0217]    Relation of the automatic proofreading function and steering control in control mode of the outdrive device  10  of the ship  50  is explained. 
         [0218]    When a control signal of the outdrive device  10  is received, the control device  40  judges whether a proofreading starting signal has been received by that time or not. When the proofreading starting signal has been already received and the proofreading is being performed or not finished completely, the control device  40  repeals the control signal of the outdrive device  10 . On the other hand, when the proofreading starting signal has been not already received and the proofreading has been finished completely, the control device  40  repeals the proofreading starting signal. 
         [0219]    Next, the relation of the automatic proofreading function and steering control in control mode of the control device  40  is explained referring to  FIG. 25 . 
         [0220]    As shown in  FIG. 25 , in a step S 1301 , when the control signal of the outdrive device  10  is received, the control device  40  shifts to a step S 1302 . 
         [0221]    In the step S 1302 , the control device  40  judges whether the proofreading starting signal of the outdrive device  10  has been received or not. 
         [0222]    As a result, when the proofreading starting signal of the outdrive device  10  is judged to have been received, the control device  40  shifts to a step S 1303 . 
         [0223]    On the other hand, when the proofreading starting signal of the outdrive device  10  is judged not to have been received, the control device  40  shifts to a step S 1313 . 
         [0224]    In the step S 1303 , the control device  40  judges whether the proofreading of the outdrive device  10  is being performed or not. 
         [0225]    As a result, when the proofreading of the outdrive device  10  is judged to be being performed, the control device  40  shifts to a step S 1304 . 
         [0226]    On the other hand, when the proofreading of the outdrive device  10  is judged not to be being performed, the control device  40  shifts to a step S 1324 . 
         [0227]    In the step S 1304 , the control device  40  repeals the control signal of the outdrive device  10  and continues the control of the automatic proofreading. Namely, the ship  50  having the automatic proofreading function of this embodiment is configured so that the control of the outdrive device  10  cannot be performed when the proofreading of the outdrive device  10  is being performed. 
         [0228]    In the step S 1313 , the control device  40  repeals the control signal of the outdrive device  10 . Namely, the ship  50  having the automatic proofreading function of this embodiment is configured so that the control of the outdrive device  10  cannot be performed when the proofreading of the outdrive device  10  is not performed. 
         [0229]    In the step S 1324 , the control device  40  judges whether the proofreading of the outdrive device  10  is finished or not. 
         [0230]    As a result, when the proofreading of the outdrive device  10  is judged to be finished, the control device  40  shifts to a step S 1325 . 
         [0231]    On the other hand, when the proofreading of the outdrive device  10  is judged not to be finished, the control device  40  shifts to a step S 1335 . 
         [0232]    In the step S 1325 , the control device  40  repeals the proofreading starting signal of the outdrive device  10  and continues the control of the outdrive device  10 . Namely, the ship  50  having the automatic proofreading function of this embodiment is configured so that the proofreading of the outdrive device  10  cannot be performed while the control of the outdrive device  10  is performed when the proofreading of the outdrive device  10  is finished. 
         [0233]    In the step S 1335 , the control device  40  repeals the control signal of the outdrive device  10  and continues the control of the automatic proofreading. Namely, the ship  50  having the automatic proofreading function of this embodiment is configured so that the control of the outdrive device  10  cannot be performed when the proofreading of the outdrive device  10  is not finished. 
         [0234]    As the above, the ship  50  having the automatic proofreading function is the ship  50  having the outdrive device  10  steering by the steering hydraulic actuator  20 , and has the position sensor  26  which is a piston position detection device of the steering hydraulic actuator  20 , the electromagnetic proportional valve  30  switching the direction of pressure oil, and the control device  40  controlling the electromagnetic proportional valve  30 . Operation confirmation of the steering hydraulic actuator  20  and the electromagnetic proportional valve  30 , setting of the movable range of the steering hydraulic actuator  20 , and setting of the electromagnetic proportional valve  30  are performed automatically by the control device  40  as the proofreading of the outdrive device  10 . When the steering hydraulic actuator  20  and the electromagnetic proportional valve  30  are not operated normally, the proofreading of the outdrive device  10  is stopped. 
         [0235]    According to the configuration, an operator does not need to execute manually and visually the proofreading of the outdrive device  10 . When abnormality exists, the proofreading of the outdrive device  10  is stopped. Accordingly, even when the steering hydraulic actuator  20  and the like cannot be confirmed visually, the proofreading of the outdrive device  10  can be executed certainly while suppressing variation. 
         [0236]    When the detection value P of the position sensor  26  is not changed for not less than the predetermined value Pv in the case in which the piston  22  of the steering hydraulic actuator  20  is moved for the predetermined amount Sv toward one side and the other side by the control device  40 , the proofreading of the outdrive device  10  is stopped. According to the configuration, regardless of the piston position of the steering hydraulic actuator  20 , abnormality of the steering hydraulic actuator  20 , abnormality of the electromagnetic proportional valve  30  and abnormality of the position sensor  26  are judged at once. Accordingly, even when the steering hydraulic actuator  20  and the like cannot be confirmed visually, the proofreading of the outdrive device  10  can be executed certainly while suppressing variation. 
         [0237]    After operation confirmation of the steering hydraulic actuator  20  is judged to be normal by the control device  40 , when the piston  22  is moved to the one side of the steering hydraulic actuator  20  and the position sensor  26  outputs the detection value P 1  within the first proofreading range R 1  for the predetermined time t 1 , the piston  22  is judged to reach the one end of the steering hydraulic actuator  20 . When the piston  22  is moved to the other side of the steering hydraulic actuator  20  and the position sensor  26  outputs the detection value P 2  within the second proofreading range R 2  for the predetermined time t 1 , the piston  22  is judged to reach the other end of the steering hydraulic actuator  20  and the movable range of the steering hydraulic actuator  20  is set. When the position sensor  26  does not output the detection value P 1  within the first proofreading range R 1  and/or the detection value P 2  within the second proofreading range R 2  for the predetermined time t 1 , or the difference of the detection value P 1  within the first proofreading range R 1  and the detection value P 2  within the second proofreading range R 2  is not more than the predetermined value Lv, the proofreading of the outdrive device  10  is stopped. 
         [0238]    According to the configuration, a stroke end of the steering hydraulic actuator  20  is detected by using the position sensor  26 , whereby excessive hydraulic load is not applied to the outdrive device  10 . Accordingly, even when the steering hydraulic actuator  20  and the like cannot be confirmed visually, the proofreading of the outdrive device  10  can be executed certainly while suppressing variation. 
         [0239]    When the current I 0  whose magnitude is not enough to operate the electromagnetic proportional valve  30  is sent from the driver  35  having the proportional electromagnetic valve driving circuit to the electromagnetic proportional valve  30  by the control device  40  and the detection value P of the position sensor  26  is changed, the short circuit failure is judged to exist in the driving circuit of the electromagnetic proportional valve  30  and the proofreading of the outdrive device  10  is stopped. 
         [0240]    According to the configuration, the short circuit failure in the driving circuit of the electromagnetic proportional valve  30  can be detected by using the position sensor  26 . Accordingly, even when the steering hydraulic actuator  20  and the like cannot be confirmed visually, the proofreading of the outdrive device  10  can be executed certainly while suppressing variation. 
         [0241]    After the short circuit failure is judged not to exist in the driving circuit of the electromagnetic proportional valve  30  by the control device  40 , the current value of the current I(n) send from the driver  35  having the proportional electromagnetic valve driving circuit to the electromagnetic proportional valve  30  is changed, and the minimum current value of the current I(n) in which the detection value P of the position sensor  26  is changed is set as the minimum current value Imin. 
         [0242]    According to the configuration, the minimum current value Imin of the electromagnetic proportional valve  30  is set by using the position sensor  26 . Accordingly, even when the steering hydraulic actuator  20  and the like cannot be confirmed visually, the proofreading of the outdrive device  10  can be executed certainly while suppressing variation. 
         [0243]    The ship  50  having the automatic proofreading function is the ship  50  having the outdrive device  10  steering by the steering hydraulic actuator  20 , and has the electromagnetic proportional valve  30  which is an electromagnetic valve switching the direction of pressure oil, and the control device  40  controlling the electromagnetic proportional valve  30 . The control device  40  controls the electromagnetic proportional valve  30  so as to execute the proofreading of the outdrive device  10  and repeals the control signal to the outdrive device  10  inputted while the proofreading is executed. 
         [0244]    According to the configuration, the outdrive device  10  is not operated before and under the execution of the proofreading of the outdrive device  10 . Accordingly, the operation of the outdrive device  10  before finishing the proofreading can be prevented so as to suppress incorrect operation of the outdrive device  10 . 
         [0245]    When the proofreading of the outdrive device  10  is not finished normally, the control device  40  repeals the control signal to the outdrive device  10 . 
         [0246]    According to the configuration, when the proofreading of the outdrive device  10  is finished abnormally, the outdrive device  10  is not operated. Accordingly, the operation of the outdrive device  10  before finishing the proofreading can be prevented so as to suppress incorrect operation of the outdrive device  10 . 
         [0247]    The control device  40  repeals the control signal to the outdrive device  10  inputted while the outdrive device  10  is controlled. 
         [0248]    According to the configuration, the proofreading of the outdrive device  10  is not executed while the outdrive device  10  is controlled. Accordingly, the operation of the outdrive device  10  before finishing the proofreading can be prevented so as to suppress incorrect operation of the outdrive device  10 . 
         [0249]    When the proofreading of the outdrive device  10  is executed after the proofreading of the outdrive device  10  is finished normally, the control device  40  repeals the control signal to the outdrive device  10  until the proofreading of the outdrive device  10  is finished normally. 
         [0250]    According to the configuration, even when the proofreading is executed again because of exchange of parts or the like, the outdrive device  10  is not operated until the proofreading is finished normally. Accordingly, the operation of the outdrive device  10  before finishing the proofreading of the outdrive device  10  can be prevented so as to suppress incorrect operation of the outdrive device  10 . 
       INDUSTRIAL APPLICABILITY 
       [0251]    The present invention can be used for an art of a ship steering system for an outdrive device. 
       DESCRIPTION OF NOTATIONS 
       [0000]    
       
         
           
               1  hull 
               2  throttle lever 
               3  steering wheel 
               4  operation lever (joystick) 
               5  engine 
               8  monitor 
               10  outdrive device 
               20  steering hydraulic actuator 
               30  electromagnetic proportional valve 
               40  control device 
               82  operation instruction part 
               82   a  icon 
               82   b  icon 
               100  ship steering system for outdrive device