MARINE PROPULSION SYSTEM AND MARINE VESSEL

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of priority to Japanese Patent Application No. 2022-164034 filed on Oct. 12, 2022. The entire contents of this application are hereby incorporated herein by reference.

BACKGROUND OF THE INVENTION
1. Field of the Invention

The present invention relates to a marine propulsion system and a marine vessel.

2. Description of the Related Art

A marine vessel including a controller to perform a control to change the traveling direction of the marine vessel is known in general. Such a marine vessel is disclosed in Japanese Patent Laid-Open No. 2017-058322, for example.

Japanese Patent Laid-Open No. 2017-058322 discloses a marine vessel including a laser radar to detect objects including waves around the marine vessel, a data processor to estimate the direction of waves around the marine vessel based on the detection results of the laser radar, a steering to steer the marine vessel, and a controller to control the steering. In the marine vessel disclosed in Japanese Patent Laid-Open No. 2017-058322, the controller controls the steering (i.e., performs a control to change the traveling direction of the marine vessel) such that an angle defined by the estimated direction of the waves around the marine vessel and the traveling direction of the marine vessel is smaller than a predetermined angle (30 degrees, for example).

Although not disclosed in Japanese Patent Laid-Open No. 2017-058322, in a conventional marine vessel as disclosed in Japanese Patent Laid-Open No. 2017-058322, when the traveling direction of the marine vessel is at a relatively small angle (less than 30 degrees, for example) with respect to the traveling direction of waves toward the marine vessel, a speed at which the waves toward the marine vessel collide with the marine vessel becomes relatively high when the marine vessel rides over the waves toward the marine vessel. Thus, an impact on the marine vessel that occurs when the marine vessel rides over the waves toward the marine vessel becomes relatively large. As the impact on the marine vessel increases, the attitude of the marine vessel tends to become more unstable. In this regard, although not disclosed in Japanese Patent Laid-Open No. 2017-058322, in the conventional marine vessel as disclosed in Japanese Patent Laid-Open No. 2017-058322, the speed of the marine vessel is reduced in order to reduce or prevent an unstable attitude of the marine vessel when the marine vessel rides over the waves toward the marine vessel when the traveling direction of the marine vessel is at the relatively small angle with respect to the traveling direction of the waves toward the marine vessel. Therefore, it is desired to reduce or prevent an unstable attitude of the marine vessel when the marine vessel rides over the waves toward the marine vessel without reducing the speed of the marine vessel.

SUMMARY OF THE INVENTION

Preferred embodiments of the present invention provide marine propulsion systems and marine vessels that each reduce or prevent unstable attitudes of the marine vessels when the marine vessels ride over waves toward the marine vessels without reducing the speeds of the marine vessels.

A marine propulsion system to propel a marine vessel according to a preferred embodiment of the present invention includes a propulsive force generator to generate a propulsive force to propel the marine vessel, and a controller configured or programmed to perform a marine vessel traveling direction control to change a direction of the propulsive force generated by the propulsive force generator so as to change a traveling direction of the marine vessel. The controller is configured or programmed to perform the marine vessel traveling direction control such that the traveling direction of the marine vessel is changed to a predetermined angle equal to or greater than a first angle with respect to a traveling direction of waves toward the marine vessel when the traveling direction of the marine vessel is less than the first angle with respect to the traveling direction of the waves toward the marine vessel.

In a marine propulsion system according to a preferred embodiment of the present invention, the controller is preferably configured or programmed to perform the marine vessel traveling direction control such that the traveling direction of the marine vessel is changed to the predetermined angle equal to or greater than the first angle and equal to or less than a second angle that is greater than the first angle with respect to the traveling direction of the waves toward the marine vessel when the traveling direction of the marine vessel is less than the first angle with respect to the traveling direction of the waves toward the marine vessel. Accordingly, an upper limit, i.e., the second angle, is set as the angle of the traveling direction of the marine vessel, which is changed by the marine vessel traveling direction control, with respect to the traveling direction of the waves toward the marine vessel. Thus, an excessive increase in the angle of the traveling direction of the marine vessel with respect to the traveling direction of the waves toward the marine vessel is reduced or prevented. Therefore, the second angle is set to a smaller angle (60 degrees, for example) than the angle of a direction perpendicular or substantially perpendicular to the traveling direction of the waves toward the marine vessel such that the traveling direction of the marine vessel of which the angle with respect to the traveling direction of the waves toward the marine vessel has been changed to an angle equal to or greater than the first angle and equal to or less than the second angle is not perpendicular or substantially perpendicular to the traveling direction of the waves toward the marine vessel. Thus, rolling of the marine vessel that occurs when the marine vessel rides over the waves toward the marine vessel due to the traveling direction of the marine vessel perpendicular or substantially perpendicular to the traveling direction of the waves toward the marine vessel is reduced or prevented.

In such a case, the controller is preferably configured or programmed to alternately repeat a one side marine vessel traveling direction control in which the marine vessel traveling direction control is performed such that the traveling direction of the marine vessel is changed to the predetermined angle equal to or greater than the first angle to one side in a right-left direction of the marine vessel with respect to the traveling direction of the waves toward the marine vessel, and another side marine vessel traveling direction control in which the marine vessel traveling direction control is performed such that the traveling direction of the marine vessel is changed to the predetermined angle equal to or greater than the first angle to another side in the right-left direction of the marine vessel with respect to the traveling direction of the waves toward the marine vessel when the marine vessel is in the automatic navigation mode, and the traveling direction of the marine vessel is less than the first angle with respect to the traveling direction of the waves toward the marine vessel. Accordingly, the marine vessel zigzags such that the final traveling direction of the marine vessel does not change by alternately repeating a state in which the traveling direction of the marine vessel is to one side in the right-left direction of the marine vessel with respect to the traveling direction of the waves toward the marine vessel and a state in which the traveling direction of the marine vessel is to another side in the right-left direction of the marine vessel with respect to the traveling direction of the waves toward the marine vessel. Thus, the marine vessel easily travels toward the set target position even when the traveling direction of the marine vessel is changed by performing the marine vessel traveling direction control such that the traveling direction of the marine vessel is changed to the predetermined angle equal to or greater than the first angle with respect to the traveling direction of the waves toward the marine vessel.

In a marine propulsion system including the controller configured or programmed to alternately repeat the one side marine vessel traveling direction control and the another side marine vessel traveling direction control, the controller is preferably configured or programmed to alternately repeat the one side marine vessel traveling direction control in which the marine vessel traveling direction control is performed to change the traveling direction of the marine vessel to the one side in the right-left direction of the marine vessel by a third angle such that the traveling direction of the marine vessel is changed to the predetermined angle equal to or greater than the first angle to the one side in the right-left direction of the marine vessel with respect to the traveling direction of the waves toward the marine vessel, and the another side marine vessel traveling direction control in which the marine vessel traveling direction control is performed to change the traveling direction of the marine vessel to the another side in the right-left direction of the marine vessel by a fourth angle greater than the third angle such that the traveling direction of the marine vessel is changed to the predetermined angle equal to or greater than the first angle to the another side in the right-left direction of the marine vessel with respect to the traveling direction of the waves toward the marine vessel when the marine vessel is in the automatic navigation mode, and the traveling direction of the marine vessel is less than the first angle to the one side in the right-left direction of the marine vessel with respect to the traveling direction of the waves toward the marine vessel. Accordingly, the marine vessel zigzags such that the final traveling direction of the marine vessel does not change by alternately repeating the one side marine vessel traveling direction control in which the marine vessel traveling direction control is performed to change the traveling direction of the marine vessel to one side in the right-left direction of the marine vessel by the third angle, and the another side marine vessel traveling direction control in which the marine vessel traveling direction control is performed to change the traveling direction of the marine vessel to another side in the right-left direction of the marine vessel by the fourth angle greater than the third angle even when the direction of the set target position is biased to one side in the right-left direction of the marine vessel with respect to the traveling direction of the waves toward the marine vessel. Thus, the marine vessel easily travels toward the set target position even when the direction of the set target position is biased to one side in the right-left direction of the marine vessel with respect to the traveling direction of the waves toward the marine vessel.

In a marine propulsion system according to a preferred embodiment of the present invention, the controller is preferably configured or programmed to perform the marine vessel traveling direction control such that the traveling direction of the marine vessel is changed to the predetermined angle equal to or greater than the first angle with respect to the traveling direction of the waves toward the marine vessel when the traveling direction of the marine vessel is less than the first angle with respect to the traveling direction of the waves toward the marine vessel, and a height of the waves toward the marine vessel is equal to or greater than a first height, and to not perform the marine vessel traveling direction control when the height of the waves toward the marine vessel is less than the first height even when the traveling direction of the marine vessel is less than the first angle with respect to the traveling direction of the waves toward the marine vessel. Accordingly, when it is not necessary to perform the marine vessel traveling direction control because an impact on the marine vessel that occurs when the marine vessel rides over the waves toward the marine vessel is less likely to increase, e.g., the height of the waves toward the marine vessel is less than the first height, which is relatively small, although the traveling direction of the marine vessel is less than the first angle, which is relatively small, with respect to the traveling direction of the waves toward the marine vessel, the marine vessel traveling direction control is prevented from being performed.

In such a case, the controller is preferably configured or programmed to perform the marine vessel traveling direction control such that the traveling direction of the marine vessel is changed to the predetermined angle equal to or greater than the first angle with respect to the traveling direction of the waves toward the marine vessel when the traveling direction of the marine vessel is less than the first angle with respect to the traveling direction of the waves toward the marine vessel, and the height of the waves toward the marine vessel is equal to or greater than the first height and equal to or less than a second height that is greater than the first height, and to perform a control to notify a vessel operator to prompt the vessel operator to reduce the propulsive force of the propulsive force generator without performing the marine vessel traveling direction control when the height of the waves toward the marine vessel is greater than the second height even when the traveling direction of the marine vessel is less than the first angle with respect to the traveling direction of the waves toward the marine vessel. Accordingly, as a condition under which the marine vessel traveling direction control is performed such that the traveling direction of the marine vessel is at the relatively large predetermined angle equal to or greater than the first angle with respect to the traveling direction of the waves toward the marine vessel, an upper limit, i.e., the second height, is set as the height of the waves toward the marine vessel. Thus, when the height of the waves toward the marine vessel is excessively large, the marine vessel traveling direction control to set the traveling direction of the marine vessel to be at the relatively large predetermined angle equal to or greater than the first angle with respect to the traveling direction of the waves toward the marine vessel is reduced or prevented. Therefore, when the traveling direction of the marine vessel is less than the first angle with respect to the traveling direction of the waves toward the marine vessel, and the height of the waves toward the marine vessel is equal to or greater than the first height and is excessively large, the marine vessel traveling direction control to set the traveling direction of the marine vessel to be at the relatively large predetermined angle equal to or greater than the first angle with respect to the traveling direction of the waves toward the marine vessel is reduced or prevented. That is, when the marine vessel is likely to be rolled when riding over the waves toward the marine vessel, such as when the height of the waves toward the marine vessel is excessively large, rolling of the marine vessel that occurs when the marine vessel rides over the waves toward the marine vessel due to the marine vessel traveling direction control performed such that the traveling direction of the marine vessel is at the relatively large predetermined angle equal to or greater than the first angle with respect to the traveling direction of the waves toward the marine vessel is reduced or prevented. Furthermore, when the traveling direction of the marine vessel is less than the first angle with respect to the traveling direction of the waves toward the marine vessel, and the height of the waves toward the marine vessel is greater than the second height, the vessel operator is prompted to reduce the propulsive force of the propulsive force generator. Thus, when the vessel operator needs to reduce the propulsive force of the propulsive force generator, the vessel operator easily recognizes that the propulsive force of the propulsive force generator needs to be reduced.

In a marine propulsion system including the controller configured or programmed to perform the marine vessel traveling direction control such that the traveling direction of the marine vessel is changed to the predetermined angle equal to or greater than the first angle with respect to the traveling direction of the waves toward the marine vessel when the traveling direction of the marine vessel is less than the first angle with respect to the traveling direction of the waves toward the marine vessel, and the height of the waves toward the marine vessel is equal to or greater than the first height and equal to or less than the second height, the controller is preferably configured or programmed to perform the marine vessel traveling direction control such that the traveling direction of the marine vessel is changed to the predetermined angle that is equal to or greater than the first angle and is adjusted based on the height of the waves toward the marine vessel with respect to the traveling direction of the waves toward the marine vessel when the traveling direction of the marine vessel is less than the first angle with respect to the traveling direction of the waves toward the marine vessel, and the height of the waves toward the marine vessel is equal to or greater than the first height and equal to or less than the second height. Accordingly, the marine vessel traveling direction control is performed such that the traveling direction of the marine vessel is changed to the predetermined angle equal to or greater than the first angle with respect to the traveling direction of the waves toward the marine vessel in consideration of rolling of the marine vessel that is more likely to occur when the marine vessel rides over the waves toward the marine vessel as the height of the waves toward the marine vessel increases or as the traveling direction of the marine vessel is at a larger angle with respect to the traveling direction of the waves toward the marine vessel. Thus, the marine vessel traveling direction control is performed such that the traveling direction of the marine vessel is changed to the predetermined angle equal to or greater than the first angle with respect to the traveling direction of the waves toward the marine vessel while rolling of the marine vessel that occurs when the marine vessel rides over the waves toward the marine vessel is reduced or prevented.

In a marine propulsion system according to a preferred embodiment of the present invention, the controller is preferably configured or programmed to perform the marine vessel traveling direction control when the marine vessel is in a marine vessel traveling direction control mode in which the marine vessel traveling direction control is performed. Accordingly, when it is desired to perform the marine vessel traveling direction control, the marine vessel traveling direction control is performed by operating the marine vessel such that the marine vessel is in the marine vessel traveling direction control mode. When it is not desired to perform the marine vessel traveling direction control, the marine vessel traveling direction control is not performed by not operating the marine vessel such that the marine vessel is in the marine vessel traveling direction control mode.

In a marine propulsion system according to a preferred embodiment of the present invention, the controller is preferably configured or programmed to perform a control to notify a vessel operator that the marine vessel traveling direction control is to be performed when the marine vessel traveling direction control is to be performed. Accordingly, when the marine vessel traveling direction control is performed, the vessel operator is notified in advance that the marine vessel traveling direction control is performed, and thus discomfort to the vessel operator due to a sudden marine vessel traveling direction control performed without the vessel operator being aware that the marine vessel traveling direction control is performed is reduced or prevented.

In a marine propulsion system according to a preferred embodiment of the present invention, the controller is preferably configured or programmed to perform a control to notify a vessel operator that the marine vessel traveling direction control is being performed when the marine vessel traveling direction control is being performed. Accordingly, while the marine vessel traveling direction control is being performed, the vessel operator is notified that the marine vessel traveling direction control is being performed, and thus discomfort to the vessel operator due to the marine vessel traveling direction control performed without the vessel operator being aware that the marine vessel traveling direction control is being performed is reduced or prevented.

In a marine propulsion system including the controller configured or programmed to perform the marine vessel traveling direction control such that the traveling direction of the marine vessel is changed to the predetermined angle equal to or greater than the first angle and equal to or less than the second angle with respect to the traveling direction of the waves toward the marine vessel while advancing the marine vessel toward the set target position when the traveling direction of the marine vessel is perpendicular or substantially perpendicular to the traveling direction of the waves toward the marine vessel, the controller is preferably configured or programmed to alternately repeat a one side marine vessel traveling direction control in which the marine vessel traveling direction control is performed such that the traveling direction of the marine vessel is changed to the predetermined angle equal to or greater than the first angle and equal to or less than the second angle to one side in a right-left direction of the marine vessel with respect to the traveling direction of the waves toward the marine vessel, and another side marine vessel traveling direction control in which the marine vessel traveling direction control is performed such that the traveling direction of the marine vessel is changed to the predetermined angle equal to or greater than the first angle and equal to or less than the second angle to another side in the right-left direction of the marine vessel with respect to the traveling direction of the waves toward the marine vessel when the marine vessel is in the automatic navigation mode, and the traveling direction of the marine vessel is perpendicular or substantially perpendicular to the traveling direction of the waves toward the marine vessel. Accordingly, the marine vessel zigzags such that the final traveling direction of the marine vessel does not change by alternately repeating a state in which the traveling direction of the marine vessel is to one side in the right-left direction of the marine vessel with respect to the traveling direction of the waves toward the marine vessel and a state in which the traveling direction of the marine vessel is to another side in the right-left direction of the marine vessel with respect to the traveling direction of the waves toward the marine vessel. Thus, the marine vessel easily travels toward the set target position even when the traveling direction of the marine vessel is changed by performing the marine vessel traveling direction control such that the traveling direction of the marine vessel is changed to the predetermined angle equal to or greater than the first angle and equal to or less than the second angle with respect to the traveling direction of the waves toward the marine vessel.

A marine propulsion system to propel a marine vessel according to a preferred embodiment of the present invention includes a propulsive force generator to generate a propulsive force to propel the marine vessel, and a controller configured or programmed to perform a marine vessel traveling direction control to change a direction of the propulsive force generated by the propulsive force generator so as to change a traveling direction of the marine vessel. The controller is configured or programmed to perform the marine vessel traveling direction control such that the traveling direction of the marine vessel is changed to a predetermined angle equal to or greater than a first angle with respect to a traveling direction of waves toward the marine vessel at least when the traveling direction of the marine vessel is less than the first angle with respect to the traveling direction of the waves toward the marine vessel or when a height of the waves toward the marine vessel is equal to or greater than a first height.

In a marine propulsion system according to a preferred embodiment of the present invention, the controller is configured or programmed to perform the marine vessel traveling direction control such that the traveling direction of the marine vessel is changed to the predetermined angle equal to or greater than the first angle with respect to the traveling direction of the waves toward the marine vessel at least when the traveling direction of the marine vessel is less than the first angle with respect to the traveling direction of the waves toward the marine vessel or when the height of the waves toward the marine vessel is equal to or greater than the first height. Thus, similarly to the marine propulsion systems according to preferred embodiments of the present invention described above, when the traveling direction of the marine vessel is less than the first angle, which is relatively small, with respect to the traveling direction of the waves toward the marine vessel, the angle of the traveling direction of the marine vessel with respect to the traveling direction of the waves toward the marine vessel is changed from less than the first angle, which is relatively small, to the relatively large predetermined angle equal to or greater than the first angle such that a speed at which the waves toward the marine vessel collide with the marine vessel when the marine vessel rides over the waves toward the marine vessel is reduced. Furthermore, when an impact on the marine vessel that occurs when the marine vessel rides over the waves toward the marine vessel tends to be large, such as when the height of the waves toward the marine vessel is equal to or greater than the first height, which is relatively large, and when the traveling direction of the marine vessel is at a relatively small angle with respect to the traveling direction of the waves toward the marine vessel, the angle of the traveling direction of the marine vessel with respect to the traveling direction of the waves toward the marine vessel is changed from a relatively small angle to a relatively large angle, for example, such that the speed at which the waves toward the marine vessel collide with the marine vessel when the marine vessel rides over the waves toward the marine vessel is reduced. Consequently, similarly to the marine propulsion systems according to preferred embodiments of the present invention described above, an unstable attitude of the marine vessel when the marine vessel rides over the waves toward the marine vessel is reduced or prevented without reducing the speed of the marine vessel.

A marine vessel according to a preferred embodiment of the present invention includes a propulsive force generator to generate a propulsive force to propel the marine vessel, and a controller configured or programmed to perform a marine vessel traveling direction control to change a direction of the propulsive force generated by the propulsive force generator so as to change a traveling direction of the marine vessel. The controller is configured or programmed to perform the marine vessel traveling direction control such that the traveling direction of the marine vessel is changed to a predetermined angle equal to or greater than a first angle with respect to a traveling direction of waves toward the marine vessel when the traveling direction of the marine vessel is less than the first angle with respect to the traveling direction of the waves toward the marine vessel.

In a marine vessel according to a preferred embodiment of the present invention, the controller is configured or programmed to perform the marine vessel traveling direction control such that the traveling direction of the marine vessel is changed to the predetermined angle equal to or greater than the first angle with respect to the traveling direction of the waves toward the marine vessel when the traveling direction of the marine vessel is less than the first angle with respect to the traveling direction of the waves toward the marine vessel. Accordingly, similarly to the marine propulsion systems according to preferred embodiments of the present invention described above, a speed at which the waves toward the marine vessel collide with the marine vessel when the marine vessel rides over the waves toward the marine vessel is reduced. Consequently, similarly to the marine propulsion systems according to preferred embodiments of the present invention described above, an unstable attitude of the marine vessel when the marine vessel rides over the waves toward the marine vessel is reduced or prevented without reducing the speed of the marine vessel.

In a marine vessel according to a preferred embodiment of the present invention, the controller is preferably configured or programmed to perform the marine vessel traveling direction control such that the traveling direction of the marine vessel is changed to the predetermined angle equal to or greater than the first angle and equal to or less than a second angle that is greater than the first angle with respect to the traveling direction of the waves toward the marine vessel when the traveling direction of the marine vessel is less than the first angle with respect to the traveling direction of the waves toward the marine vessel. Accordingly, similarly to the marine propulsion systems according to preferred embodiments of the present invention described above, an excessive increase in the angle of the traveling direction of the marine vessel with respect to the traveling direction of the waves toward the marine vessel is reduced or prevented. Thus, similarly to the marine propulsion systems according to preferred embodiments of the present invention described above, the second angle is set to a smaller angle than the angle of a direction perpendicular or substantially perpendicular to the traveling direction of the waves toward the marine vessel such that rolling of the marine vessel that occurs when the marine vessel rides over the waves toward the marine vessel is reduced or prevented.

In a marine vessel according to a preferred embodiment of the present invention, the controller is preferably configured or programmed to perform the marine vessel traveling direction control such that the traveling direction of the marine vessel is changed to the predetermined angle equal to or greater than the first angle with respect to the traveling direction of the waves toward the marine vessel while advancing the marine vessel toward a set target position when the marine vessel is in an automatic navigation mode in which the marine vessel automatically navigates toward the set target position, and the traveling direction of the marine vessel is less than the first angle with respect to the traveling direction of the waves toward the marine vessel. Accordingly, similarly to the marine propulsion systems according to preferred embodiments of the present invention described above, the marine vessel travels toward the set target position even when the traveling direction of the marine vessel is changed by performing the marine vessel traveling direction control such that the traveling direction of the marine vessel is changed to the predetermined angle equal to or greater than the first angle with respect to the traveling direction of the waves toward the marine vessel when the marine vessel is in the automatic navigation mode.

In such a case, the controller is preferably configured or programmed to alternately repeat a one side marine vessel traveling direction control in which the marine vessel traveling direction control is performed such that the traveling direction of the marine vessel is changed to the predetermined angle equal to or greater than the first angle to one side in a right-left direction of the marine vessel with respect to the traveling direction of the waves toward the marine vessel, and another side marine vessel traveling direction control in which the marine vessel traveling direction control is performed such that the traveling direction of the marine vessel is changed to the predetermined angle equal to or greater than the first angle to another side in the right-left direction of the marine vessel with respect to the traveling direction of the waves toward the marine vessel when the marine vessel is in the automatic navigation mode, and the traveling direction of the marine vessel is less than the first angle with respect to the traveling direction of the waves toward the marine vessel. Accordingly, similarly to the marine propulsion systems according to preferred embodiments of the present invention described above, the marine vessel easily travels toward the set target position even when the traveling direction of the marine vessel is changed by performing the marine vessel traveling direction control such that the traveling direction of the marine vessel is changed to the predetermined angle equal to or greater than the first angle with respect to the traveling direction of the waves toward the marine vessel.

In a marine vessel including the controller configured or programmed to alternately repeat the one side marine vessel traveling direction control and the another side marine vessel traveling direction control both in which the marine vessel traveling direction control is performed, the controller is preferably configured or programmed to alternately repeat the one side marine vessel traveling direction control in which the marine vessel traveling direction control is performed to change the traveling direction of the marine vessel to the one side in the right-left direction of the marine vessel by a third angle such that the traveling direction of the marine vessel is changed to the predetermined angle equal to or greater than the first angle to the one side in the right-left direction of the marine vessel with respect to the traveling direction of the waves toward the marine vessel, and the another side marine vessel traveling direction control in which the marine vessel traveling direction control is performed to change the traveling direction of the marine vessel to the another side in the right-left direction of the marine vessel by a fourth angle greater than the third angle such that the traveling direction of the marine vessel is changed to the predetermined angle equal to or greater than the first angle to the another side in the right-left direction of the marine vessel with respect to the traveling direction of the waves toward the marine vessel when the marine vessel is in the automatic navigation mode, and the traveling direction of the marine vessel is less than the first angle to the one side in the right-left direction of the marine vessel with respect to the traveling direction of the waves toward the marine vessel. Accordingly, similarly to the marine propulsion systems according to preferred embodiments of the present invention described above, the marine vessel easily travels toward the set target position even when the direction of the set target position is biased to one side in the right-left direction of the marine vessel with respect to the traveling direction of the waves toward the marine vessel.

The above and other elements, features, steps, characteristics and advantages of the present invention will become more apparent from the following detailed description of the preferred embodiments with reference to the attached drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram of a marine propulsion system according to a preferred embodiment of the present invention.

FIG. 2 is a schematic view of a marine vessel according to a preferred embodiment of the present invention.

FIG. 3 is a side view showing an outboard motor of a marine vessel according to a preferred embodiment of the present invention.

FIG. 4 is a schematic view illustrating a marine vessel traveling direction control performed when the traveling direction of a marine vessel is at 0 degrees corresponding to less than a first angle with respect to the traveling direction of waves toward the marine vessel in a marine propulsion system according to a preferred embodiment of the present invention.

FIG. 5 is a schematic view illustrating a marine vessel traveling direction control performed when the traveling direction of a marine vessel is less than a first angle to one side in a right-left direction of the marine vessel with respect to the traveling direction of waves toward the marine vessel in a marine propulsion system according to a preferred embodiment of the present invention.

FIG. 6 is a diagram illustrating conditions of the height of waves toward a marine vessel to perform a marine vessel traveling direction control when the traveling direction of the marine vessel is less than a first angle with respect to the traveling direction of waves toward the marine vessel in a marine propulsion system according to a preferred embodiment of the present invention.

FIG. 7 is a diagram showing a display displaying a message indicating that a marine vessel traveling direction control is performed in a marine propulsion system according to a preferred embodiment of the present invention.

FIG. 8 is a diagram showing a display displaying characters indicating that a marine vessel traveling direction control is in progress in a marine propulsion system according to a preferred embodiment of the present invention.

FIG. 9 is a schematic view illustrating a marine vessel traveling direction control performed when the traveling direction of a marine vessel is perpendicular or substantially perpendicular to the traveling direction of waves toward the marine vessel in a marine propulsion system according to a preferred embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

Preferred embodiments of the present invention are hereinafter described with reference to the drawings.

A marine propulsion system 100 and a marine vessel 110 according to preferred embodiments of the present invention are now described with reference to FIGS. 1 to 9. In the figures, arrow FWD represents the forward direction of the marine vessel 110, arrow BWD represents the rearward direction of the marine vessel 110, arrow L represents the left direction (portside direction) of the marine vessel 110, and arrow R represents the right direction (starboard direction) of the marine vessel 110.

As shown in FIG. 1, the marine propulsion system 100 is provided on or in the marine vessel 110. The marine propulsion system 100 propels the marine vessel 110. The marine vessel 110 may be a marine vessel used for sightseeing or fishing, for example.

The marine propulsion system 100 (marine vessel 110) includes a hull 10 and an outboard motor 20. As shown in FIG. 2, only one outboard motor 20 is attached to a stern 11 of the hull 10.

As shown in FIG. 1, the hull 10 includes an operator 13, a controller 14, a display 15, and a detector 16.

The operator 13 receive a user's operation to steer (maneuver) the marine vessel 110. The operator 13 includes a remote control, a steering wheel, and a joystick. The operator 13 receives an operation to set a navigation mode of the marine vessel 110. The navigation mode of the marine vessel 110 includes an automatic navigation mode in which the marine vessel 110 automatically navigates toward a target position G (see FIG. 4) set by a vessel operator of the marine vessel 110, for example, a marine vessel traveling direction control mode described below, etc.

The controller 14 controls an engine control unit (ECU) 28 and a steering control unit (SCU) 29 of the outboard motor 20 based on an operation on the operator 13.

The controller 14 includes a control circuit including a central processing unit (CPU), a read-only memory (ROM), a random access memory (RAM), etc.

The display 15 displays information on the marine vessel 110. The information on the marine vessel 110 includes the speed of the marine vessel 110, the rotation speed of an engine 22 of the outboard motor 20, the shift state of the outboard motor 20, and the navigation mode of the marine vessel 110, for example. The display 15 is a liquid crystal display, for example. The display 15 may be a touch panel. In such a case, instead of the operator 13, the display 15, which is a touch panel, may receive a user's operation to steer (maneuver) the marine vessel 110.

The detector 16 detects the traveling direction of waves W (see FIG. 4) toward the marine vessel 110 with respect to the traveling direction of the marine vessel 110 and the height H (see FIG. 6) of the waves W toward the marine vessel 110, for example. The detector 16 includes at least one of a camera or a laser, for example.

As shown in FIG. 3, the outboard motor 20 includes an outboard motor body 20a and a bracket 20b. The outboard motor body 20a is attached to a transom 12 provided at the stern 11 of the hull 10 via the bracket 20b.

The outboard motor 20 includes the engine 22 to drive a propeller 21 to generate a thrust. That is, the outboard motor 20 is an engine outboard motor including the engine 22 to drive the propeller 21. Specifically, the outboard motor body 20a includes the engine 22, a drive shaft 23, a gearing 24, a propeller shaft 25, and the propeller 21. The engine 22 is an internal combustion engine that generates a driving force. The driving force of the engine 22 is transmitted to the propeller 21 via the drive shaft 23, the gearing 24, and the propeller shaft 25. The propeller 21 generates a propulsive force to propel the marine vessel 110 (see FIG. 2) by rotating in the water by the driving force transmitted from the engine 22. The propeller 21 is an example of a “propulsive force generator”.

The outboard motor body 20a includes a shift actuator 26 to switch the shift state of the outboard motor 20. The shift actuator 26 switches the shift state of the outboard motor 20 between a forward movement state, a reverse movement state, and a neutral state by switching the meshing of the gearing 24. In the forward movement state, a driving force is transmitted from the engine 22 to the propeller 21 to generate a forward thrust from the propeller 21. In the reverse movement state, a driving force is transmitted from the engine 22 to the propeller 21 to generate a reverse thrust from the propeller 21. In the neutral state, a driving force is not transmitted from the engine 22 to the propeller 21 to not generate a thrust by the propeller 21.

The outboard motor 20 includes a steering 27 to change the direction of the propulsive force of the propeller 21 so as to change the traveling direction of the marine vessel 110 (see FIG. 2). Specifically, the steering 27 is provided on the bracket 20b. The steering 27 includes a steering shaft 27a that extends in an upward-downward direction. The outboard motor body 20a is rotated in a right-left direction by the steering 27 about the steering shaft 27a with respect to the bracket 20b. When the outboard motor body 20a rotates in the right-left direction about the steering shaft 27a, the orientation of the propeller 21 also rotates in the right-left direction. Thus, the direction of the propulsive force of the propeller 21 is changed. That is, the outboard motor 20 is steered.

As shown in FIG. 1, the outboard motor 20 includes the ECU 28 and the SCU 29. The ECU 28 controls driving of the engine 22 and driving of the shift actuator 26 (see FIG. 3) based on control by the controller 14. The SCU 29 controls driving of the steering 27 based on control by the controller 14. That is, the controller 14 performs a marine vessel traveling direction control to change the direction of the propulsive force of the propeller 21 so as to change the traveling direction of the marine vessel 110 by controlling driving of the steering 27 via the SCU 29. Each of the ECU 28 and the SCU 29 includes a control circuit including a CPU, a ROM, a RAM, etc.

As shown in FIG. 4, the controller 14 (see FIG. 1) performs the marine vessel traveling direction control such that the traveling direction of the marine vessel 110 is changed to a predetermined angle θ equal to or greater than a first angle A1 (30 degrees, for example) and equal to or less than a second angle A2 (60 degrees, for example) that is greater than the first angle A1 (30 degrees, for example) with respect to the traveling direction of the waves W toward the marine vessel 110 when the traveling direction of the marine vessel 110 is less than the first angle A1 (30 degrees, for example) with respect to the traveling direction of the waves W toward the marine vessel 110. FIG. 4 shows a case in which the traveling direction of the marine vessel 110 is at 0 degrees with respect to the traveling direction of the waves W toward the marine vessel 110 before the controller 14 performs the marine vessel traveling direction control such that the traveling direction of the marine vessel 110 is changed to the predetermined angle θ equal to or greater than the first angle A1 (30 degrees, for example) and equal to or less than the second angle A2 (60 degrees, for example) with respect to the traveling direction of the waves W toward the marine vessel 110. FIG. 4 shows an example in which the predetermined angle θ is 45 degrees, for example.

The controller 14 (see FIG. 1) performs the marine vessel traveling direction control such that the traveling direction of the marine vessel 110 is changed to the predetermined angle θ equal to or greater than the first angle A1 (30 degrees, for example) and equal to or less than the second angle A2 (60 degrees, for example) with respect to the traveling direction of the waves W toward the marine vessel 110 while advancing the marine vessel 110 toward the set target position G when the marine vessel 110 is in the automatic navigation mode in which the marine vessel 110 automatically navigates toward the set target position G, and the traveling direction of the marine vessel 110 is less than the first angle A1 (30 degrees, for example) with respect to the traveling direction of the waves W toward the marine vessel 110. Specifically, when the marine vessel 110 is in the automatic navigation mode, the marine vessel 110 generally travels in a direction toward the set target position G. Therefore, when the controller 14 performs the marine vessel traveling direction control such that the traveling direction of the marine vessel 110 is changed to the predetermined angle θ equal to or greater than the first angle A1 (30 degrees, for example) and equal to or less than the second angle A2 (60 degrees, for example) with respect to the traveling direction of the waves W toward the marine vessel 110 when the marine vessel 110 is in the automatic navigation mode, the traveling direction of the marine vessel 110 is different from the direction toward the set target position G when the traveling direction of the marine vessel 110 is changed only once, for example. Therefore, the controller 14 alternately repeats a one side marine vessel traveling direction control in which the marine vessel traveling direction control is performed such that the traveling direction of the marine vessel 110 is changed to the predetermined angle θ equal to or greater than the first angle A1 (30 degrees, for example) and equal to or less than the second angle A2 (60 degrees, for example) to one side in the right-left direction of the marine vessel 110 with respect to the traveling direction of the waves W toward the marine vessel 110, and another side marine vessel traveling direction control in which the marine vessel traveling direction control is performed such that the traveling direction of the marine vessel 110 is changed to the predetermined angle θ equal to or greater than the first angle A1 (30 degrees, for example) and equal to or less than the second angle A2 (60 degrees, for example) to another side in the right-left direction of the marine vessel 110 with respect to the traveling direction of the waves W toward the marine vessel 110 when the marine vessel 110 is in the automatic navigation mode, and the traveling direction of the marine vessel 110 is less than the first angle A1 (30 degrees, for example) with respect to the traveling direction of the waves W toward the marine vessel 110. In FIG. 4, the traveling direction of the marine vessel 110 is at 0 degrees with respect to the traveling direction of the waves W toward the marine vessel 110 before the controller 14 performs the marine vessel traveling direction control such that the traveling direction of the marine vessel 110 is changed to the predetermined angle θ equal to or greater than the first angle A1 (30 degrees, for example) and equal to or less than the second angle A2 (60 degrees, for example) with respect to the traveling direction of the waves W toward the marine vessel 110, and thus the predetermined angle θ in the one side marine vessel traveling direction control and the predetermined angle θ in the another side marine vessel traveling direction control are equal to each other.

As shown in FIG. 5, when the marine vessel 110 is in the automatic navigation mode, the direction of the set target position G may be biased to one side in the right-left direction of the marine vessel 110 with respect to the traveling direction of the waves W toward the marine vessel 110. FIG. 5 shows an example in which the direction of the set target position G is biased to the left side of the marine vessel 110 by an angle α with respect to the traveling direction of the waves W toward the marine vessel 110. Even in such a case, the controller 14 (see FIG. 1) needs to perform the marine vessel traveling direction control such that the traveling direction of the marine vessel 110 is changed to the predetermined angle θ equal to or greater than the first angle A1 (30 degrees, for example) and equal to or less than the second angle A2 (60 degrees, for example) with respect to the traveling direction of the waves W toward the marine vessel 110 while advancing the marine vessel 110 toward the target position G of the marine vessel 110. Therefore, the controller 14 alternately repeats the one side marine vessel traveling direction control in which the marine vessel traveling direction control is performed to change the traveling direction of the marine vessel 110 to one side in the right-left direction of the marine vessel 110 by a third angle A3 such that the traveling direction of the marine vessel 110 is changed to the predetermined angle θ equal to or greater than the first angle A1 (30 degrees, for example) and equal to or less than the second angle A2 (60 degrees, for example) to one side in the right-left direction of the marine vessel 110 with respect to the traveling direction of the waves W toward the marine vessel 110, and the another side marine vessel traveling direction control in which the marine vessel traveling direction control is performed to change the traveling direction of the marine vessel 110 to another side in the right-left direction of the marine vessel 110 by a fourth angle A4 greater than the third angle A3 such that the traveling direction of the marine vessel 110 is changed to the predetermined angle θ equal to or greater than the first angle A1 (30 degrees, for example) and equal to or less than the second angle A2 (60 degrees, for example) to another side in the right-left direction of the marine vessel 110 with respect to the traveling direction of the waves W toward the marine vessel 110 when the marine vessel 110 is in the automatic navigation mode, and the traveling direction of the marine vessel 110 is less than the first angle A1 (30 degrees, for example) to one side in the right-left direction of the marine vessel 110 with respect to the traveling direction of the waves W toward the marine vessel 110. The traveling direction of the marine vessel 110 (the direction of the set target position G) is less than the first angle A1 (30 degrees, for example) to one side in the right-left direction of the marine vessel 110 with respect to the traveling direction of the waves W toward the marine vessel 110, and thus a distance L1 traveled by the marine vessel 110 while the one side marine vessel traveling direction control is being performed is larger than a distance L2 traveled by the marine vessel 110 while the another side marine vessel traveling direction control is being performed. That is, a period of time during which the one side marine vessel traveling direction control is performed is longer than a period of time during which the another side marine vessel traveling direction control is performed. FIG. 5 shows an example in which the angle α, the third angle A3, and the fourth angle A4 are 15 degrees, 30 degrees, for example, and 60 degrees, for example, respectively.

As shown in FIG. 6, the controller 14 (see FIG. 1) performs the marine vessel traveling direction control such that the traveling direction of the marine vessel 110 is changed to the first angle A1 (30 degrees, for example) or greater and the second angle A2 (60 degrees, for example) or less with respect to the traveling direction of the waves W toward the marine vessel 110 only when the height H of the waves W toward the marine vessel 110 satisfies a predetermined condition even when the traveling direction of the marine vessel 110 is at 0 degrees or greater and less than the first angle A1 (30 degrees, for example) with respect to the traveling direction of the waves W toward the marine vessel 110. Specifically, the controller 14 performs the marine vessel traveling direction control such that the traveling direction of the marine vessel 110 is changed to the first angle A1 (30 degrees, for example) or greater and the second angle A2 (60 degrees, for example) or less with respect to the traveling direction of the waves W toward the marine vessel 110 when the traveling direction of the marine vessel 110 is at 0 degrees or greater and less than the first angle A1 (30 degrees, for example) with respect to the traveling direction of the waves W toward the marine vessel 110, and the height H of the waves W toward the marine vessel 110 is equal to or greater than a first height H1 and equal to or less than a second height H2 that is greater than the first height H1. The first height H1 and the second height H2 are set according to the size or shape of the marine vessel 110, for example. On the other hand, the controller 14 does not perform the marine vessel traveling direction control when the height H of the waves W toward the marine vessel 110 is less than the first height H1, or when the height H of the waves W toward the marine vessel 110 is greater than the second height H2 even when the traveling direction of the marine vessel 110 is less than the first angle A1 (30 degrees, for example) with respect to the traveling direction of the waves W toward the marine vessel 110. Furthermore, the controller 14 performs a control to notify the vessel operator to prompt the vessel operator to reduce the propulsive force of the propeller 21 when the height H of the waves W toward the marine vessel 110 is greater than the second height H2 even when the traveling direction of the marine vessel 110 is less than the first angle A1 (30 degrees, for example) with respect to the traveling direction of the waves W toward the marine vessel 110. Notification to the vessel operator is performed by displaying a message or characters on the display 15 (see FIG. 1), for example.

The controller 14 (see FIG. 1) performs the marine vessel traveling direction control such that the traveling direction of the marine vessel 110 is changed to a predetermined angle θ that is equal to or greater than the first angle A1 and is adjusted based on the height H of the waves W toward the marine vessel 110 with respect to the traveling direction of the waves W toward the marine vessel 110 when the traveling direction of the marine vessel 110 is less than the first angle A1 (30 degrees, for example) with respect to the traveling direction of the waves W toward the marine vessel 110, and the height H of the waves W toward the marine vessel 110 is equal to or greater than the first height H1 and equal to or less than the second height H2. Specifically, the controller 14 performs the marine vessel traveling direction control such that the predetermined angle θ decreases as the height H of the waves W toward the marine vessel 110 increases when the traveling direction of the marine vessel 110 is less than the first angle A1 (30 degrees, for example) with respect to the traveling direction of the waves W toward the marine vessel 110, and the height H of the waves W toward the marine vessel 110 is equal to or greater than the first height H1 and equal to or less than the second height H2. That is, the controller 14 performs the marine vessel traveling direction control such that the predetermined angle θ is closer to the second angle A2 as the height H of the waves W toward the marine vessel 110 is closer to the first height H1, and the predetermined angle θ is closer to the first angle A1 as the height H of the waves W toward the marine vessel 110 is closer to the second height H2 when the traveling direction of the marine vessel 110 is less than the first angle A1 (30 degrees, for example) with respect to the traveling direction of the waves W toward the marine vessel 110, and the height H of the waves W toward the marine vessel 110 is equal to or greater than the first height H1 and equal to or less than the second height H2.

As shown in FIG. 7, the controller 14 (see FIG. 1) performs a control to notify the vessel operator that the marine vessel traveling direction control is to be performed when the marine vessel traveling direction control is to be performed. Specifically, the controller 14 performs a control to display, on the display 15, a message 15a indicating that the marine vessel traveling direction control is going to be performed as the control to notify the vessel operator that the marine vessel traveling direction control is going to be performed when the marine vessel traveling direction control is to be performed. Furthermore, as shown in FIG. 8, the controller 14 performs a control to notify the vessel operator that the marine vessel traveling direction control is being performed when the marine vessel traveling direction control is being performed. Specifically, the controller 14 performs a control to display, on the display 15, characters 15b indicating that the marine vessel traveling direction control is being performed as the control to notify the vessel operator that the marine vessel traveling direction control is being performed. The controller 14 performs the marine vessel traveling direction control when the marine vessel 110 is in the marine vessel traveling direction control mode in which the marine vessel traveling direction control is performed. The vessel operator operates the operator 13 to turn on or off the marine vessel traveling direction control mode, for example. FIGS. 7 and 8 show states in which the marine vessel 110 is to be and is in, respectively, the marine vessel traveling direction control mode.

As shown in FIG. 9, the controller 14 (see FIG. 1) performs the marine vessel traveling direction control such that the traveling direction of the marine vessel 110 is changed to the predetermined angle θ equal to or greater than the first angle A1 (30 degrees, for example) and equal to or less than the second angle A2 (60 degrees, for example) with respect to the traveling direction of the waves W toward the marine vessel 110 when the traveling direction of the marine vessel 110 is perpendicular or substantially perpendicular to the traveling direction of the waves W toward the marine vessel 110. FIG. 9 shows a case in which the traveling direction of the marine vessel 110 is perpendicular (direction of 90 degrees) to the traveling direction of the waves W toward the marine vessel 110 before the controller 14 performs the marine vessel traveling direction control such that the traveling direction of the marine vessel 110 is changed to the predetermined angle θ equal to or greater than the first angle A1 (30 degrees, for example) and equal to or less than the second angle A2 (60 degrees, for example) with respect to the traveling direction of the waves W toward the marine vessel 110.

The controller 14 (see FIG. 1) performs the marine vessel traveling direction control such that the traveling direction of the marine vessel 110 is changed to the predetermined angle θ equal to or greater than the first angle A1 (30 degrees, for example) and equal to or less than the second angle A2 (60 degrees, for example) with respect to the traveling direction of the waves W toward the marine vessel 110 while advancing the marine vessel 110 toward the set target position G when the marine vessel 110 is in the automatic navigation mode in which the marine vessel 110 automatically navigates toward the set target position G, and the traveling direction of the marine vessel 110 is perpendicular (direction of 90 degrees) or substantially perpendicular to the traveling direction of the waves W toward the marine vessel 110. Specifically, as described above, when the marine vessel 110 is in the automatic navigation mode, the marine vessel 110 generally travels in the direction toward the set target position G. Therefore, as described above, when the controller 14 performs the marine vessel traveling direction control such that the traveling direction of the marine vessel 110 is changed to the predetermined angle θ equal to or greater than the first angle A1 (30 degrees, for example) and equal to or less than the second angle A2 (60 degrees, for example) with respect to the traveling direction of the waves W toward the marine vessel 110 when the marine vessel 110 is in the automatic navigation mode, the traveling direction of the marine vessel 110 is different from the direction toward the set target position G when the traveling direction of the marine vessel 110 is changed only once, for example. Therefore, the controller 14 alternately repeats the one side marine vessel traveling direction control in which the marine vessel traveling direction control is performed such that the traveling direction of the marine vessel 110 is changed to the predetermined angle θ equal to or greater than the first angle A1 (30 degrees, for example) and equal to or less than the second angle A2 (60 degrees, for example) to one side in the right-left direction of the marine vessel 110 with respect to the traveling direction of the waves W toward the marine vessel 110, and the another side marine vessel traveling direction control in which the marine vessel traveling direction control is performed such that the traveling direction of the marine vessel 110 is changed to the predetermined angle θ equal to or greater than the first angle A1 (30 degrees, for example) and equal to or less than the second angle A2 (60 degrees, for example) to another side in the right-left direction of the marine vessel 110 with respect to the traveling direction of the waves W toward the marine vessel 110 when the marine vessel 110 is in the automatic navigation mode, and the traveling direction of the marine vessel 110 is perpendicular or substantially perpendicular to the traveling direction of the waves W toward the marine vessel 110. In FIG. 9, the traveling direction of the marine vessel 110 is perpendicular (direction of 90 degrees) to the traveling direction of the waves W toward the marine vessel 110 before the controller 14 performs the marine vessel traveling direction control such that the traveling direction of the marine vessel 110 is changed to the predetermined angle θ equal to or greater than the first angle A1 (30 degrees, for example) and equal to or less than the second angle A2 (60 degrees, for example) with respect to the traveling direction of the waves W toward the marine vessel 110, and thus the predetermined angle θ in the one side marine vessel traveling direction control and the predetermined angle θ in the another side marine vessel traveling direction control are equal to each other.

According to the various preferred embodiments of the present invention described above, the following advantageous effects are achieved.

According to a preferred embodiment of the present invention, the controller 14 is configured or programmed to alternately repeat the one side marine vessel traveling direction control in which the marine vessel traveling direction control is performed such that the traveling direction of the marine vessel 110 is changed to the predetermined angle θ equal to or greater than the first angle A1 to one side in the right-left direction of the marine vessel 110 with respect to the traveling direction of the waves W toward the marine vessel 110, and the another side marine vessel traveling direction control in which the marine vessel traveling direction control is performed such that the traveling direction of the marine vessel 110 is changed to the predetermined angle θ equal to or greater than the first angle A1 to another side in the right-left direction of the marine vessel 110 with respect to the traveling direction of the waves W toward the marine vessel 110 when the marine vessel 110 is in the automatic navigation mode, and the traveling direction of the marine vessel 110 is less than the first angle A1 with respect to the traveling direction of the waves W toward the marine vessel 110. Accordingly, the marine vessel 110 zigzags such that the final traveling direction of the marine vessel 110 does not change by alternately repeating a state in which the traveling direction of the marine vessel 110 is to one side in the right-left direction of the marine vessel 110 with respect to the traveling direction of the waves W toward the marine vessel 110 and a state in which the traveling direction of the marine vessel 110 is to another side in the right-left direction of the marine vessel 110 with respect to the traveling direction of the waves W toward the marine vessel 110. Thus, the marine vessel 110 easily travels toward the set target position G even when the traveling direction of the marine vessel 110 is changed by performing the marine vessel traveling direction control such that the traveling direction of the marine vessel 110 is changed to the predetermined angle θ equal to or greater than the first angle A1 with respect to the traveling direction of the waves W toward the marine vessel 110.

According to a preferred embodiment of the present invention, the controller 14 is configured or programmed to alternately repeat the one side marine vessel traveling direction control in which the marine vessel traveling direction control is performed to change the traveling direction of the marine vessel 110 to one side in the right-left direction of the marine vessel 110 by the third angle A3 such that the traveling direction of the marine vessel 110 is changed to the predetermined angle θ equal to or greater than the first angle A1 to one side in the right-left direction of the marine vessel 110 with respect to the traveling direction of the waves W toward the marine vessel 110, and the another side marine vessel traveling direction control in which the marine vessel traveling direction control is performed to change the traveling direction of the marine vessel 110 to another side in the right-left direction of the marine vessel 110 by the fourth angle A4 greater than the third angle A3 such that the traveling direction of the marine vessel 110 is changed to the predetermined angle θ equal to or greater than the first angle A1 to another side in the right-left direction of the marine vessel 110 with respect to the traveling direction of the waves W toward the marine vessel 110 when the marine vessel 110 is in the automatic navigation mode, and the traveling direction of the marine vessel 110 is less than the first angle A1 to one side in the right-left direction of the marine vessel 110 with respect to the traveling direction of the waves W toward the marine vessel 110. Accordingly, the marine vessel 110 zigzags such that the final traveling direction of the marine vessel 110 does not change by alternately repeating the one side marine vessel traveling direction control in which the marine vessel traveling direction control is performed to change the traveling direction of the marine vessel 110 to one side in the right-left direction of the marine vessel 110 by the third angle A3, and the another side marine vessel traveling direction control in which the marine vessel traveling direction control is performed to change the traveling direction of the marine vessel 110 to another side in the right-left direction of the marine vessel 110 by the fourth angle A4 greater than the third angle A3 even when the direction of the set target position G is biased to one side in the right-left direction of the marine vessel 110 with respect to the traveling direction of the waves W toward the marine vessel 110. Thus, the marine vessel 110 easily travels toward the set target position G even when the direction of the set target position G is biased to one side in the right-left direction of the marine vessel 110 with respect to the traveling direction of the waves W toward the marine vessel 110.

According to a preferred embodiment of the present invention, the controller 14 is configured or programmed to perform the marine vessel traveling direction control such that the traveling direction of the marine vessel 110 is changed to the predetermined angle θ equal to or greater than the first angle A1 with respect to the traveling direction of the waves W toward the marine vessel 110 when the traveling direction of the marine vessel 110 is less than the first angle A1 with respect to the traveling direction of the waves W toward the marine vessel 110, and the height H of the waves W toward the marine vessel 110 is equal to or greater than the first height H1 and equal to or less than the second height H2 that is greater than the first height H1. Furthermore, the controller 14 is configured or programmed to perform a control to notify the vessel operator to prompt the vessel operator to reduce the propulsive force of the propeller 21 without performing the marine vessel traveling direction control when the height H of the waves W toward the marine vessel 110 is greater than the second height H2 even when the traveling direction of the marine vessel 110 is less than the first angle A1 with respect to the traveling direction of the waves W toward the marine vessel 110. Accordingly, as a condition under which the marine vessel traveling direction control is performed such that the traveling direction of the marine vessel 110 is at the relatively large predetermined angle θ equal to or greater than the first angle A1 with respect to the traveling direction of the waves W toward the marine vessel 110, an upper limit, i.e., the second height H2, is set as the height H of the waves W toward the marine vessel 110. Thus, when the height H of the waves W toward the marine vessel 110 is excessively large, the marine vessel traveling direction control to set the traveling direction of the marine vessel 110 to be at the relatively large predetermined angle θ equal to or greater than the first angle A1 with respect to the traveling direction of the waves W toward the marine vessel 110 is reduced or prevented. Therefore, when the traveling direction of the marine vessel 110 is less than the first angle A1 with respect to the traveling direction of the waves W toward the marine vessel 110, and the height H of the waves W toward the marine vessel 110 is equal to or greater than the first height H1 and is excessively large, the marine vessel traveling direction control to set the traveling direction of the marine vessel 110 to be at the relatively large predetermined angle θ equal to or greater than the first angle A1 with respect to the traveling direction of the waves W toward the marine vessel 110 is reduced or prevented. That is, when the marine vessel 110 is likely to be rolled when riding over the waves W toward the marine vessel 110, such as when the height H of the waves W toward the marine vessel 110 is excessively large, rolling of the marine vessel 110 that occurs when the marine vessel 110 rides over the waves W toward the marine vessel 110 due to the marine vessel traveling direction control performed such that the traveling direction of the marine vessel 110 is at the relatively large predetermined angle θ equal to or greater than the first angle A1 with respect to the traveling direction of the waves toward the marine vessel 110 is reduced or prevented. Furthermore, when the traveling direction of the marine vessel 110 is less than the first angle A1 with respect to the traveling direction of the waves W toward the marine vessel 110, and the height H of the waves W toward the marine vessel 110 is greater than the second height H2, the vessel operator is prompted to reduce the propulsive force of the propeller 21. Thus, when the vessel operator needs to reduce the propulsive force of the propeller 21, the vessel operator easily recognizes that the propulsive force of the propeller 21 needs to be reduced.

According to a preferred embodiment of the present invention, the controller 14 is configured or programmed to perform the marine vessel traveling direction control when the marine vessel 110 is in the marine vessel traveling direction control mode in which the marine vessel traveling direction control is performed. Accordingly, when it is desired to perform the marine vessel traveling direction control, the marine vessel traveling direction control is performed by operating the marine vessel 110 such that the marine vessel 110 is in the marine vessel traveling direction control mode. When it is not desired to perform the marine vessel traveling direction control, the marine vessel traveling direction control is not performed by not operating the marine vessel 110 such that the marine vessel 110 is in the marine vessel traveling direction control mode.

According to a preferred embodiment of the present invention, the controller 14 is configured or programmed to perform a control to notify the vessel operator that the marine vessel traveling direction control is to be performed when the marine vessel traveling direction control is to be performed. Accordingly, when the marine vessel traveling direction control is performed, the vessel operator is notified in advance that the marine vessel traveling direction control is to be performed, and thus discomfort given to the vessel operator due to a sudden marine vessel traveling direction control performed without the vessel operator being aware that the marine vessel traveling direction control is performed is reduced or prevented.

According to a preferred embodiment of the present invention, the controller 14 is configured or programmed to perform a control to notify the vessel operator that the marine vessel traveling direction control is being performed when the marine vessel traveling direction control is being performed. Accordingly, while the marine vessel traveling direction control is being performed, the vessel operator is notified that the marine vessel traveling direction control is being performed, and thus discomfort given to the vessel operator due to the marine vessel traveling direction control performed without the vessel operator being aware that the marine vessel traveling direction control is being performed is reduced or prevented.

According to a preferred embodiment of the present invention, the controller 14 is configured or programmed to alternately repeat the one side marine vessel traveling direction control in which the marine vessel traveling direction control is performed such that the traveling direction of the marine vessel 110 is changed to the predetermined angle θ equal to or greater than the first angle A1 and equal to or less than the second angle A2 to one side in the right-left direction of the marine vessel 110 with respect to the traveling direction of the waves W toward the marine vessel 110, and the another side marine vessel traveling direction control in which the marine vessel traveling direction control is performed such that the traveling direction of the marine vessel 110 is changed to the predetermined angle θ equal to or greater than the first angle A1 and equal to or less than the second angle A2 to another side in the right-left direction of the marine vessel 110 with respect to the traveling direction of the waves W toward the marine vessel 110 when the marine vessel 110 is in the automatic navigation mode, and the traveling direction of the marine vessel 110 is perpendicular or substantially perpendicular to the traveling direction of the waves W toward the marine vessel 110. Accordingly, the marine vessel 110 zigzags such that the final traveling direction of the marine vessel 110 does not change by alternately repeating a state in which the traveling direction of the marine vessel 110 is to one side in the right-left direction of the marine vessel 110 with respect to the traveling direction of the waves W toward the marine vessel 110 and a state in which the traveling direction of the marine vessel 110 is to another side in the right-left direction of the marine vessel 110 with respect to the traveling direction of the waves W toward the marine vessel 110. Thus, the marine vessel 110 easily travels toward the set target position G even when the traveling direction of the marine vessel 110 is changed by performing the marine vessel traveling direction control such that the traveling direction of the marine vessel 110 is changed to the predetermined angle θ equal to or greater than the first angle A1 and equal to or less than the second angle A2 with respect to the traveling direction of the waves W toward the marine vessel 110.

The preferred embodiments of the present invention described above are illustrative in all points and not restrictive. The extent of the present invention is not defined by the above description of the preferred embodiments but by the scope of the claims, and all modifications within the meaning and range equivalent to the scope of the claims are further included.

For example, while the controller 14 preferably alternately repeats the one side marine vessel traveling direction control in which the marine vessel traveling direction control is performed such that the traveling direction of the marine vessel 110 is changed to the predetermined angle θ equal to or greater than the first angle A1 and equal to or less than the second angle A2 to one side in the right-left direction of the marine vessel 110 with respect to the traveling direction of the waves W toward the marine vessel 110, and the another side marine vessel traveling direction control in which the marine vessel traveling direction control is performed such that the traveling direction of the marine vessel 110 is changed to the predetermined angle θ equal to or greater than the first angle A1 and equal to or less than the second angle A2 to another side in the right-left direction of the marine vessel 110 with respect to the traveling direction of the waves W toward the marine vessel 110 when the marine vessel 110 is in the automatic navigation mode, and the traveling direction of the marine vessel 110 is perpendicular or substantially perpendicular to the traveling direction of the waves W toward the marine vessel 110 in preferred embodiments described above, the present invention is not restricted to this. In a preferred embodiment of the present invention, the controller may not alternately repeat the one side marine vessel traveling direction control and the another side marine vessel traveling direction control when the marine vessel is in the automatic navigation mode, and the traveling direction of the marine vessel is perpendicular or substantially perpendicular to the traveling direction of the waves toward the marine vessel.

While the controller 14 preferably performs a control to display, on the display 15, the characters 15b indicating that the marine vessel traveling direction control is being performed as the control to notify the vessel operator that the marine vessel traveling direction control is being performed in preferred embodiments described above, the present invention is not restricted to this. In a preferred embodiment of the present invention, the controller may alternatively perform a control other than the control to display, on the display, the characters indicating that the marine vessel traveling direction control is being performed, such as a control to display, on the display, a mark indicating that the marine vessel traveling direction control is being performed or a control to generate a sound indicating that the marine vessel traveling direction control is being performed, as the control to notify the vessel operator that the marine vessel traveling direction control is being performed.

While the controller 14 preferably performs a control to notify the vessel operator that the marine vessel traveling direction control is being performed when the marine vessel traveling direction control is being performed in preferred embodiments described above, the present invention is not restricted to this. In a preferred embodiment of the present invention, the controller may not perform a control to notify the vessel operator that the marine vessel traveling direction control is being performed when the marine vessel traveling direction control is being performed.

While the controller 14 preferably performs a control to display, on the display 15, the message 15a indicating that the marine vessel traveling direction control is to be performed as the control to notify the vessel operator that the marine vessel traveling direction control is to be performed when the marine vessel traveling direction control is to be performed in preferred embodiments described above, the present invention is not restricted to this. In a preferred embodiment of the present invention, the controller may not perform a control to display, on the display, the message indicating that the marine vessel traveling direction control is to be performed as the control to notify the vessel operator that the marine vessel traveling direction control is to be performed when the marine vessel traveling direction control is to be performed. Alternatively, the controller may perform a control other than the control to display, on the display, the message indicating that the marine vessel traveling direction control is to be performed, such as a control to generate a sound indicating that the marine vessel traveling direction control is to be performed, as the control to notify the vessel operator that the marine vessel traveling direction control is to be performed when the marine vessel traveling direction control is to be performed.

While the controller 14 preferably performs the marine vessel traveling direction control when the marine vessel 110 is in the marine vessel traveling direction control mode in which the marine vessel traveling direction control is performed in preferred embodiments described above, the present invention is not restricted to this. In a preferred embodiment of the present invention, the controller may alternatively perform the marine vessel traveling direction control regardless of whether or not the marine vessel is in the marine vessel traveling direction control mode.

While the controller 14 preferably performs a control to notify the vessel operator to prompt the vessel operator to reduce the propulsive force of the propeller 21 without performing the marine vessel traveling direction control when the height H of the waves W toward the marine vessel 110 is greater than the second height H2 even when the traveling direction of the marine vessel 110 is less than the first angle A1 with respect to the traveling direction of the waves W toward the marine vessel 110 in preferred embodiments described above, the present invention is not restricted to this. In a preferred embodiment of the present invention, the controller may alternatively perform neither the marine vessel traveling direction control nor the control to notify the vessel operator to prompt the vessel operator to reduce the propulsive force of the propeller when the height of the waves toward the marine vessel is greater than the second height even when the traveling direction of the marine vessel is less than the first angle with respect to the traveling direction of the waves toward the marine vessel.

While the controller 14 preferably alternately repeats the one side marine vessel traveling direction control in which the marine vessel traveling direction control is performed such that the traveling direction of the marine vessel 110 is changed to the predetermined angle θ equal to or greater than the first angle A1 to one side in the right-left direction of the marine vessel 110 with respect to the traveling direction of the waves W toward the marine vessel 110, and the another side marine vessel traveling direction control in which the marine vessel traveling direction control is performed such that the traveling direction of the marine vessel 110 is changed to the predetermined angle θ equal to or greater than the first angle A1 to another side in the right-left direction of the marine vessel 110 with respect to the traveling direction of the waves W toward the marine vessel 110 when the marine vessel 110 is in the automatic navigation mode, and the traveling direction of the marine vessel 110 is less than the first angle A1 with respect to the traveling direction of the waves W toward the marine vessel 110 in preferred embodiments described above, the present invention is not restricted to this. In a preferred embodiment of the present invention, the controller may not alternately repeat the one side marine vessel traveling direction control and the another side marine vessel traveling direction control when the marine vessel is in the automatic navigation mode, and the traveling direction of the marine vessel is less than the first angle with respect to the traveling direction of the waves toward the marine vessel.

While the controller 14 preferably performs the marine vessel traveling direction control such that the traveling direction of the marine vessel 110 is changed to the predetermined angle θ equal to or greater than the first angle A1 with respect to the traveling direction of the waves W toward the marine vessel 110 when the traveling direction of the marine vessel 110 is less than the first angle A1 with respect to the traveling direction of the waves W toward the marine vessel 110 in preferred embodiments described above, the present invention is not restricted to this. In a preferred embodiment of the present invention, the controller may alternatively perform the marine vessel traveling direction control such that the traveling direction of the marine vessel is changed to the predetermined angle equal to or greater than the first angle with respect to the traveling direction of the waves toward the marine vessel when the height of the waves toward the marine vessel is equal to or greater than the first height regardless of the traveling direction of the waves toward the marine vessel. That is, the controller may perform the marine vessel traveling direction control such that the traveling direction of the marine vessel is changed to the predetermined angle equal to or greater than the first angle with respect to the traveling direction of the waves toward the marine vessel at least when the traveling direction of the marine vessel is less than the first angle with respect to the traveling direction of the waves toward the marine vessel or when the height of the waves toward the marine vessel is equal to or greater than the first height. Thus, similarly to the preferred embodiments described above, when the traveling direction of the marine vessel is less than the first angle, which is relatively small, with respect to the traveling direction of the waves toward the marine vessel, the angle of the traveling direction of the marine vessel with respect to the traveling direction of the waves toward the marine vessel is changed from less than the first angle, which is relatively small, to the relatively large predetermined angle equal to or greater than the first angle such that the speed at which the waves toward the marine vessel collide with the marine vessel when the marine vessel rides over the waves toward the marine vessel is reduced. Furthermore, when an impact on the marine vessel that occurs when the marine vessel rides over the waves toward the marine vessel tends to be large, such as when the height of the waves toward the marine vessel is equal to or greater than the first height, which is relatively large, and when the traveling direction of the marine vessel is at a relatively small angle with respect to the traveling direction of the waves toward the marine vessel, the angle of the traveling direction of the marine vessel with respect to the traveling direction of the waves toward the marine vessel is changed from a relatively small angle to a relatively large angle, for example, such that the speed at which the waves toward the marine vessel collide with the marine vessel when the marine vessel rides over the waves toward the marine vessel is reduced. Consequently, similarly to the preferred embodiments described above, an unstable attitude of the marine vessel when the marine vessel rides over the waves toward the marine vessel is reduced or prevented without reducing the speed of the marine vessel.

While the first angle A1 and the second angle A2 are preferably 30 degrees, for example and 60 degrees, for example, respectively in preferred embodiments described above, the present invention is not restricted to this. In a preferred embodiment of the present invention, the first angle A1 may alternatively be other than 30 degrees, and/or the second angle A2 may alternatively be other than 60 degrees.

While the outboard motor 20 is preferably an engine outboard motor including the engine 22 to drive the propeller 21 in preferred embodiments described above, the present invention is not restricted to this. In a preferred embodiment of the present invention, the outboard motor may alternatively be an electric outboard motor including an electric motor to drive a propeller.

While only one outboard motor 20 is preferably attached to the stern 11 of the hull 10 in preferred embodiments described above, the present invention is not restricted to this. In a preferred embodiment of the present invention, two or more outboard motors may alternatively be attached to the stern of the hull.

While preferred embodiments of the present invention have been described above, it is to be understood that variations and modifications will be apparent to those skilled in the art without departing from the scope and spirit of the present invention. The scope of the present invention, therefore, is to be determined solely by the following claims.

MARINE PROPULSION SYSTEM AND MARINE VESSEL

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