A boat includes a boat body, a propulsion device, an operator that operates the propulsion device, and a controller. The propulsion device is disposed in the boat body and generates a propulsion force to move the boat body. The controller executes an automatic shore arrival control to control the propulsion device so as to cause the boat body to move toward a target position. The controller ends the automatic shore arrival control when the operator is positioned in a non-neutral position that differs from a neutral position.

A vessel with auxiliary steering includes a vessel hull with a bow/stern centerline and a port and starboard side. The vessel has (i) a main propulsion unit including at least one propeller and at least one main rudder, and (ii) a secondary propulsion unit including at least one directional water jet thruster on each of the port and starboard side of the vessel hull. The water jet thrusters are configured to direct water outwardly and perpendicularly to the centerline of the hull, and a control system coordinates the direction of the main rudder and the flow direction of at least one water jet thruster.

A vessel with auxiliary steering includes a vessel hull with a bow/stern centerline and a port and starboard side. The vessel has (i) a main propulsion unit including at least one propeller and at least one main rudder, and (ii) a secondary propulsion unit including at least one directional water jet thruster on each of the port and starboard side of the vessel hull. The water jet thrusters are configured to direct water outwardly and perpendicularly to the centerline of the hull, and a control system coordinates the direction of the main rudder and the flow direction of at least one water jet thruster.

The invention relates to a cover device for at least sectional closing of an underwater opening in a hull of a watercraft, in particular an opening of a transverse channel of a thruster. According to the invention the cover device includes at least one variable-volume hollow chamber lip including at least one buoyancy body, and the at least one hollow chamber lip is shiftable into an expansion state or into a shrinkage state by supplying or removing a fluid, in particular air. As a result of the variable-volume or inflatable cover device a more reliable and simultaneously lower-maintenance operation of the cover device is given. In addition, the invention has a thruster, in particular a bow or stern-thruster, as subject matter.

The invention relates to a cover device for at least sectional closing of an underwater opening in a hull of a watercraft, in particular an opening of a transverse channel of a thruster. According to the invention the cover device includes at least one variable-volume hollow chamber lip including at least one buoyancy body, and the at least one hollow chamber lip is shiftable into an expansion state or into a shrinkage state by supplying or removing a fluid, in particular air. As a result of the variable-volume or inflatable cover device a more reliable and simultaneously lower-maintenance operation of the cover device is given. In addition, the invention has a thruster, in particular a bow or stern-thruster, as subject matter.

A ship control system that includes a ship and an input device, in which the ship includes an actuator having a function of generating thrust for the ship and a function of generating a moment in the ship, a first operation unit configured to receive an input operation from a ship operator, and a ship control device configured to activate the actuator, the input device includes a second operation unit configured to receive an input operation from the ship operator, the ship control device includes a first operation mode and a second operation mode, a moment is generated in the ship on the basis of the input operation received by the first operation unit in the first operation mode, the actuator is activated on the basis of the input operation received by the second operation unit in the second operation mode, and the ship control device executes bow direction feedback control of the ship on the basis of a deviation between a target bow direction and an actual bow direction of the ship in the second operation mode.

A method and a system for controlling a marine vessel having first and second trim deflectors is disclosed. The first and second trim deflectors have a first surface having a first area and a second surface having a second area, wherein the second planar surface is coupled to the first surface. The method and system control the first and second trim deflectors to induce any of a net yawing force, a net rolling force, and a net trimming force to the marine vessel without inducing any other substantial forces to the marine vessel by controlling the first and second trim deflectors.

A method and a system for controlling a marine vessel having first and second trim deflectors is disclosed. The first and second trim deflectors have a first surface having a first area and a second surface having a second area, wherein the second planar surface is coupled to the first surface. The method and system control the first and second trim deflectors to induce any of a net yawing force, a net rolling force, and a net trimming force to the marine vessel without inducing any other substantial forces to the marine vessel by controlling the first and second trim deflectors.

Invention relates to a thruster assembly for a marine vessel including a body including a duct having a longitudinal axis, and a first end and a second end, a support structure for a propeller including a propeller shaft at a centre line of the duct, a propeller, positioned into the duct and being attached to the propeller shaft, wherein the propeller including at least three blades and a boss which is supported to the shaft, and further a circular rim to which radial ends of the propeller blades are attached, wherein a circumferential slot is provided, opening inside the duct between the first end and the second end, into which slot the circular rim is arranged to extend radially, and at least one gas inlet arranged to open into the slot. Invention relates also to a transverse tunnel thruster and a steerable azimuthing thruster provided with the thruster assembly.

A watercraft propulsion system includes a bow thruster at a bow of a hull to generate a lateral propulsive force, at least two propulsion devices on a stern of the hull each having a variable steering angle, and a controller configured or programmed to control the propulsive force of the bow thruster and control the propulsive forces and the steering angles of the two propulsion devices to perform an azimuth control to control an azimuth of the hull. The azimuth control includes a bow thruster mode in which the bow thruster is controlled, and a combinational mode in which the bow thruster is controlled and the two propulsion devices are driven forward and in reverse, respectively. The controller switches between the bow thruster mode and the combinational mode based on a predetermined switching condition during the azimuth control.