Apparatus for judging abnormality of marine vessel, method for judging abnormality of marine vessel, and marine vessel

An apparatus for judging abnormality of a marine vessel, the apparatus comprising:

• a controller configured or programmed to function as:
• an estimating unit to estimate a marine vessel speed based on a propulsion force of a marine vessel propulsion device to propel a hull of the marine vessel and an attitude of the marine vessel propulsion device;
• and
• a judging unit;
• and
• a measuring unit to measure an actual marine vessel speed;
• wherein
• the judging unit is configured or programmed to judge the presence or absence of an abnormality of the marine vessel based on a comparison result between the estimated marine vessel speed estimated by the estimating unit and the actual marine vessel speed measured by the measuring unit.

An apparatus for judging abnormality of a marine vessel, the apparatus comprising:

• a controller configured or programmed to function as:
• an estimating unit to estimate a pitch angle of a hull of the marine vessel based on a propulsion force of a marine vessel propulsion device to propel the hull and an attitude of the marine vessel propulsion device;
• and
• a judging unit;
• and
• a measuring unit to measure an actual pitch angle;
• wherein
• the judging unit is configured or programmed to judge the presence or absence of an abnormality of the marine vessel based on a comparison result between the estimated pitch angle estimated by the estimating unit and the actual pitch angle measured by the measuring unit.

A method for judging abnormality of a marine vessel comprising:

• estimating a marine vessel speed and a pitch angle of a hull of the marine vessel based on a propulsion force of a marine vessel propulsion device that propels the hull and an attitude of the marine vessel propulsion device;
• measuring an actual marine vessel speed and an actual pitch angle;
• and
• judging the presence or absence of an abnormality of the marine vessel based on at least one of a comparison result between the estimated marine vessel speed and the actual marine vessel speed or a comparison result between the estimated pitch angle and the actual pitch angle.