Marine propulsion system and marine vessel

Abstract

A marine propulsion system includes a controller configured or programmed to perform a marine vessel traveling direction control such that a traveling direction of a 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.

What is claimed is: 
     
         1 . A marine propulsion system to propel a marine vessel, the marine propulsion system comprising:
 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; wherein   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.   
     
     
         2 . The marine propulsion system according to  claim 1 , wherein 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 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. 
     
     
         3 . The marine propulsion system according to  claim 1 , wherein 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 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. 
     
     
         4 . The marine propulsion system according to  claim 3 , wherein the controller is 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. 
     
     
         5 . The marine propulsion system according to  claim 4 , wherein the controller 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 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. 
     
     
         6 . The marine propulsion system according to  claim 1 , wherein 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, and a height of the waves toward the marine vessel is equal to or greater than a first height; and   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.   
     
     
         7 . The marine propulsion system according to  claim 6 , wherein 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, 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   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.   
     
     
         8 . The marine propulsion system according to  claim 7 , wherein 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 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. 
     
     
         9 . The marine propulsion system according to  claim 1 , wherein the controller is 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. 
     
     
         10 . The marine propulsion system according to  claim 1 , wherein the controller is 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. 
     
     
         11 . The marine propulsion system according to  claim 1 , wherein the controller is 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. 
     
     
         12 . The marine propulsion system according to  claim 2 , wherein 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 and equal to or less than the second angle with respect to the traveling direction of the waves toward the marine vessel when the traveling direction of the marine vessel is perpendicular or substantially perpendicular to the traveling direction of the waves toward the marine vessel. 
     
     
         13 . The marine propulsion system according to  claim 12 , wherein 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 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 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 perpendicular or substantially perpendicular to the traveling direction of the waves toward the marine vessel. 
     
     
         14 . The marine propulsion system according to  claim 13 , wherein the controller is 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. 
     
     
         15 . A marine propulsion system to propel a marine vessel, the marine propulsion system comprising:
 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; wherein   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.   
     
     
         16 . A marine vessel comprising:
 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; wherein   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.   
     
     
         17 . The marine vessel according to  claim 16 , wherein 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 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. 
     
     
         18 . The marine vessel according to  claim 16 , wherein 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 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. 
     
     
         19 . The marine vessel according to  claim 18 , wherein the controller is 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. 
     
     
         20 . The marine vessel according to  claim 19 , wherein the controller 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 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.