Boat control system and boat

Abstract

A boat control system includes a plurality of boat propulsion devices, a controller, a manual operator, and a sensor. When the manual operator accepts an operation to request a steering mode, based on detection results of the sensor with respect to at least two of the plurality of boat propulsion devices, the controller is configured or programmed to change a steering angle of at least one of the at least two boat propulsion devices to achieve a target angle relationship such that a degree to which thrusts cancel each other out is greater than before the steering mode is requested, and when the steering angles of the at least two boat propulsion systems come to be the target angle relationship, to change the thrusts of the at least two boat propulsion devices to thrusts corresponding to the steering mode.

What is claimed is: 
     
         1 . A boat control system for controlling a boat including a boat body, the boat control system comprising:
 a plurality of boat propulsion devices able to be steered 180 degrees or more about a steering axis;   a controller configured or programmed to control a thrust and a steering angle of each of the plurality of boat propulsion devices;   a manual operator to accept operations; and   an angle sensor to detect the steering angle of each of the plurality of boat propulsion devices; wherein   the controller is configured or programmed to:
 when the manual operator accepts an operation to request a steering mode, perform a steering angle change process for at least two of the plurality of boat propulsion devices to, based on detection results of the angle sensor, change a steering angle of at least one of the at least two boat propulsion devices to achieve a target angle relationship such that a degree to which thrusts of the plurality of boat propulsion devices cancel each other out is greater than before the steering mode is requested; and 
 when the at least two boat propulsion systems come to be in the target angle relationship, perform a thrust change process to change the thrusts of the at least two boat propulsion devices to thrusts corresponding to the steering mode. 
   
     
     
         2 . The boat control system according to  claim 1 , wherein
 in the thrust change process, the controller is configured or programmed to change the at least two boat propulsion devices from a shift-out state to a shift-in state.   
     
     
         3 . The boat control system according to  claim 1 , wherein
 the manual operator includes a joystick; and   the steering mode is a joystick mode to control the boat based on the operation of the joystick.   
     
     
         4 . The boat control system according to  claim 2 , wherein
 the manual operator includes a joystick; and   the steering mode is a joystick mode to control the boat based on the operation of the joystick.   
     
     
         5 . The boat control system according to  claim 1 , wherein
 the target angle relationship is a relationship of steering angles in which the thrusts of the at least two boat propulsion devices cancel each other out.   
     
     
         6 . The boat control system according to  claim 2 , wherein
 the target angle relationship is a relationship of steering angles in which the thrusts of the at least two boat propulsion devices cancel each other out.   
     
     
         7 . The boat control system according to  claim 1 , wherein the plurality of boat propulsion devices include:
 a first boat propulsion device;   a second boat propulsion device; and   a third boat propulsion device between the first boat propulsion device and the second boat propulsion device; and   the controller is configured or programmed to change the steering angle of at least one of the first boat propulsion device or the second boat propulsion device in the steering angle change process.   
     
     
         8 . The boat control system according to  claim 2 , wherein
 the plurality of boat propulsion devices include:   a first boat propulsion device;   a second boat propulsion device; and   a third boat propulsion device disposed between the first boat propulsion device and the second boat propulsion device, wherein   the controller is configured or programmed to change the steering angle of at least one of the first boat propulsion device and the second boat propulsion device in the steering angle change process.   
     
     
         9 . The boat control system according to  claim 7 , wherein
 in the steering angle change process, the controller is configured or programmed to steer the third boat propulsion device in a direction in which the boat body is turning.   
     
     
         10 . The boat control system according to  claim 8 , wherein
 in the steering angle change process, the controller is configured or programmed to steer the third boat propulsion device in a direction in which the boat body is turning.   
     
     
         11 . A boat control system for controlling a boat including with a boat body, the boat control system comprising:
 a plurality of boat propulsion devices able to be steered about a steering axis;   a controller configured or programmed to control a thrust and a steering angle of each of the plurality of boat propulsion devices;   a manual operator to accept operations; and   an angle sensor to detect the steering angle of each of the plurality of boat propulsion device; wherein   the controller is configured or programmed to:
 when the manual operator accepts an operation to request a steering mode, perform a steering angle change process for at least two of the plurality of boat propulsion devices to, based on detection results of the angle sensor, change the steering angle of at least one of the at least two boat propulsion devices to achieve a target angle relationship corresponding to the steering mode; and 
 when the steering angles of the at least two boat propulsion systems come to be in the target angle relationship, perform a thrust change process to change the thrusts of the at least two boat propulsion devices to thrusts corresponding to the steering mode. 
   
     
     
         12 . The boat control system according to  claim 1 , wherein each of the at least two boat propulsion devices include:
 an upper unit fixed to the boat body; and   a lower unit, including a propeller, below the upper unit and pivotable around the steering axis relative to the upper unit.   
     
     
         13 . The boat control system according to  claim 2 , wherein each of the at least two boat propulsion devices include:
 an upper unit fixed to the boat body; and   a lower unit, including a propeller, below the upper unit and pivotable around the steering axis relative to the upper unit.   
     
     
         14 . The boat control system according to  claim 11 , wherein each of the at least two boat propulsion devices include:
 an upper unit fixed to the boat body; and   a lower unit, including a propeller, below the upper unit and pivotable around the steering axis relative to the upper unit.   
     
     
         15 . A boat comprising:
 a boat body; and   the boat control system according to  claim 1 .   
     
     
         16 . A boat comprising:
 a boat body; and   the boat control system according to  claim 2 .   
     
     
         17 . A boat comprising:
 a boat body; and   the boat control system according to  claim 11 .