Boat control system and boat

Abstract

A boat control system includes first and second boat propulsion devices each turnable about a steering axis and having overlapping turning ranges, a controller, an operator, and a sensor to detect steering angles of the first and second boat propulsion devices. When an operation is accepted by the operator, the controller is configured or programmed to perform a pattern determination process to determine a turning pattern in which the first and second boat propulsion devices do not interfere with each other based on a current angle relationship between the steering angles of the first and second boat propulsion devices and a target angle relationship corresponding to the operation accepted by the operator, and to perform a steering angle change process to change the relationship between the steering angles of the first and second boat propulsion devices to the target angle relationship.

What is claimed is: 
     
         1 . A boat control system for controlling a boat including a hull, the boat control system comprising:
 a first boat propulsion device and a second boat propulsion device each turnable about a steering axis and having overlapping turning ranges;   a controller configured or programmed to control an output and a steering angle of the first boat propulsion device and the second boat propulsion device;   an operator to accept operation requests; and   a sensor to detect the steering angles of the first boat propulsion device and the second boat propulsion device; wherein   when an operation is accepted by the operator, the controller is configured or programmed to perform:
 a pattern determination process to determine a turning pattern in which the first boat propulsion device and the second boat propulsion device do not interfere with each other based on a current angle relationship between the steering angle of the first boat propulsion device and the steering angle of the second boat propulsion device detected by the sensor and a target angle relationship corresponding to the operation accepted by the operator; and 
 a steering angle change process to change the relationship between the steering angle of the first boat propulsion device and the steering angle of the second boat propulsion device to the target angle relationship by turning at least one of the first boat propulsion device and the second boat propulsion device according to the turning pattern. 
   
     
     
         2 . The boat control system according to  claim 1 , wherein
 the first boat propulsion device and the second boat propulsion device are capable of turning turn 180 degrees or more about the steering axis.   
     
     
         3 . The boat control system according to  claim 1 , wherein
 the first boat propulsion device and the second boat propulsion device are capable of turning ±360 degrees about the steering axis.   
     
     
         4 . The boat control system according to  claim 1 , wherein
 the turning pattern turns the first boat propulsion device in a rotational direction in which a propeller of the first boat propulsion device moves away from the second boat propulsion device.   
     
     
         5 . The boat control system according to  claim 2 , wherein
 the turning pattern turns the first boat propulsion device in a rotational direction in which a propeller of the first boat propulsion device moves away from the second boat propulsion device.   
     
     
         6 . The boat control system according to  claim 3 , wherein
 the turning pattern turns the first boat propulsion device in a rotational direction in which a propeller of the first boat propulsion device moves away from the second boat propulsion device.   
     
     
         7 . The boat control system according to  claim 4 , wherein
 the turning pattern turns the second boat propulsion device in a rotational direction in which the propeller of the second boat propulsion device moves closer to the first boat propulsion device.   
     
     
         8 . The boat control system according to  claim 5 , wherein
 the turning pattern turns the second boat propulsion device in a rotational direction in which the propeller of the second boat propulsion device moves closer to the first boat propulsion device.   
     
     
         9 . The boat control system according to  claim 6 , wherein
 the turning pattern is a pattern that turns the second boat propulsion device in a rotational direction in which the propeller of the second boat propulsion device moves closer to the first boat propulsion device.   
     
     
         10 . The boat control system according to  claim 1 , wherein
 the turning pattern prohibits the turning of the first boat propulsion device into the overlapping area between the turning range of the first boat propulsion device and the turning range of the second boat propulsion device, and permits the turning of the first boat propulsion device into the overlapping area after a propeller of the second boat propulsion device moves through the overlapping area.   
     
     
         11 . The boat control system according to  claim 2 , wherein
 the turning pattern is a pattern that prohibits the turning of the first boat propulsion device into the overlapping area between the turning range of the first boat propulsion device and the turning range of the second boat propulsion device and permits the turning of the first boat propulsion device into the overlapping area after a propeller of the second boat propulsion device moves through the overlapping area.   
     
     
         12 . The boat control system according to  claim 3 , wherein
 the turning pattern prohibits the turning of the first boat propulsion device into the overlapping area between the turning range of the first boat propulsion device and the turning range of the second boat propulsion device, and permits the turning of the first boat propulsion device into the overlapping area after a propeller of the second boat propulsion device moves through the overlapping area.   
     
     
         13 . The boat control system according to  claim 1 , wherein
 the operator includes a joystick; and   the controller is configured or programmed to perform the pattern determination process and the steering angle change process when the operation on the joystick is accepted.   
     
     
         14 . The boat control system according to  claim 2 , wherein
 the operator includes a joystick; and   the controller is configured or programmed to perform the pattern determination process and the steering angle change process when the operation on the joystick is accepted.   
     
     
         15 . The boat control system according to  claim 3 , wherein
 the operator includes a joystick; and   the controller is configured or programmed to perform the pattern determination process and the steering angle change process when the operation on the joystick is accepted.   
     
     
         16 . The boat control system according to  claim 1 , wherein
 the first boat propulsion device and the second boat propulsion device each include an upper portion fixed to the hull and a lower portion including a propeller and rotatable about the steering axis with respect to the upper portion.   
     
     
         17 . The boat control system according to  claim 2 , wherein
 the first boat propulsion device and the second boat propulsion device each include an upper portion fixed to the hull and a lower portion including a propeller and rotatable about the steering axis with respect to the upper portion.   
     
     
         18 . The boat control system according to  claim 3 , wherein
 the first boat propulsion device and the second boat propulsion device each include an upper portion fixed to the hull and a lower portion including a propeller and rotatable about the steering axis with respect to the upper portion.   
     
     
         19 . A boat comprising:
 a hull; and   the boat control system according to  claim 1 .   
     
     
         20 . A boat comprising:
 a hull; and   the boat control system according to  claim 2 .