Boat control system and boat

Abstract

A boat control system includes a first and a second boat propulsion devices, and a controller. The controller executes, a first output control to control each of the first and the second boat propulsion devices at an output below a first upper limit value when neither the first nor the second boat propulsion device meets an output limiting condition to limit the output, and executes, a second output control to control each of the first and the second boat propulsion devices at an output below a second upper limit value that is lower than the first upper limit value when one of the first and the second boat propulsion devices meets the output limiting condition.

Description

[0001] The technology disclosed herein relates to a boat control system and a boat.

[0002] There has been known a boat equipped with a plurality of boat propulsion devices (see, e.g., JP 2023-68836 A, JP 2023-68787 A).

[0003] In conventional boats, the control when one of the boat propulsion devices meets an output limiting condition has not been sufficiently considered, and there is room for improvement.

[0004] This document discloses a technology that can solve the above-mentioned problem.

[0005] The technology disclosed herein can be implemented in the following aspects. (1) A boat control system disclosed herein is a boat control system that controls a boat equipped with a boat body, including: a first boat propulsion device; a second boat propulsion device; an operation device that outputs an operation signal in response to an operation to move the boat body; and a controller, wherein when neither the first boat propulsion device nor the second boat propulsion device meets an output limiting condition to limit the output, the controller executes, based on the operation signal, a first output control to control each of the first boat propulsion device and the second boat propulsion device at an output below a first upper limit value, and when one of the first boat propulsion device and the second boat propulsion device meets the output limiting condition, the controller executes, based on the operation signal, a second output control to control each of the first boat propulsion device and the second boat propulsion device at an output below a second upper limit value that is lower than the first upper limit value. This configuration suppresses changes in the boat steering characteristics when one of the first boat propulsion device and the second boat propulsion device meets the output limiting condition. (2) In the above boat control system, the controller may include a first controller that executes the first output control for the first boat propulsion device when the first boat propulsion device does not meet the output limiting condition and executes the second output control for the first boat propulsion device when the first boat propulsion device meets the output limiting condition. In this configuration, the output control for the first boat propulsion device is executed by the independent controller. (3) In the above boat control system, the first controller may be incorporated into the first boat propulsion device. In this configuration, the controller incorporated into the first boat propulsion device executes output control autonomously. (4) In the above boat control system, the controller may further include a second controller that executes the first output control for the second boat propulsion device when the second boat propulsion device does not meet the output limiting condition and executes the second output control for the second boat propulsion device when the second boat propulsion device meets the output limiting condition. In this configuration, the output control for the second boat propulsion device is executed by the independent controller. (5) In the above boat control system, the second controller may be incorporated into the second boat propulsion device. In this configuration, the controller incorporated into the second boat propulsion device executes output control autonomously. (6) In the above boat control system, the first controller may transmit to the second controller an execution instruction of the second output control when the first boat propulsion device meets the output limiting condition, and the second controller may execute the second output control for the second boat propulsion device when the execution instruction is received. This configuration can execute the second output control for the second boat propulsion device earlier than the configuration in which the first controller indirectly transmits the execution instruction of the second output control to the second controller via another device. (7) In the above boat control system, when one of the first boat propulsion device and the second boat propulsion device meets the output limiting condition, the second output control may be executed for the one boat propulsion device, and then the second output control may be executed for the other boat propulsion device. This configuration suppresses the effect of a malfunction caused by meeting the output limiting condition by giving priority to the second output control for the boat propulsion device that meets the output limiting condition. (8) In the above boat control system, the controller may inform the outside of the execution of the second output control for the other boat propulsion device when the one boat propulsion device meets the output limiting condition. In this configuration, the controller informs the outside of the execution of the second output control for the boat propulsion device that does not meet the output limiting condition. (9) In the above boat control system, when an integrated control setting is enabled at the operating device, if one of the first boat propulsion device and the second boat propulsion device meets the output limiting condition, the controller may execute the second output control for each of the first boat propulsion device and the second boat propulsion device, and when the integrated control setting is disabled at the operation device, if one of the first boat propulsion device and the second boat propulsion device meets the output limiting condition, the controller may execute the second output control for the one boat propulsion device and execute the first output control for the other boat propulsion device. According to this configuration, the integrated control can be selectively enabled or disabled. (10) A boat control system disclosed herein is a boat control system that controls a boat equipped with a boat body, including: a first boat propulsion device; a second boat propulsion device; and a controller, wherein when neither the first boat propulsion device nor the second boat propulsion device meets an output limiting condition to limit the output, the controller executes a first output control to control each of the first boat propulsion device and the second boat propulsion device at an output below a first upper limit value, and when one of the first boat propulsion device and the second boat propulsion device meets the output limiting condition, the controller executes a second output control to control each of the first boat propulsion device and the second boat propulsion device at an output below a second upper limit value that is lower than the first upper limit value. This configuration suppresses changes in the boat steering characteristics when one of the first boat propulsion device and the second boat propulsion device meets the output limiting condition.

[0006] The technology disclosed herein can be implemented in various forms, e.g., in the form of a boat control system, a boat propulsion device equipped with a boat control system, or a boat equipped with a boat propulsion device.

[0007] According to the technology disclosed herein, when one of the first boat propulsion device and the second boat propulsion device meets the output limiting condition, the change in the boat steering characteristics of the boat is suppressed.BRIEF DESCRIPTION OF THE DRAWINGS

[0008] FIG. 1 is a perspective view schematically illustrating a configuration of an embodiment of a boat. FIG. 2 is a side view illustrating a configuration of an electric propulsion device. FIG. 3 is a schematic view illustrating a configuration of a drive unit. FIG. 4 is a block diagram illustrating a configuration of a boat control system in a boat. FIG. 5 is a flowchart showing the flow of the output control process. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] FIG. 1 is a perspective view schematically illustrating a configuration of an embodiment of a boat 10. FIG. 1 and other some drawings described below show arrows representing each direction with respect to the position of the boat 10. More specifically, some figures show arrows representing front (FRONT), rear (REAR), left (LEFT), right (RIGHT), upper (UPPER), and lower (LOWER) directions, respectively. The front-rear direction, left-right direction, and upper-lower direction (vertical direction) are orthogonal to each other.

[0010] As shown in FIG. 1, the boat 10 has a boat body 200 and two electric propulsion devices 100. The electric propulsion device 100 is an example of the boat propulsion device. The two electric propulsion devices 100 are examples of the first and second boat propulsion devices.

[0011] The boat body 200 is a part of the boat 10 for the user (crew) to ride. The boat body 200 includes a boat main body 210, a pilot seat 220, and an operating device 230.

[0012] The boat main body 210 includes a living space 212. The pilot seat 220 is installed in the living space 212. The boat body 200 further includes a partition wall 214 and a transom 216. The partition wall 214 divides the rear side of the living space 212. The transom 216 is located at the rear end of the boat body 200. In the front-rear direction, a space 215 exists between the transom 216 and the partition wall 214.

[0013] The operating device 230 is a device for steering the boat. The operating device 230 is located near the pilot seat 220. The operating device 230 includes a steering wheel 232, a shift / throttle lever 240, a joystick unit 250, a display device 260, and an input device 270. The operating device 230 is an example of the operation device.

[0014] The steering wheel 232 is an operation device for steering the boat 10. The shift / throttle lever 240 is an operation device for performing a shifting operation and a propulsion force change operation of the boat 10. The joystick unit 250 is an operation device for performing a steering operation of the boat 10 and a shifting operation and a propulsion force change operation of the boat 10. The display device 260 is, e.g., a liquid crystal display and displays various images (e.g., operation images) related to the boat 10. The input device 270 is, e.g., a button for changing the steering mode and the like. The input device 270 includes a light-emitting diode (LED).

[0015] FIG. 2 is a side view schematically illustrating a configuration of an electric propulsion device 100. The two electric propulsion devices 100 (hereinafter also referred to as the right-side propulsion device 100S and the left-side propulsion device 100P) have approximately the same maximum power output. The two electric propulsion devices 100 have the same configuration. The electric propulsion device 100 is a device that generates thrust to propel the boat 10. The electric propulsion device 100 is an electric propulsion device driven by an electric motor 134. The electric propulsion device 100 of this embodiment is an outboard motor. In the following, the electric propulsion device 100 in the reference attitude will be described unless otherwise specified. The reference attitude is the attitude of the electric propulsion device 100 when the boat 10 is running (the attitude shown in FIGS. 1 and 3) and is the attitude in which the propeller rotation shaft L of the propeller 132 (described below) extends in the front-rear direction. The front-rear direction, the left-right direction, and the upper-lower direction are defined based on the electric propulsion device 100 in the reference attitude.

[0016] The electric propulsion device 100 is attached to the transom 216 disposed at the rear (stern) of the boat body 200 (see FIG. 1). The electric propulsion device 100 has a propulsion device main body 101 and a suspension device 102.

[0017] The propulsion device main body 101 has a cowl 110, a middle housing 150, a lower housing 120, a duct 122, and a drive unit 130.

[0018] The cowl 110 is located at an upper portion of the electric propulsion device 100. The cowl 110 is a cover that accommodates various wirings and other components.

[0019] The middle housing 150 is located below the cowl 110 in the electric propulsion device 100. The middle housing 150 is a cover that accommodates the steering device 152, the SCU 154, various wirings, and the like, as described below.

[0020] The lower housing 120 is located below the middle housing 150 in the electric propulsion device 100. The lower housing 120 is a cover that accommodates the motor control unit (MCU) 139, various wirings, and the like, as described below. The lower housing 120 is rotatably attached to the middle housing 150 around an axis along the upper-lower direction. The lower housing 120 may be positioned lower than the water surface W in the reference attitude (see FIG. 2).

[0021] The duct 122 is located below the lower housing 120 in the electric propulsion device 100. The duct 122 is a tubular member extending in the front-rear direction. The duct 122 is positioned lower than the water surface W in the reference attitude (see FIG. 2). The drive unit 130 is located radially inner side of the duct 122. In the radially inner side of the duct 122, a stator fin 133 and a bearing 135 are provided (see FIG. 2). The bearing 135 supports the propeller 132, described below, rotatably about the propeller rotation shaft L. The stator fin 133 has a plurality of fins (e.g., three fins). The plurality of fins are arranged radially around the bearing 135. The plurality of fins are equally spaced around the propeller rotation shaft L. The plurality of fins are fixed to the duct 122. The plurality of fins protrude rearwardly from the duct 122 behind the propeller 132 (see FIGS. 1 and 2).

[0022] FIG. 3 is a schematic view illustrating a configuration of the drive unit 130. The drive unit 130 generates thrust to propel the boat 10. The drive unit 130 includes a propeller 132 and an electric motor 134.

[0023] The propeller 132 is a rotating member having a plurality of wings. The propeller 132 generates thrust by rotating. The propeller 132 is located radially inner side of the duct 122. The propeller 132 can rotate about the horizontal propeller rotation shaft L. The propeller rotation shaft L is parallel to the central axis of the duct 122. The duct 122 covers the entire circumference of the propeller 132.

[0024] The electric motor 134 rotates the propeller 132. The electric motor 134 includes a rotor 136 and a stator 138.

[0025] The rotor 136 is a tubular member extending in the front-rear direction. The rotor 136 is rotatably supported with respect to the duct 122. The rotor 136 rotates about the propeller rotation shaftL with respect to the stator 138. The propeller 132 is located radially inner side of the rotor 136. The propeller 132 is fixed to the rotor 136. The propeller 132 rotates together with the rotor 136. The rotor 136 includes a plurality of permanent magnets 140. In FIG. 3, only one of the plurality of permanent magnets 140 is signed, and the signs of the other permanent magnets 140 are omitted. The plurality of permanent magnets 140 are arranged along the circumferential direction of the rotor 136.

[0026] The stator 138 is a tubular member extending in the front-rear direction. The stator 138 is disposed on the radially outer side of the rotor 136. The stator 138 is disposed on the same axis as the rotor 136. The stator 138 is fixed to the duct 122. The stator 138 includes a plurality of coils 142. In FIG. 3, only one of the plurality of coils 142 is signed, and the signs of the other coils 142 are omitted. The plurality of coils 142 are arranged along the circumferential direction of the stator 138.

[0027] When the plurality of coils 142 are energized, an electromagnetic force is generated to rotate the rotor 136. With this configuration, the propeller 132 generates forward propulsion force when the rotor 136 of the electric motor 134 rotates in the forward rotation direction and rearward propulsion force when the rotor 136 of the electric motor 134 rotates in the reverse rotation direction.

[0028] The suspension device 102 is a device for suspending the propulsion device main body 101 on the boat body 200. The suspension device 102 rotates the propulsion device main body 101 about the tilt axis At (see FIG. 2). This achieves the tilting action of rotating the propulsion device main body 101 in the upper-lower direction with respect to the boat body 200.

[0029] FIG. 4 is a block diagram illustrating an internal configuration of a boat control system 10S in the boat 10. Each component in the boat control system 10S is communicatively connected to each other, e.g., by command line processor (CLP) communication. As shown in FIG. 4, the boat body 200 includes a BCU 300, a pair of batteries 320S, 320P, and a pair of remote electronic control units (ECUs) 310S, 310P.

[0030] The boat control unit (BCU) 300 controls the overall operation of the boat 10 based on, e.g., signals transmitted from each of the components. The BCU 300 includes, e.g., a CPU, a multi-core CPU, and programmable devices (field programmable gate array (FPGA), programmable logic device (PLD), and the like).

[0031] The battery 320S supplies power to the right-side propulsion device 100S. The remote ECU 310S enables the intercommunication between the BCU 300 and the right-side propulsion device 100S. The battery 320P supplies power to the left-side propulsion device 100P. The remote ECU 310P enables the intercommunication between the BCU 300 and the left-side propulsion device 100P. The remote ECU 310S and the remote ECU 310P can also communicate with each other.

[0032] Each electric propulsion device 100 includes the electric motor 134 described above, the steering device 152, the MCU 139, the SCU 154, and a sensor 156.

[0033] The steering device 152 is a device that controls the steering angle of the boat 10. The steering device 152 is accommodated in the middle housing 150. The steering device 152 includes, e.g., an electric motor for steering (not shown) and a steering shaft extending in the upper-lower direction (not shown). When the steering angle is changed by the steering device 152, e.g., the electric motor rotates the steering shaft. As the steering shaft rotates, the lower housing 120 connected to the steering shaft and the drive unit 130 connected to the lower housing 120 rotate around an axis along the upper-lower direction. This changes the steering angle of the boat 10.

[0034] The motor control unit (MCU) 139 drives the electric motor 134. The MCU 139 is accommodated in the lower housing 120. The MCU 139 is an example of the controller, the first controller, and the second controller.

[0035] The steering control unit (SCU) 154 controls the operation of the steering device 152. The SCU 154 includes, e.g., a CPU, a multi-core CPU, and a programmable device (field programmable gate array (FPGA), programmable logic device (PLD), and the like). The SCU 154 is accommodated in the middle housing 150.

[0036] The sensor 156 outputs detection signals representing various physical quantities to detect an abnormal condition of the electric propulsion device 100. The sensor 156 includes, e.g., the following sensors. (1) Temperature sensor: which is arranged on the MCU 139 to output a detection signal representing the temperature to the MCU 139. Based on the detection signal from the temperature sensor, when the temperature of the MCU 139 exceeds the upper limit, the MCU 139 determines that the electric propulsion device 100 is in an abnormal state (abnormal temperature state). (2) Current sensor: which outputs a detection signal representing the value of the current flowing from each battery 320S, 320P to the MCU 139. Based on the detection signal from the current sensor, when the value of the current flowing to the MCU 139 exceeds an upper limit, the MCU 139 determines that the electric propulsion device 100 is in an abnormal state (overcurrent state). (3) Voltage sensor: which outputs a detection signal representing the voltage value of each battery 320S, 320P. Based on the detection signal from the voltage sensor, when the voltage value of each battery 320S, 320P exceeds an upper limit or is below a lower limit, the MCU 139 determines that the electric propulsion device 100 is in an abnormal state (overvoltage or undervoltage state). (4) Capacity sensor: which outputs a detection signal representing the remaining capacity of each battery 320S, 320P. Based on the detection signal from the capacity sensor, when the remaining capacity of each battery 320S, 320P is below a lower limit, the MCU 139 determines that the electric propulsion device 100 is in an abnormal state (insufficient battery capacity state).

[0037] FIG. 5 is a flowchart showing the flow of the output control process. For example, when the user performs an operation to activate the boat control system 10S using the operating device 230, each of the batteries 320S, 320P supplies power to each of the electric propulsion devices 100. Next, for example, when the user operates the shift / throttle lever 240 or the joystick unit 250 to instruct the boat 10 to move, the MCU 139 provided in each electric propulsion device 100 executes the output control process shown in FIG. 5. The output control process is a process to control the output of the electric propulsion device 100.

[0038] Specifically, the MCU 139 executes an unlimited control (S110). In the unlimited control, the MCU 139 controls the rotation of the electric motor 134 of the electric propulsion device 100 corresponding to that MCU 139 (hereinafter referred to as "the own device") with the upper limit of the number of revolutions of the propeller 132 per unit time (hereinafter referred to as "the unit rotation speed of the propeller 132") set to a first upper limit (e.g., a unit rotation speed corresponding to the maximum output of the electric propulsion device 100, e.g., 970 rpm). The unlimited control is an example of the first output control.

[0039] Next, the MCU 139 determines whether the own device meets the output limiting condition (S120). The MCU 139 determines that the own device meets the output limiting condition when it detects that the electric propulsion device 100 is in one of the plurality of abnormal states described above based on a detection signal from the sensor 156, for example.

[0040] Upon determining that the own device meets the output limiting condition (S120: YES), the MCU 139 shifts to an output limiting control of the own device (S130). In the output limiting control, the MCU 139 controls the rotation of the electric motor 134 of the own device with the upper limit of the unit rotation speed of the propeller 132 set to a second upper limit value (e.g., 500 rpm), which is lower than the first upper limit value mentioned above. By lowering the upper limit value of the unit rotation speed of the propeller 132, the degree of the abnormal condition of the electric propulsion device 100 can be reduced or the effects of the abnormal condition can be suppressed. The output limiting control is an example of the second output control.

[0041] Next, the MCU 139 determines whether an integrated control is set to ON (S140). The integrated control is a control in which, when one of the two electric propulsion devices 100 meets the output limiting condition, the output limiting control is executed for both the one electric propulsion device 100 and the other electric propulsion device 100. The integrated control can be set ON or OFF by the user, e.g., by manual input operation of the operating device 230. The MCU 139 checks whether the integrated control is set to ON or not by querying the BCU 300 via the remote ECU 310S (remote ECU 310P).

[0042] Upon determining that the integrated control is set to ON for the own device (S140: YES), the MCU 139 sends an execution instruction of the output limiting control to the other electric propulsion device 100 that does not correspond to that MCU 139 (hereinafter referred to as "the other device") (S150). Specifically, the MCU 139 of the own device transmits the instructions to the MCU 139 of the other device via the remote ECU 310P and the remote ECU 310S. As a result, the MCU 139 of the other device also shifts to the output limiting control, regardless of whether the other device meets the output limiting condition or not. This suppresses changes in the traveling performance (e.g., straightness) of the boat 10 due to differences in the upper limits of the unit rotation speed of the propeller 132 between the two electric propulsion devices 100.

[0043] After transmitting the execution instruction of the output limiting control, the MCU 139 causes the display device 260 to display information indicating that the two electric propulsion devices 100 are in the integrated control state, for example (S 160). The MCU 139 then returns to S120.

[0044] On the other hand, if the MCU 139 determines that the integrated control is not set to ON for the own device (S140: NO), it returns to S120 without shifting to the integrated control. In other words, the own device executes the output limiting control and the other device continues the unlimited control. This process is effective, e.g., for using the output of the other device to the maximum extent.

[0045] Upon determining that the own device does not meet the output limiting condition (S120: NO), the MCU 139 determines whether an execution instruction of the output limiting control has been received from the other device (S170). For example, if the integrated control is set to ON for the other device, the other device sends an execution instruction of the output limiting control to the own device. Upon determining that an execution instruction for the output limiting control has been received from the other device (S170: YES), the MCU 139 shifts to the output limiting control (S180) and returns to S120. On the other hand, if the MCU 139 determines that it has not received an execution instruction of the output limiting control from the other device (S170: NO), the own device does not shift to the output limiting control but continues the unlimited control and returns to S120.MODIFICATIONS

[0046] The technology disclosed herein is not limited to the embodiments described above but can be modified into various forms to the extent not departing from the gist of the invention, for example, the following modifications are possible.

[0047] The configuration of the boat 10, the boat control system 10S, and the electric propulsion device 100 in the above embodiment is only an example and can be modified in various ways. For example, in the above embodiment, the boat propulsion device is exemplified by the electric propulsion device 100 that is an outboard motor, but the boat propulsion device may be, e.g., an inboard motor, an inboard / outboard motor, or a jet propeller.

[0048] In the above embodiment, the electric propulsion device 100 has only an electric motor as a drive source, but the boat propulsion device may be a hybrid type having an engine in addition to the electric motor. The boat propulsion device may also have only an engine. The drive control device is not limited to the MCU 139 but may be an engine control unit (ECU) that controls the engine.

[0049] The boat may also be provided with three or more boat propulsion devices. In this configuration, if one of the three or more boat propulsion devices meets the output limiting condition, the controller causes the one boat propulsion device and the other boat propulsion devices (e.g., all other boat propulsion devices) to shift to the output limiting control.

[0050] In the above embodiment, the controller (the first controller and the second controller) is exemplified by the MCU 139 incorporated into the electric propulsion device 100, but the controller may be provided on the boat body 200. In the above embodiment, the output control of each electric propulsion device 100 is performed by the MCU 139 incorporated into each of the electric propulsion devices, but the configuration is not limited to this, for example, one or more controllers provided on the boat body 200 may perform the output control for each electric propulsion device 100.

[0051] The output limiting control in the output control process shown in FIG. 5 is not limited to the control of the unit rotation speed but may be, e.g., a control to reduce the upper limit of the value of the drive current supplied to the electric motor 134. Essentially, the output limiting control can be any control to reduce the upper limit value of the output by the drive source of the electric propulsion device 100. In the above embodiment, the MCU 139 executes the output control process based on the operation by the user, but the output limiting process may be executed during automatic operation of the boat 10. In S160, the notification operation to notify the integrated limiting state is not limited to the display operation on the display device 260 but may also be a lighting operation of a light-emitting unit provided in the operating device 230 or each electric propulsion device 100, or a sound operation by using a speaker.

[0052] In the above embodiment, upon determining that the own device meets the output limiting condition (S120: YES), the MCU 139 gives priority to the shift to the output limiting control (S130) for the own device and then sends an execution instruction of the output limiting control to the other device (S 150). This suppresses the increase in the effect of defects caused by meeting the output limiting condition for the own device. Alternatively, upon determining that the own device meets the output limiting condition (S120: YES), the MCU 139 may send an execution instruction of the output limiting control to the other device at the same time or earlier than the shift to the output limiting control of the own device. In addition, in the output control process shown in FIG. 6, the processing of S140 may not be executed.

Examples

Embodiment Construction

[0009]FIG. 1 is a perspective view schematically illustrating a configuration of an embodiment of a boat 10. FIG. 1 and other some drawings described below show arrows representing each direction with respect to the position of the boat 10. More specifically, some figures show arrows representing front (FRONT), rear (REAR), left (LEFT), right (RIGHT), upper (UPPER), and lower (LOWER) directions, respectively. The front-rear direction, left-right direction, and upper-lower direction (vertical direction) are orthogonal to each other.

[0010]As shown in FIG. 1, the boat 10 has a boat body 200 and two electric propulsion devices 100. The electric propulsion device 100 is an example of the boat propulsion device. The two electric propulsion devices 100 are examples of the first and second boat propulsion devices.

[0011]The boat body 200 is a part of the boat 10 for the user (crew) to ride. The boat body 200 includes a boat main body 210, a pilot seat 220, and an operating device 230.

[0012]T...

[0001] The technology disclosed herein relates to a boat control system and a boat.

[0002] There has been known a boat equipped with a plurality of boat propulsion devices (see, e.g., JP 2023-68836 A, JP 2023-68787 A).

[0003] In conventional boats, the control when one of the boat propulsion devices meets an output limiting condition has not been sufficiently considered, and there is room for improvement.

[0004] This document discloses a technology that can solve the above-mentioned problem.

[0005] The technology disclosed herein can be implemented in the following aspects. (1) A boat control system disclosed herein is a boat control system that controls a boat equipped with a boat body, including: a first boat propulsion device; a second boat propulsion device; an operation device that outputs an operation signal in response to an operation to move the boat body; and a controller, wherein when neither the first boat propulsion device nor the second boat propulsion device meets an output limiting condition to limit the output, the controller executes, based on the operation signal, a first output control to control each of the first boat propulsion device and the second boat propulsion device at an output below a first upper limit value, and when one of the first boat propulsion device and the second boat propulsion device meets the output limiting condition, the controller executes, based on the operation signal, a second output control to control each of the first boat propulsion device and the second boat propulsion device at an output below a second upper limit value that is lower than the first upper limit value. This configuration suppresses changes in the boat steering characteristics when one of the first boat propulsion device and the second boat propulsion device meets the output limiting condition. (2) In the above boat control system, the controller may include a first controller that executes the first output control for the first boat propulsion device when the first boat propulsion device does not meet the output limiting condition and executes the second output control for the first boat propulsion device when the first boat propulsion device meets the output limiting condition. In this configuration, the output control for the first boat propulsion device is executed by the independent controller. (3) In the above boat control system, the first controller may be incorporated into the first boat propulsion device. In this configuration, the controller incorporated into the first boat propulsion device executes output control autonomously. (4) In the above boat control system, the controller may further include a second controller that executes the first output control for the second boat propulsion device when the second boat propulsion device does not meet the output limiting condition and executes the second output control for the second boat propulsion device when the second boat propulsion device meets the output limiting condition. In this configuration, the output control for the second boat propulsion device is executed by the independent controller. (5) In the above boat control system, the second controller may be incorporated into the second boat propulsion device. In this configuration, the controller incorporated into the second boat propulsion device executes output control autonomously. (6) In the above boat control system, the first controller may transmit to the second controller an execution instruction of the second output control when the first boat propulsion device meets the output limiting condition, and the second controller may execute the second output control for the second boat propulsion device when the execution instruction is received. This configuration can execute the second output control for the second boat propulsion device earlier than the configuration in which the first controller indirectly transmits the execution instruction of the second output control to the second controller via another device. (7) In the above boat control system, when one of the first boat propulsion device and the second boat propulsion device meets the output limiting condition, the second output control may be executed for the one boat propulsion device, and then the second output control may be executed for the other boat propulsion device. This configuration suppresses the effect of a malfunction caused by meeting the output limiting condition by giving priority to the second output control for the boat propulsion device that meets the output limiting condition. (8) In the above boat control system, the controller may inform the outside of the execution of the second output control for the other boat propulsion device when the one boat propulsion device meets the output limiting condition. In this configuration, the controller informs the outside of the execution of the second output control for the boat propulsion device that does not meet the output limiting condition. (9) In the above boat control system, when an integrated control setting is enabled at the operating device, if one of the first boat propulsion device and the second boat propulsion device meets the output limiting condition, the controller may execute the second output control for each of the first boat propulsion device and the second boat propulsion device, and when the integrated control setting is disabled at the operation device, if one of the first boat propulsion device and the second boat propulsion device meets the output limiting condition, the controller may execute the second output control for the one boat propulsion device and execute the first output control for the other boat propulsion device. According to this configuration, the integrated control can be selectively enabled or disabled. (10) A boat control system disclosed herein is a boat control system that controls a boat equipped with a boat body, including: a first boat propulsion device; a second boat propulsion device; and a controller, wherein when neither the first boat propulsion device nor the second boat propulsion device meets an output limiting condition to limit the output, the controller executes a first output control to control each of the first boat propulsion device and the second boat propulsion device at an output below a first upper limit value, and when one of the first boat propulsion device and the second boat propulsion device meets the output limiting condition, the controller executes a second output control to control each of the first boat propulsion device and the second boat propulsion device at an output below a second upper limit value that is lower than the first upper limit value. This configuration suppresses changes in the boat steering characteristics when one of the first boat propulsion device and the second boat propulsion device meets the output limiting condition.

[0006] The technology disclosed herein can be implemented in various forms, e.g., in the form of a boat control system, a boat propulsion device equipped with a boat control system, or a boat equipped with a boat propulsion device.

[0007] According to the technology disclosed herein, when one of the first boat propulsion device and the second boat propulsion device meets the output limiting condition, the change in the boat steering characteristics of the boat is suppressed.BRIEF DESCRIPTION OF THE DRAWINGS

[0008] FIG. 1 is a perspective view schematically illustrating a configuration of an embodiment of a boat. FIG. 2 is a side view illustrating a configuration of an electric propulsion device. FIG. 3 is a schematic view illustrating a configuration of a drive unit. FIG. 4 is a block diagram illustrating a configuration of a boat control system in a boat. FIG. 5 is a flowchart showing the flow of the output control process. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] FIG. 1 is a perspective view schematically illustrating a configuration of an embodiment of a boat 10. FIG. 1 and other some drawings described below show arrows representing each direction with respect to the position of the boat 10. More specifically, some figures show arrows representing front (FRONT), rear (REAR), left (LEFT), right (RIGHT), upper (UPPER), and lower (LOWER) directions, respectively. The front-rear direction, left-right direction, and upper-lower direction (vertical direction) are orthogonal to each other.

[0010] As shown in FIG. 1, the boat 10 has a boat body 200 and two electric propulsion devices 100. The electric propulsion device 100 is an example of the boat propulsion device. The two electric propulsion devices 100 are examples of the first and second boat propulsion devices.

[0011] The boat body 200 is a part of the boat 10 for the user (crew) to ride. The boat body 200 includes a boat main body 210, a pilot seat 220, and an operating device 230.

[0012] The boat main body 210 includes a living space 212. The pilot seat 220 is installed in the living space 212. The boat body 200 further includes a partition wall 214 and a transom 216. The partition wall 214 divides the rear side of the living space 212. The transom 216 is located at the rear end of the boat body 200. In the front-rear direction, a space 215 exists between the transom 216 and the partition wall 214.

[0013] The operating device 230 is a device for steering the boat. The operating device 230 is located near the pilot seat 220. The operating device 230 includes a steering wheel 232, a shift / throttle lever 240, a joystick unit 250, a display device 260, and an input device 270. The operating device 230 is an example of the operation device.

[0014] The steering wheel 232 is an operation device for steering the boat 10. The shift / throttle lever 240 is an operation device for performing a shifting operation and a propulsion force change operation of the boat 10. The joystick unit 250 is an operation device for performing a steering operation of the boat 10 and a shifting operation and a propulsion force change operation of the boat 10. The display device 260 is, e.g., a liquid crystal display and displays various images (e.g., operation images) related to the boat 10. The input device 270 is, e.g., a button for changing the steering mode and the like. The input device 270 includes a light-emitting diode (LED).

[0015] FIG. 2 is a side view schematically illustrating a configuration of an electric propulsion device 100. The two electric propulsion devices 100 (hereinafter also referred to as the right-side propulsion device 100S and the left-side propulsion device 100P) have approximately the same maximum power output. The two electric propulsion devices 100 have the same configuration. The electric propulsion device 100 is a device that generates thrust to propel the boat 10. The electric propulsion device 100 is an electric propulsion device driven by an electric motor 134. The electric propulsion device 100 of this embodiment is an outboard motor. In the following, the electric propulsion device 100 in the reference attitude will be described unless otherwise specified. The reference attitude is the attitude of the electric propulsion device 100 when the boat 10 is running (the attitude shown in FIGS. 1 and 3) and is the attitude in which the propeller rotation shaft L of the propeller 132 (described below) extends in the front-rear direction. The front-rear direction, the left-right direction, and the upper-lower direction are defined based on the electric propulsion device 100 in the reference attitude.

[0016] The electric propulsion device 100 is attached to the transom 216 disposed at the rear (stern) of the boat body 200 (see FIG. 1). The electric propulsion device 100 has a propulsion device main body 101 and a suspension device 102.

[0017] The propulsion device main body 101 has a cowl 110, a middle housing 150, a lower housing 120, a duct 122, and a drive unit 130.

[0018] The cowl 110 is located at an upper portion of the electric propulsion device 100. The cowl 110 is a cover that accommodates various wirings and other components.

[0019] The middle housing 150 is located below the cowl 110 in the electric propulsion device 100. The middle housing 150 is a cover that accommodates the steering device 152, the SCU 154, various wirings, and the like, as described below.

[0020] The lower housing 120 is located below the middle housing 150 in the electric propulsion device 100. The lower housing 120 is a cover that accommodates the motor control unit (MCU) 139, various wirings, and the like, as described below. The lower housing 120 is rotatably attached to the middle housing 150 around an axis along the upper-lower direction. The lower housing 120 may be positioned lower than the water surface W in the reference attitude (see FIG. 2).

[0021] The duct 122 is located below the lower housing 120 in the electric propulsion device 100. The duct 122 is a tubular member extending in the front-rear direction. The duct 122 is positioned lower than the water surface W in the reference attitude (see FIG. 2). The drive unit 130 is located radially inner side of the duct 122. In the radially inner side of the duct 122, a stator fin 133 and a bearing 135 are provided (see FIG. 2). The bearing 135 supports the propeller 132, described below, rotatably about the propeller rotation shaft L. The stator fin 133 has a plurality of fins (e.g., three fins). The plurality of fins are arranged radially around the bearing 135. The plurality of fins are equally spaced around the propeller rotation shaft L. The plurality of fins are fixed to the duct 122. The plurality of fins protrude rearwardly from the duct 122 behind the propeller 132 (see FIGS. 1 and 2).

[0022] FIG. 3 is a schematic view illustrating a configuration of the drive unit 130. The drive unit 130 generates thrust to propel the boat 10. The drive unit 130 includes a propeller 132 and an electric motor 134.

[0023] The propeller 132 is a rotating member having a plurality of wings. The propeller 132 generates thrust by rotating. The propeller 132 is located radially inner side of the duct 122. The propeller 132 can rotate about the horizontal propeller rotation shaft L. The propeller rotation shaft L is parallel to the central axis of the duct 122. The duct 122 covers the entire circumference of the propeller 132.

[0024] The electric motor 134 rotates the propeller 132. The electric motor 134 includes a rotor 136 and a stator 138.

[0025] The rotor 136 is a tubular member extending in the front-rear direction. The rotor 136 is rotatably supported with respect to the duct 122. The rotor 136 rotates about the propeller rotation shaftL with respect to the stator 138. The propeller 132 is located radially inner side of the rotor 136. The propeller 132 is fixed to the rotor 136. The propeller 132 rotates together with the rotor 136. The rotor 136 includes a plurality of permanent magnets 140. In FIG. 3, only one of the plurality of permanent magnets 140 is signed, and the signs of the other permanent magnets 140 are omitted. The plurality of permanent magnets 140 are arranged along the circumferential direction of the rotor 136.

[0026] The stator 138 is a tubular member extending in the front-rear direction. The stator 138 is disposed on the radially outer side of the rotor 136. The stator 138 is disposed on the same axis as the rotor 136. The stator 138 is fixed to the duct 122. The stator 138 includes a plurality of coils 142. In FIG. 3, only one of the plurality of coils 142 is signed, and the signs of the other coils 142 are omitted. The plurality of coils 142 are arranged along the circumferential direction of the stator 138.

[0027] When the plurality of coils 142 are energized, an electromagnetic force is generated to rotate the rotor 136. With this configuration, the propeller 132 generates forward propulsion force when the rotor 136 of the electric motor 134 rotates in the forward rotation direction and rearward propulsion force when the rotor 136 of the electric motor 134 rotates in the reverse rotation direction.

[0028] The suspension device 102 is a device for suspending the propulsion device main body 101 on the boat body 200. The suspension device 102 rotates the propulsion device main body 101 about the tilt axis At (see FIG. 2). This achieves the tilting action of rotating the propulsion device main body 101 in the upper-lower direction with respect to the boat body 200.

[0029] FIG. 4 is a block diagram illustrating an internal configuration of a boat control system 10S in the boat 10. Each component in the boat control system 10S is communicatively connected to each other, e.g., by command line processor (CLP) communication. As shown in FIG. 4, the boat body 200 includes a BCU 300, a pair of batteries 320S, 320P, and a pair of remote electronic control units (ECUs) 310S, 310P.

[0030] The boat control unit (BCU) 300 controls the overall operation of the boat 10 based on, e.g., signals transmitted from each of the components. The BCU 300 includes, e.g., a CPU, a multi-core CPU, and programmable devices (field programmable gate array (FPGA), programmable logic device (PLD), and the like).

[0031] The battery 320S supplies power to the right-side propulsion device 100S. The remote ECU 310S enables the intercommunication between the BCU 300 and the right-side propulsion device 100S. The battery 320P supplies power to the left-side propulsion device 100P. The remote ECU 310P enables the intercommunication between the BCU 300 and the left-side propulsion device 100P. The remote ECU 310S and the remote ECU 310P can also communicate with each other.

[0032] Each electric propulsion device 100 includes the electric motor 134 described above, the steering device 152, the MCU 139, the SCU 154, and a sensor 156.

[0033] The steering device 152 is a device that controls the steering angle of the boat 10. The steering device 152 is accommodated in the middle housing 150. The steering device 152 includes, e.g., an electric motor for steering (not shown) and a steering shaft extending in the upper-lower direction (not shown). When the steering angle is changed by the steering device 152, e.g., the electric motor rotates the steering shaft. As the steering shaft rotates, the lower housing 120 connected to the steering shaft and the drive unit 130 connected to the lower housing 120 rotate around an axis along the upper-lower direction. This changes the steering angle of the boat 10.

[0034] The motor control unit (MCU) 139 drives the electric motor 134. The MCU 139 is accommodated in the lower housing 120. The MCU 139 is an example of the controller, the first controller, and the second controller.

[0035] The steering control unit (SCU) 154 controls the operation of the steering device 152. The SCU 154 includes, e.g., a CPU, a multi-core CPU, and a programmable device (field programmable gate array (FPGA), programmable logic device (PLD), and the like). The SCU 154 is accommodated in the middle housing 150.

[0036] The sensor 156 outputs detection signals representing various physical quantities to detect an abnormal condition of the electric propulsion device 100. The sensor 156 includes, e.g., the following sensors. (1) Temperature sensor: which is arranged on the MCU 139 to output a detection signal representing the temperature to the MCU 139. Based on the detection signal from the temperature sensor, when the temperature of the MCU 139 exceeds the upper limit, the MCU 139 determines that the electric propulsion device 100 is in an abnormal state (abnormal temperature state). (2) Current sensor: which outputs a detection signal representing the value of the current flowing from each battery 320S, 320P to the MCU 139. Based on the detection signal from the current sensor, when the value of the current flowing to the MCU 139 exceeds an upper limit, the MCU 139 determines that the electric propulsion device 100 is in an abnormal state (overcurrent state). (3) Voltage sensor: which outputs a detection signal representing the voltage value of each battery 320S, 320P. Based on the detection signal from the voltage sensor, when the voltage value of each battery 320S, 320P exceeds an upper limit or is below a lower limit, the MCU 139 determines that the electric propulsion device 100 is in an abnormal state (overvoltage or undervoltage state). (4) Capacity sensor: which outputs a detection signal representing the remaining capacity of each battery 320S, 320P. Based on the detection signal from the capacity sensor, when the remaining capacity of each battery 320S, 320P is below a lower limit, the MCU 139 determines that the electric propulsion device 100 is in an abnormal state (insufficient battery capacity state).

[0037] FIG. 5 is a flowchart showing the flow of the output control process. For example, when the user performs an operation to activate the boat control system 10S using the operating device 230, each of the batteries 320S, 320P supplies power to each of the electric propulsion devices 100. Next, for example, when the user operates the shift / throttle lever 240 or the joystick unit 250 to instruct the boat 10 to move, the MCU 139 provided in each electric propulsion device 100 executes the output control process shown in FIG. 5. The output control process is a process to control the output of the electric propulsion device 100.

[0038] Specifically, the MCU 139 executes an unlimited control (S110). In the unlimited control, the MCU 139 controls the rotation of the electric motor 134 of the electric propulsion device 100 corresponding to that MCU 139 (hereinafter referred to as "the own device") with the upper limit of the number of revolutions of the propeller 132 per unit time (hereinafter referred to as "the unit rotation speed of the propeller 132") set to a first upper limit (e.g., a unit rotation speed corresponding to the maximum output of the electric propulsion device 100, e.g., 970 rpm). The unlimited control is an example of the first output control.

[0039] Next, the MCU 139 determines whether the own device meets the output limiting condition (S120). The MCU 139 determines that the own device meets the output limiting condition when it detects that the electric propulsion device 100 is in one of the plurality of abnormal states described above based on a detection signal from the sensor 156, for example.

[0040] Upon determining that the own device meets the output limiting condition (S120: YES), the MCU 139 shifts to an output limiting control of the own device (S130). In the output limiting control, the MCU 139 controls the rotation of the electric motor 134 of the own device with the upper limit of the unit rotation speed of the propeller 132 set to a second upper limit value (e.g., 500 rpm), which is lower than the first upper limit value mentioned above. By lowering the upper limit value of the unit rotation speed of the propeller 132, the degree of the abnormal condition of the electric propulsion device 100 can be reduced or the effects of the abnormal condition can be suppressed. The output limiting control is an example of the second output control.

[0041] Next, the MCU 139 determines whether an integrated control is set to ON (S140). The integrated control is a control in which, when one of the two electric propulsion devices 100 meets the output limiting condition, the output limiting control is executed for both the one electric propulsion device 100 and the other electric propulsion device 100. The integrated control can be set ON or OFF by the user, e.g., by manual input operation of the operating device 230. The MCU 139 checks whether the integrated control is set to ON or not by querying the BCU 300 via the remote ECU 310S (remote ECU 310P).

[0042] Upon determining that the integrated control is set to ON for the own device (S140: YES), the MCU 139 sends an execution instruction of the output limiting control to the other electric propulsion device 100 that does not correspond to that MCU 139 (hereinafter referred to as "the other device") (S150). Specifically, the MCU 139 of the own device transmits the instructions to the MCU 139 of the other device via the remote ECU 310P and the remote ECU 310S. As a result, the MCU 139 of the other device also shifts to the output limiting control, regardless of whether the other device meets the output limiting condition or not. This suppresses changes in the traveling performance (e.g., straightness) of the boat 10 due to differences in the upper limits of the unit rotation speed of the propeller 132 between the two electric propulsion devices 100.

[0043] After transmitting the execution instruction of the output limiting control, the MCU 139 causes the display device 260 to display information indicating that the two electric propulsion devices 100 are in the integrated control state, for example (S 160). The MCU 139 then returns to S120.

[0044] On the other hand, if the MCU 139 determines that the integrated control is not set to ON for the own device (S140: NO), it returns to S120 without shifting to the integrated control. In other words, the own device executes the output limiting control and the other device continues the unlimited control. This process is effective, e.g., for using the output of the other device to the maximum extent.

[0045] Upon determining that the own device does not meet the output limiting condition (S120: NO), the MCU 139 determines whether an execution instruction of the output limiting control has been received from the other device (S170). For example, if the integrated control is set to ON for the other device, the other device sends an execution instruction of the output limiting control to the own device. Upon determining that an execution instruction for the output limiting control has been received from the other device (S170: YES), the MCU 139 shifts to the output limiting control (S180) and returns to S120. On the other hand, if the MCU 139 determines that it has not received an execution instruction of the output limiting control from the other device (S170: NO), the own device does not shift to the output limiting control but continues the unlimited control and returns to S120.MODIFICATIONS

[0046] The technology disclosed herein is not limited to the embodiments described above but can be modified into various forms to the extent not departing from the gist of the invention, for example, the following modifications are possible.

[0047] The configuration of the boat 10, the boat control system 10S, and the electric propulsion device 100 in the above embodiment is only an example and can be modified in various ways. For example, in the above embodiment, the boat propulsion device is exemplified by the electric propulsion device 100 that is an outboard motor, but the boat propulsion device may be, e.g., an inboard motor, an inboard / outboard motor, or a jet propeller.

[0048] In the above embodiment, the electric propulsion device 100 has only an electric motor as a drive source, but the boat propulsion device may be a hybrid type having an engine in addition to the electric motor. The boat propulsion device may also have only an engine. The drive control device is not limited to the MCU 139 but may be an engine control unit (ECU) that controls the engine.

[0049] The boat may also be provided with three or more boat propulsion devices. In this configuration, if one of the three or more boat propulsion devices meets the output limiting condition, the controller causes the one boat propulsion device and the other boat propulsion devices (e.g., all other boat propulsion devices) to shift to the output limiting control.

[0050] In the above embodiment, the controller (the first controller and the second controller) is exemplified by the MCU 139 incorporated into the electric propulsion device 100, but the controller may be provided on the boat body 200. In the above embodiment, the output control of each electric propulsion device 100 is performed by the MCU 139 incorporated into each of the electric propulsion devices, but the configuration is not limited to this, for example, one or more controllers provided on the boat body 200 may perform the output control for each electric propulsion device 100.

[0051] The output limiting control in the output control process shown in FIG. 5 is not limited to the control of the unit rotation speed but may be, e.g., a control to reduce the upper limit of the value of the drive current supplied to the electric motor 134. Essentially, the output limiting control can be any control to reduce the upper limit value of the output by the drive source of the electric propulsion device 100. In the above embodiment, the MCU 139 executes the output control process based on the operation by the user, but the output limiting process may be executed during automatic operation of the boat 10. In S160, the notification operation to notify the integrated limiting state is not limited to the display operation on the display device 260 but may also be a lighting operation of a light-emitting unit provided in the operating device 230 or each electric propulsion device 100, or a sound operation by using a speaker.

[0052] In the above embodiment, upon determining that the own device meets the output limiting condition (S120: YES), the MCU 139 gives priority to the shift to the output limiting control (S130) for the own device and then sends an execution instruction of the output limiting control to the other device (S 150). This suppresses the increase in the effect of defects caused by meeting the output limiting condition for the own device. Alternatively, upon determining that the own device meets the output limiting condition (S120: YES), the MCU 139 may send an execution instruction of the output limiting control to the other device at the same time or earlier than the shift to the output limiting control of the own device. In addition, in the output control process shown in FIG. 6, the processing of S140 may not be executed.

Examples

Embodiment Construction

[0009]FIG. 1 is a perspective view schematically illustrating a configuration of an embodiment of a boat 10. FIG. 1 and other some drawings described below show arrows representing each direction with respect to the position of the boat 10. More specifically, some figures show arrows representing front (FRONT), rear (REAR), left (LEFT), right (RIGHT), upper (UPPER), and lower (LOWER) directions, respectively. The front-rear direction, left-right direction, and upper-lower direction (vertical direction) are orthogonal to each other.

[0010]As shown in FIG. 1, the boat 10 has a boat body 200 and two electric propulsion devices 100. The electric propulsion device 100 is an example of the boat propulsion device. The two electric propulsion devices 100 are examples of the first and second boat propulsion devices.

[0011]The boat body 200 is a part of the boat 10 for the user (crew) to ride. The boat body 200 includes a boat main body 210, a pilot seat 220, and an operating device 230.

[0012]T...

Claims

1. A boat control system that controls a boat (10) equipped with a boat body (200), comprising: a first boat propulsion device (100); a second boat propulsion device (100); and a controller, wherein when neither the first boat propulsion device (100) nor the second boat propulsion device (100) meets an output limiting condition to limit the output, the controller executes a first output control to control each of the first boat propulsion device (100) and the second boat propulsion device (100) at an output below a first upper limit value, and when one of the first boat propulsion device (100) and the second boat propulsion device (100) meets the output limiting condition, the controller executes a second output control to control each of the first boat propulsion device (100) and the second boat propulsion device (100) at an output below a second upper limit value that is lower than the first upper limit value.

2. The boat control system according to claim 1, further comprising: an operation device (230) that outputs an operation signal in response to an operation to move the boat body (200); wherein when neither the first boat propulsion device (100) nor the second boat propulsion device (100) meets the output limiting condition, the controller executes, based on the operation signal, the first output control, and when one of the first boat propulsion device (100) and the second boat propulsion device (100) meets the output limiting condition, the controller executes, based on the operation signal, the second output control.

3. The boat control system according to claim 1 or 2, wherein the controller includes a first controller (139) that executes the first output control for the first boat propulsion device (100) when the first boat propulsion device (100) does not meet the output limiting condition and executes the second output control for the first boat propulsion device (100) when the first boat propulsion device meets the output limiting condition.

4. The boat control system according to claim 3, wherein the first controller (139) is incorporated into the first boat propulsion device (100).

5. The boat control system according to claim 3 or 4, wherein the controller further includes a second controller (139) that executes the first output control for the second boat propulsion device (100) when the second boat propulsion device (100) does not meet the output limiting condition and executes the second output control for the second boat propulsion device (100) when the second boat propulsion device (100) meets the output limiting condition.

6. The boat control system according to claim 5, wherein the second controller (139) is incorporated into the second boat propulsion device (100).

7. The boat control system according to claim 5 or 6, wherein the first controller (139) transmits to the second controller (139) an execution instruction of the second output control when the first boat propulsion device (100) meets the output limiting condition, and the second controller (139) executes the second output control for the second boat propulsion device (100) when the execution instruction is received.

8. The boat control system according to any one of claims 2 to 7, wherein when one of the first boat propulsion device (100) and the second boat propulsion device (100) meets the output limiting condition, the second output control is executed for the one boat propulsion device (100), and then the second output control is executed for the other boat propulsion device (100).

9. The boat control system according to any one of claims 2 to 8, wherein the controller informs the outside of the execution of the second output control for the other boat propulsion device (100) when the one boat propulsion device (100) meets the output limiting condition.

10. The boat control system according to any one of claims 2 to 9, wherein when an integrated control setting is enabled at the operating device (230), if one of the first boat propulsion device (100) and the second boat propulsion device (100) meets the output limiting condition, the controller executes the second output control for each of the first boat propulsion device (100) and the second boat propulsion device (100), and when the integrated control setting is disabled at the operation device (230), if one of the first boat propulsion device (100) and the second boat propulsion device (100) meets the output limiting condition, the controller (139) executes the second output control for the one boat propulsion device (100) and executes the first output control for the other boat propulsion device (100).

11. A boat comprising a boat body (200) and the boat control system (10S) according to any one of claims 1 to 10.

Images