CN117715823A

CN117715823A - Control method, propeller, propulsion system, removable device, and storage medium

Info

Publication number: CN117715823A
Application number: CN202380012955.6A
Authority: CN
Inventors: 李振声; 陈观富; 陶师正; 万小康
Original assignee: Guangdong ePropulsion Technology Co Ltd
Current assignee: Guangdong ePropulsion Technology Co Ltd
Priority date: 2023-09-18
Filing date: 2023-09-18
Publication date: 2024-03-15

Abstract

A control method, a water propulsion system (201), a water propulsion system (200), a water mobile device (300) and a computer readable storage medium. The control method is applied to each water propeller (201) of a plurality of water propellers (201) connected by a bus. The control method comprises the following steps: s101, acquiring the external communication priority of the local device; s102, acquiring the communication priority of other water area thrusters (201); s103, carrying out master-slave machine identification according to the difference between the external communication priority of the local machine and the external communication priority of the other water area propeller (201). The method has the advantages of high-efficiency communication capability, timely response and decision making, and thus the overall performance of the water area movable equipment provided with the plurality of water area propellers is improved.

Description

Control method, propeller, propulsion system, removable device, and storage medium

Technical Field

The present application relates to the field of water area mobile devices, and in particular, to a control method, a water area propeller, a water area propulsion system, a water area mobile device, and a computer readable storage medium.

Background

In an actual application scene, the movable equipment in the water area such as a boat, a boat transom and the like can be provided with a plurality of water area thrusters based on actual needs, and the plurality of water area thrusters jointly provide power support for the movable equipment in the water area so as to push the boat and the boat to sail.

In the related art, a scheme for installing a plurality of water thrusters on a movable apparatus in a water area is generally as follows: the water area thrusters can be connected in the same communication system, and each water area thruster has independent processing capacity, such as tasks of fault detection, man-machine interaction or terminal networking and the like. However, each water propeller has independent processing capability, and independently performs tasks, which increases the communication load of the communication system and causes a problem of low processing efficiency.

Disclosure of Invention

In view of the foregoing, it is an object of the present application to provide a control method, a water propulsion system, a water movable apparatus and a computer readable storage medium.

In a first aspect, embodiments of the present application provide a control method applied to each of a plurality of water thrusters connected to a same communication system, the control method comprising:

acquiring the external communication priority of the local machine;

acquiring the external communication priority of other water area propellers;

and carrying out master-slave machine identification according to the difference between the external communication priority of the host machine and the external communication priority of the other water area thrusters.

In a second aspect, embodiments of the present application provide a water propulsion. The waters propeller includes:

A processor; and

A memory having stored thereon executable instructions executable on the processor;

wherein the processor, when executing the executable instructions, implements the steps of the control method of the first aspect.

In a third aspect, embodiments of the present application provide a water propulsion system comprising a plurality of water propellers according to the second aspect; the plurality of water area thrusters are connected by a bus.

In a fourth aspect, embodiments of the present application provide a water area mobile device. The movable equipment in the water area comprises:

a movable body; and

the water propulsion system of the third aspect, the water propulsion system mounted to the movable body.

In a fifth aspect, embodiments of the present application provide a computer-readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the steps of the control method of the first aspect.

According to the control method provided by the embodiment of the application, the master-slave machine identification is carried out by using the difference between the external communication priorities of the plurality of water area thrusters, so that the water area thrusters with higher or highest external communication priorities can be selected as the host, the efficient communication capacity can be brought, and the response and decision can be timely carried out, so that the overall performance of the water area movable equipment for installing the plurality of water area thrusters is improved. And the host computer is determined through the identification of the master-slave computer, and the host computer can only make decisions in the follow-up process, so that the problem of decision conflict or repeated decisions can be avoided, the decision efficiency is improved, and the stability and the reliability of the system operation are improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort to a person skilled in the art.

Fig. 1 is a schematic structural diagram of a mobile device according to an embodiment of the present application;

FIG. 2 is a schematic illustration of the connection of a plurality of water propulsion units in a water propulsion system according to an embodiment of the present application;

FIG. 3 is a schematic diagram of the connection of the preset assemblies and the plurality of water thrusters in the water propulsion system according to the embodiment of the present application;

fig. 4 is a schematic structural view of a water area propeller according to an embodiment of the present application;

FIG. 5 is a schematic flow chart of a control method according to an embodiment of the present disclosure;

FIG. 6 is a flow chart of another control method according to an embodiment of the present disclosure;

FIG. 7 is a flow chart of yet another control method provided in an embodiment of the present application;

FIG. 8 is a flow chart of yet another control method according to an embodiment of the present disclosure;

Fig. 9 is a schematic structural view of another water propeller according to an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

As shown in fig. 1, the present embodiment provides a water area mobile device 300, wherein the water area mobile device 300 includes a mobile body 301 and a water area propulsion system 200, and the water area propulsion system 200 is mounted on the mobile body 301. Wherein the water propulsion system 200 comprises a plurality of water propellers 201 connected to the same communication system.

The water area movable device 300 of this embodiment may be various water area vehicles such as a commercial ship, a passenger ship, a yacht, a fishing boat, a sailing boat, a civil ship, etc., may also be devices that can move in a water area such as a water area inspection device, a water area management device, a water area environment monitoring device, etc., and may also be underwater operation devices, etc., which are not limited in this application. When the water area movable apparatus 300 is a ship of various types, the movable body 301 is a ship body accordingly.

The water propeller 201 of the present embodiment may be a device capable of providing power, such as an outboard motor, an inboard motor, a pod propeller, or the like. The water propulsion 201 may be mounted on the head, tail, side, or bottom of the movable body 301, etc., and the water propulsion 201 may be used as a side propulsion when mounted on the side to assist in steering the water movable apparatus 300, etc.

Referring to fig. 2, a water propulsion system 200 is provided in this embodiment. The water propulsion system 200 includes a plurality of water propellers 201, the plurality of water propellers 201 being connected to the same communication system. As one example, multiple water propellers 201 may be connected to the same bus communication system, such as shown in fig. 2, where multiple water propellers 201 may be connected by a bus 203. As another example, the plurality of water thrusters 201 may also be connected to the same wireless communication system, wherein the wireless communication manner in the wireless communication system may include any one of bluetooth communication, wiFi communication, mobile data communication, etc., without limitation.

Referring to fig. 3, the water propulsion system 200 further includes an interactive assembly 202 coupled to the same communication system as the plurality of water propellers. For example, taking a communication system as a bus communication system as an example, the plurality of water thrusters 201 may be connected through a first bus, and the interaction component 202 may be connected to the plurality of water thrusters 201 through a second bus, where the first bus and the second bus may be the same bus (as shown in fig. 3), or the first bus and the second bus may be different buses (not shown), which may be specifically set according to an actual application scenario. Taking the communication system as a bus communication system as an example, the interactive components include, but are not limited to, a display screen, a steering wheel, a remote control box, a side throttle lever, etc. disposed on the water area mobile device 300. Alternatively, taking the interactive system as an example of a wireless communication system, the interactive component can also be connected with the water area propeller in a wireless communication manner, for example, the interactive component comprises a mobile terminal, such as a mobile phone, a portable computer, a tablet or a wearable device, etc.

Referring to fig. 1 and 4, the present embodiment provides a water area propeller 201, the water area propeller 201 includes a main machine 110 and a tilting device 100, wherein the tilting device 100 is connected with the main machine 110. The tilting device 100 includes a fixture 120, an adjusting mechanism 130, and a motor 140, wherein the fixture 120 is fixed on the movable body 301, the adjusting mechanism 130 is connected between the fixture 120 and the host 110, the motor 140 is mounted on the fixture 120 or the host 110 and connected with the adjusting mechanism 130, and is used for driving the adjusting mechanism 130 to deform, the adjusting mechanism 130 deforms to drive the host 110 to lift relative to the fixture 120, and the host 110 is always located outside the movable body 301. Illustratively, the host 110 includes at least a drive motor and a propeller, the drive motor is configured to drive the propeller to rotate, thereby enabling propulsion of the water area mobile device 300. Fig. 4 illustrates an outboard motor as an example of the water propeller 201. In other examples, the water propulsion 201 may also be a pod propulsion, an inboard propulsion, etc., as the application is not limited in this regard.

Aiming at the problems of increased communication system load and low processing efficiency caused by the independent execution of tasks by a plurality of water thrusters in the related art, the embodiment provides a control method for realizing master-slave identification of the water thrusters so as to better manage and coordinate the water thrusters.

It will be appreciated that the construction of the components of the water propulsion, water propulsion system, water mobile equipment and the like mentioned in the following description of the control method can be seen from the relevant description of fig. 1 to 4.

For example, by master-slave recognition, it can be determined which water area propeller plays the role of a host and is responsible for task scheduling and allocation of the whole water area propulsion system. The host computer can reasonably distribute the tasks to the slaves according to specific conditions, so that the cooperative execution of the tasks and the optimal utilization of resources are realized.

For example, the master-slave machine identification scheme can simplify fault diagnosis and maintenance work of the water area propulsion system. By determining the host, the host can perform fault arbitration on all faults generated in the water area propulsion system, and the slave does not need to independently operate arbitration tasks, so that the running resources are saved.

Also, such as by master-slave identification, the host may be responsible for managing and synchronizing data throughout the water propulsion system. The slave computer can collect and aggregate and analyze the slave computer-generated data to support crewman decisions and operations. Meanwhile, the host can send important state information and instructions to the slave, so that data sharing and synchronization among the water area thrusters are ensured.

Next, an exemplary description is given of a control method provided in an embodiment of the present application. Referring to fig. 5, fig. 5 shows a flow chart of a control method. The control method is applied to each of a plurality of water thrusters connected to the same communication system. The control method comprises the following steps:

in S101, the own-external communication priority is acquired.

For example, the priority of external communication refers to the priority order of external communication of the water area thruster, and the water area thruster with higher external communication priority can perform communication, data transmission or instruction reception preferentially.

In S102, the priority of external communication of other water propellers is acquired.

Illustratively, multiple water propellers 201 may be connected to the same bus communication system, the local may communicate with other water propellers via a bus, broadcast local priority for external communications via the bus, and obtain priority for external communications broadcast by other water propellers via the bus. Through the broadcasting mode, each water area propeller in the plurality of water area propellers connected through the bus can acquire the external communication priority of the other water area propellers.

In S103, the master-slave recognition is performed according to the difference between the local external communication priority and the external communication priority of the other water area propeller.

In this embodiment, the master-slave machine identification is performed by using the difference between the external communication priorities of the plurality of water area thrusters, which is favorable for selecting the water area thruster with higher or highest external communication priority as the host machine, so that the efficient communication capability can be brought, the response and decision can be timely made, and the overall performance of the water area movable equipment for installing the plurality of water area thrusters can be improved.

In some embodiments, in performing the master-slave identification, performing the master-slave identification based on a difference between the local external communication priority and the external communication priority of the other water area propeller includes: the water area propeller can judge whether the external communication priority of the water area propeller is highest according to the difference between the external communication priority of the water area propeller and the external communication priority of other water area propellers; if the external communication priority of the local machine is highest, setting the local machine as a host; otherwise, the local machine is set as the slave machine. In the embodiment, the water area propeller with the highest communication priority is set as the host, so that the water area propeller system is ensured to have strong and efficient external communication capability. The host can communicate with other water area propellers, interaction components, terminals or cloud ends and the like faster, timely transmits instructions or acquires required data, so that quick response and decision are realized, and more efficient task execution and control are realized.

Exemplary, external communication priorities include: the communication signal intensity of the water area propeller and the cloud communication; and/or broadcasting priority of the water propulsion in the communication system.

In one possible implementation, the strength of the communication signal is an important factor when the water propulsion device communicates with the cloud. The water area propeller with stronger communication signal strength can be communicated with the cloud more stably, and the possibility of data transmission failure or interruption is reduced. Therefore, the external communication priority may include the communication signal strength of the water area propeller and the cloud end, and the stronger the communication signal strength of the water area propeller and the cloud end, the higher the external communication priority of the water area propeller. In the process of carrying out the master-slave machine identification, carrying out the master-slave machine identification according to the difference between the external communication priority of the local machine and the external communication priority of other water area thrusters comprises the following steps: the water area propeller can judge whether the communication signal intensity of the communication between the water area propeller and the cloud is highest according to the difference between the communication signal intensity of the communication between the water area propeller and the cloud and the communication signal intensity of the communication between the water area propeller and the cloud; if the communication signal intensity of the local machine and the cloud communication is highest, setting the local machine as a host; otherwise, the local machine is set as the slave machine. The host computer that realizes setting can communicate with the high in the clouds more steadily.

In one possible application scenario, a communication module is installed in the water area propeller to realize communication with the cloud. The communication module may be, for example, a 4G communication module, a 5G communication module, etc., and is not limited herein. For the type of water area propeller such as the ship internal machine and the pod propeller, as the type of water area propeller is arranged at the bottom of the movable body, the communication module in the water area propeller is easily shielded by the movable body, so that the intensity of communication signals is weaker. Therefore, in order to enhance the communication capability between the water propeller and the cloud end and reduce the communication cost, one of the water propellers may be connected with a communication signal enhancing device, such as an antenna, which is installed at a position not blocked by the body of the mobile device, so as to realize non-blocking transmission and non-blocking reception of the wireless signal. Of these, the communication signal strength of the water propulsion unit directly connected to the communication signal enhancement device is usually the highest. Thus, each water mover obtains local out-of-communication priority including: the detection is local for connecting the communication signal strength at the port of the communication signal enhancement device. In other words, the water propulsion as the host is equipped with a communication signal enhancement device.

In another possible implementation, the priority of the broadcasting of the water propulsion in a communication system (e.g., a bus communication system) determines its priority in communicating with other water propulsion or components. The water propulsion with higher broadcasting priority can send broadcasting information to the outside and obtain the response of other water propulsion or components preferentially when the information exchange or the data sharing with other water propulsion or components are needed. Thus, the priority of the external communication may also include the priority of broadcasting of the water propulsion in the communication system, the higher the priority of the external communication of the water propulsion. In the process of carrying out the master-slave machine identification, carrying out the master-slave machine identification according to the difference between the external communication priority of the local machine and the external communication priority of other water area thrusters comprises the following steps: the water area propeller can judge whether the broadcasting priority of the water area propeller in the communication system is highest according to the difference between the broadcasting priority of the water area propeller in the communication system and the broadcasting priority of other water area propellers in the communication system; if the broadcasting priority of the local machine in the communication system is highest, setting the local machine as a host; otherwise, the local machine is set as the slave machine. In this embodiment, the water area propeller with the highest broadcasting priority is set as the host, and the water area propeller as the host can obtain a response more quickly when communicating with other water area propellers or components, which is beneficial to realizing more efficient task execution and control.

Illustratively, the water propulsion has an identification code that characterizes the broadcasting priority of the water propulsion in the communication system, the identification code of the different water propulsion being different. For example, the smaller the water propeller's identification code, the higher the priority of the water propeller's broadcast in the communication system. Therefore, in the process of carrying out the master-slave machine identification, the water area propeller can judge whether the identification code of the water area propeller is minimum according to the difference between the identification code of the water area propeller and the identification codes of other water area propellers; if the identification code of the local machine is minimum, and the broadcasting priority of the local machine in the communication system is highest, the local machine can be set as a host machine; otherwise, the local machine is set as the slave machine. The identification code may be preset and stored in the water propulsion before the water propulsion leaves the factory. The identification code may be directly equal to or converted from the unique identification code of the water propulsion device. Because the identification codes have uniqueness, the broadcasting priorities of the different water area thrusters are distinguished based on the difference of the identification codes, on one hand, the broadcasting priorities of the different water area thrusters can be distinguished more simply, and on the other hand, the situation that the different water area thrusters have the same broadcasting priorities can be avoided.

Of course, the larger the identification code of the water thruster, the higher the broadcasting priority of the water thruster in the communication system, and the present embodiment is not limited in this regard.

In yet another possible implementation manner, the communication signal strength of the water area propulsion device and the cloud communication and the broadcasting priority of the water area propulsion device in the communication system can be combined, and the host computer and the slave computer are selected from the plurality of water area propulsion devices, so that the stability and the reliability of the communication can be ensured, and the communication efficiency of the water area propulsion system and the water area movable equipment can be optimized.

In some embodiments, the process of master-slave identification may be performed in response to configuration instructions. The master-slave machine identification is executed when the configuration instruction exists, so that the master-slave machine identification of the water area propulsion system can be orderly executed, and the running stability of the system is ensured.

Wherein the configuration instruction may be automatically generated when the water propeller satisfies a predetermined condition. The scheme for automatically generating the configuration instruction does not need related operation by a user, so that the intelligent degree is higher, and the convenience degree is better.

The configuration instructions may also be manually triggered by the user. The manual triggering mode is provided for the user, and a larger degree of freedom can be provided for the user. When the user wants to replace the host, the user can manually operate the water area propeller or the display screen so as to enable the water area propeller to execute the host-slave machine identification again, and the user use experience is better.

For the automatic triggering condition, the automatic triggering can be performed in the initializing process, or the automatic triggering can be performed under the condition that the communication signal intensity of the water area propeller and the cloud is changed. For example, the predetermined condition includes any one of the following: (1) The water area propeller is in the initialization process of first power-on; (2) The communication signal intensity of all the water area thrusters and the cloud is smaller than a preset threshold; (3) The communication signal intensity of at least one water area propeller and the cloud end is larger than a preset threshold value. The preset threshold may be specifically set according to an actual application scenario, which is not limited in this embodiment. The preset threshold may be set before the water propulsion is shipped from the factory and stored in the water propulsion. The preset threshold may be one or more. When the water area propeller is started, a corresponding preset threshold value can be selected based on the current application scene of the water area propeller, or a pre-stored preset threshold value is correspondingly updated according to a preset algorithm corresponding to the current application scene, and the like, which is not limited in the embodiment.

For the case of manual triggering, a configuration instruction may be generated by a water propeller or an interaction component when a configuration operation of a user is received, and the water propeller communicates with the interaction component. Illustratively, the water propulsion system includes an interactive assembly that may be coupled to the water propulsion via a bus, the interactive assembly including, but not limited to, a display screen, a remote control box, etc.; alternatively, the interactive component may be in wireless communication with the water propulsion, such as where the interactive component comprises a mobile terminal. The user can perform configuration operation in the interactive assembly or the water area propeller according to actual needs, and the water area propeller or the interactive assembly generates a configuration instruction when receiving the configuration operation of the user. For example, during an initialization process when the water propeller is first powered on, the display screen may prompt the user to perform a master-slave configuration, and the user may operate the display screen or the water propeller to cause the display screen or the water propeller to generate a configuration instruction. And for the situation that the display screen generates the configuration instruction, the display screen sends the configuration instruction to the water area propeller so that the water area propeller performs master-slave machine identification based on the configuration instruction. As another example, during operation of the water propulsion device, the communication signal intensity between the water propulsion device and the cloud may change. If the degree of change is large, for example, the communication signal intensity of all the water area thrusters and the cloud is smaller than a preset threshold, the user can operate the display screen or the water area thrusters so that the display screen or the water area thrusters generate configuration instructions, and therefore the master-slave machine identification can be carried out again.

By the aid of the multiple triggering modes, the water area propeller with higher or highest external communication capacity is set as a host, higher communication capacity is guaranteed, and timely response and decision making can be achieved.

Some trigger scenarios are described in exemplary fashion below.

The external communication priority includes the communication signal strength of the water area propeller and the cloud communication and the broadcasting priority of the water area propeller in the communication system, wherein the communication system is taken as a bus communication system for example in the following embodiments.

In one possible implementation, the water propeller may respond to a configuration instruction during the initialization process at first power up, and further perform master-slave identification based on the broadcasting priority of the water propeller in the bus.

Referring to fig. 6, the control method includes:

in S201, the water propeller obtains the broadcasting priority of the own machine in the communication system and the broadcasting priority of other water propellers in the bus in response to the configuration instruction generated automatically in the initialization process at the first power-up or generated based on the configuration operation of the user.

In S202, if the broadcasting priority of the local machine in the bus is highest, setting the local machine as the host; otherwise, the local machine is set as the slave machine.

For example, during the initial power-up process, each water area propeller may automatically generate a configuration instruction based on the initial process, or one of the water area propellers receives a user operation to generate a configuration instruction, and the water area propeller sends the configuration instruction to the bus, so that other water area propellers may receive the configuration instruction due to information sharing on the bus. Each water propeller then obtains the own broadcast priority based on the configuration instructions and broadcasts the own broadcast priority to the bus. Because of the sharing of information on the bus, each water propeller can obtain the broadcast priority of the other water propellers. Each water mover may determine whether the host should be set as a master or a slave based on the broadcast priority of the host and the broadcast priorities of the other water movers. If the broadcasting priority of a certain water area propeller is the highest of all broadcasting priorities, the water area propeller determines itself as a master, and other water area propellers determine itself as slaves. Each water area propeller can send own master-slave information to the bus so that other water area propellers can know own master-slave information; alternatively, each water mover may directly determine master-slave information for each water mover based on the broadcast priorities of all water movers.

After the master-slave machine is determined, the configuration instruction which can be generated again later can be used for carrying out master-slave machine identification again. Wherein the configuration instructions may be regenerated in the following cases.

In one instance, the water propulsion or powered interactive component receives a configuration operation from a user to regenerate the configuration instructions. If the configuration instruction is generated by the electrified interaction component, the interaction component can broadcast the configuration instruction to all water area thrusters through a bus after generating the configuration instruction; if the configuration instruction is generated by one of the water propellers, the water propeller can broadcast the generated configuration instruction to the other water propellers through the bus.

Specifically, referring to fig. 6, the control method further includes:

in S203, in response to the configuration instruction generated by the configuration operation of the user received by the water propeller or the interaction component, if the communication signal strength of the local machine is strongest, the local machine is set as the master machine, otherwise, the local machine is set as the slave machine.

After the water area propeller determines the master-slave machine, the water area propeller also provides the opportunity for the user to reset the master-slave machine, can provide the user with larger freedom degree, and has better user experience.

In another case, based on the requirement of the water area propeller for communication with the cloud, after the master-slave machine is determined, a configuration instruction (generated automatically or by receiving configuration operation of a user) can be generated again, so that the water area propeller responds to the configuration instruction, and the master-slave machine identification is performed again based on the communication signal intensity of the water area propeller for communication with the cloud.

Specifically, referring to fig. 6 again, the control method further includes:

in S204, it is detected whether the communication signal intensity of all the water thrusters is less than a preset threshold.

In S205, when the communication signal intensity of at least one water area propeller is greater than the preset threshold, if the communication signal intensity of the local machine is strongest, setting the local machine as the host machine; otherwise, the local machine is set as the slave machine.

In S206, when the communication signal intensity of all the water thrusters is smaller than the preset threshold, the original master-slave state of the machine is maintained.

After determining the master-slave machine according to the broadcasting priority of each water area propeller, the communication signal intensity of all the water area propellers can be obtained, so that the master-slave machine is redetermined based on the communication signal intensity of the water area propellers. It can be appreciated that in the operation process of the water area propeller, the water area propeller needs to communicate with the cloud end to upload operation data or receive data and instructions issued by the cloud end. Therefore, in the running process of the water area propeller, the water area propeller with the strongest communication signal intensity can be switched to be used as a host to be responsible for interaction with the cloud, and the stability of interaction between the water area propulsion system and the cloud can be ensured.

In yet another case, the transmission of electrical energy is performed by a water propulsion connected between the interactive assembly and the battery, as the interactive assembly is not directly connected to the battery. In the scenario that the movable equipment in the water area is provided with a plurality of water area thrusters, if the plurality of water area thrusters simultaneously supply power to the interactive assembly, the problems of overload, instability and the like may exist, for example, the plurality of water area thrusters simultaneously supply power to the interactive assembly, and the current load capacity required by the interactive assembly may be exceeded, so that the power supply is overloaded. Therefore, it is desirable to select one of the water thrusters from the plurality of water thrusters to power the interactive assembly. Because the initialization process of the water area propeller needs a certain time, the connection between the communication module and the cloud end can be established after the initialization is completed, that is, the master-slave machine can not be identified based on the intensity of the communication signal in the initialization process. Therefore, in order to enable the interaction assembly to be powered on in the initial process of the first power-on of the water area propeller, the master-slave machine identification determination of the host machines is required to be carried out on the plurality of water area propellers in the initial process of the first power-on of the water area propeller, so that the host machines output electric energy to the interaction assembly, and the power-on of the interaction assembly is realized. After the interactive assembly is powered on and the water area propeller is initialized, a configuration instruction is generated again (generated automatically or by receiving configuration operation of a user), so that the water area propeller responds to the configuration instruction, and master-slave machine identification is performed again based on the communication signal intensity of the water area propeller and cloud communication.

Specifically, referring to fig. 6, the control method further includes:

in S207, when the host is a host, power is output to the interactive component to power up the interactive component. After determining the host, the host directly supplies power to the interaction component without performing other selection steps, which is beneficial to ensuring the interaction component to be powered on quickly.

In S208, when the interaction component is powered on and there is at least one water area propeller with a communication signal intensity greater than a preset threshold, if the communication signal intensity of the local machine is strongest, the local machine is set as the host machine; otherwise, the local machine is set as the slave machine.

In S209, when the communication signal intensity of all the water area thrusters is smaller than the preset threshold, the original master-slave state of the machine is maintained.

It can be understood that after the interactive assembly is powered on and the water area propeller is initialized, the communication signal strength between the water area propeller and the cloud end cannot meet the stable communication requirement of the water area propeller and the cloud end due to the influence of external environment factors or poor signal enhancement devices and other factors. Therefore, after the interactive assembly is powered on and the water area propeller is initialized, whether the strength of the water area propeller and the strength of the communication signal meet the communication requirement or not, that is, whether the strength is larger than a preset threshold value or not can be judged. If the communication signal strength is larger than the preset threshold value, the master-slave machine is re-identified based on the communication signal strength; if the state is smaller than the preset threshold value, the original master-slave state is directly maintained.

In this embodiment, in the initialization process, the master-slave machine is identified based on the broadcast priority, so that the interactive component can be quickly powered on. And after the interactive assembly is electrified, whether the master-slave machine is redetermined based on the intensity of the communication signal is judged based on the intensity of the communication signal, so that on one hand, unnecessary master-slave machine switching when the intensity of the communication signal does not meet the communication requirement can be avoided, and on the other hand, the water area propeller with the strongest communication signal intensity can be switched to be used as a host machine when the intensity of the communication signal meets the communication requirement, and the stability of the water area propulsion system and cloud communication can be improved.

After the master-slave recognition is performed based on the communication signal strength of the water area thrusters and the cloud communication, if the water area thrusters serving as the host detect that the communication signal strength of all the water area thrusters and the cloud communication is smaller than the preset threshold, the configuration instruction (generated after the configuration operation of the user is automatically generated or received) can be generated again and sent to the slave through the bus.

Specifically, referring to fig. 6 again, the control method further includes:

in S210, in response to a configuration instruction generated by the water area propeller as the host when the communication signal intensity of all the water area propellers and the cloud communication is smaller than a preset threshold, if the broadcasting priority of the host in the bus is highest, setting the host as the host; otherwise, the local machine is set as the slave machine.

In this embodiment, when the communication signal strength of all the water area thrusters and the cloud communication does not meet the communication requirement, the master-slave machine identification is re-executed, and the water area thruster with the highest external communication priority is set as the host machine, so that the communication efficiency inside the water area propulsion system is guaranteed, and the water area thruster serving as the host machine can respond and make a decision in time.

In another possible implementation manner, the water area propeller can respond to the configuration instruction in the initialization process of being powered on for the first time, and then the master-slave machine identification is performed based on the communication signal intensity of the water area propeller and the cloud communication.

Referring to fig. 7, the control method includes:

in S301, in response to the configuration instruction being automatically generated in the initialization process of the first power-up or generated based on the configuration operation of the user, the water area propeller obtains the communication signal intensity of the local communication with the cloud and the communication signal intensity of the other water area propellers communication with the cloud.

In S302, if the communication signal strength of the local device is strongest, the local device is set as the master device, otherwise, the local device is set as the slave device.

For example, during the initial power-up process, each water area propeller may automatically generate a configuration instruction based on the initial process, or one of the water area propellers receives a user operation to generate a configuration instruction, and the water area propeller sends the configuration instruction to the bus, so that other water area propellers may receive the configuration instruction due to information sharing on the bus. Then, each water area propeller acquires the communication signal intensity of the local and cloud communication based on the configuration instruction, and broadcasts the communication signal intensity of the local and cloud communication to the bus. Because of the information sharing on the bus, each water area propeller can acquire the communication signal intensity of communication between other water area propellers and the cloud. Each water propeller can judge whether the host machine should be set as a master machine or a slave machine based on the communication signal strength of the host machine and the communication signal strength of other water propellers. If the communication signal strength of a certain water area propeller is the strongest in all the communication signal strengths, the water area propeller determines itself as a master, and other water area propellers determine itself as slaves. Each water area propeller can send own master-slave information to the bus so that other water area propellers can know own master-slave information; alternatively, each water mover may directly determine master-slave information for each water mover based on the communication signal strength of all water movers.

In this embodiment, in the operation process of the water area propeller, the water area propeller needs to communicate with the cloud end to upload operation data or receive data and instructions issued by the cloud end. Therefore, the water area propeller with the strongest communication signal intensity is used as a host to be responsible for interaction with the cloud, and the stability of interaction between the water area propulsion system and the cloud can be ensured.

Specifically, referring to fig. 7, the control method further includes:

in S303, in response to a configuration instruction generated by a configuration operation of a user received by the water area propeller or the interaction component, if the broadcasting priority of the local machine in the bus is highest, setting the local machine as a host; otherwise, the local machine is set as the slave machine.

In another case, when the communication signal strength of all the water area thrusters and the cloud communication does not meet the communication requirement, the master-slave recognition can be re-executed.

Specifically, referring to fig. 7 again, the control method further includes:

in S304, when the communication signal strength of all the water area thrusters is smaller than the preset threshold, if the broadcasting priority of the local machine in the bus is highest, setting the local machine as the host; otherwise, the local machine is set as the slave machine.

In some embodiments, based on the requirement of the water area propeller for communication with the cloud, when the communication signal strength of the communication between the at least one water area propeller and the cloud meets the communication requirement, the master-slave recognition can be executed again. For example, after the master-slave identification based on the broadcasting priority of the water propellers in the bus, if the water propellers as the host detect that the communication signal strength of at least one water propeller is greater than the preset threshold, the configuration command may be generated again and sent to the slave through the bus.

Specifically, referring to fig. 7 again, the control method further includes:

in S305, in response to a configuration instruction generated by the water area propeller as the host when the communication signal strength of at least one water area propeller is greater than a preset threshold, if the communication signal strength of the host is strongest, setting the host as the host; otherwise, the local machine is set as the slave machine.

In this embodiment, after determining the master-slave machine according to the broadcast priority, if it is detected that the communication signal strength of the communication between the at least one water area propeller and the cloud end meets the communication requirement, the master-slave machine may be determined again based on the communication signal strength of the water area propeller. In the running process of the water area propeller, the water area propeller with the strongest communication signal intensity can be switched to be used as a host to be responsible for interaction with the cloud, and the stability of interaction between the water area propulsion system and the cloud can be ensured.

In some embodiments, after determining the master-slave, fault arbitration may be performed by the master from a global perspective, and fault conditions may be better monitored and managed. Referring to fig. 8, the control method further includes:

in S401, at least one first fault information is acquired while the host is a host, the first fault information being generated by at least one of the plurality of water thrusters.

For example, one of the plurality of water thrusters may be determined to be a master and the other of the plurality of water thrusters may be determined to be a slave based on a difference between the external communication priorities of the plurality of water thrusters. The master-slave recognition process is described in detail below. After the master-slave machine is determined, the host machine can receive first fault information generated by at least one water area propeller in the plurality of water area propellers, and perform fault arbitration to realize centralized management and comprehensive analysis of faults.

In S402, fault diagnosis is performed based on at least one first fault information, and second fault information is determined.

For example, for the case where there is only one first failure information, the second failure information may be identical to the first failure information at this time. In the case where there are a plurality of first failure information, there may be some first failure information as a root cause of failure and other first failure information is generated, at this time, the root cause failure may be used as the second failure information, and only the root cause failure is required to be processed in the subsequent process, and other non-root cause failures are not required to be processed, which is helpful for reducing the processing load of the host, avoiding unnecessary processing actions and reducing resource waste.

In S403, a first control instruction is sent to the water propeller according to the second fault information, so that the water propeller that receives the first control instruction performs an operation indicated by the first control instruction.

The operation indicated by the first control instruction may be a fault solving operation, or may be an operation for changing an operation parameter of the water area propeller in a fault unresolved state, or the like. The present application is not limited in this regard.

In addition, the water propulsion device in the first control instruction sent to the water propulsion device according to the second fault information can be all the water propulsion devices or part of the water propulsion devices. For example, when the determined second fault information is that the motor of a certain water area propeller is over-heated, a first control instruction for reducing the running power can be sent to the water area propeller so as to enable the water area propeller to run under the reduced power, and the temperature of the motor of the water area propeller can be returned to be normal. For another example, when the determined second fault information is the energy component under-voltage, a first control instruction for reducing power operation can be sent to all water area thrusters so as to enable all water area thrusters to operate in a power-reducing mode.

According to the embodiment, the host machine performs fault arbitration from the global view, so that fault conditions can be better monitored and managed, faults can be rapidly and accurately detected and processed, the reliability and stability of the water area propeller system are improved, and risks and losses caused by the faults are reduced. In addition, unnecessary processing actions can be avoided, and resource waste is reduced.

In some embodiments, multiple water propellers are connected to the same communication system. The other water propellers except the host machine in the plurality of water propellers are determined as slave machines; when the slave detects a fault, first fault information can be generated and sent to the host; the host may also generate first failure information when detecting that the host has a failure. The acquiring of the at least one first fault information in S401 includes: receiving first fault information sent by a slave; and/or acquiring the first fault information generated by the machine.

Of course, the plurality of water thrusters may also be connected by wireless communication, such as bluetooth or WIFI, which is not limited in this embodiment.

The process of the host obtaining the locally generated first failure information is described herein as an example.

Obtaining first fault information generated by a machine, including: the host may periodically perform fault detection in response to the fault diagnosis start condition being satisfied, and then generate first fault information when a fault is detected.

Illustratively, the detection object of the host when performing fault detection includes a hardware port, a component, and the like. The fault diagnosis start condition may include: in use of the hardware port to be detected and/or in power-on operation of the part to be detected. For example, the hardware port to be detected and the component to be detected are in the same communication network with the host; alternatively, the hardware port is one of the hardware components of the host, and the component is one of the hardware components of the host.

In some possible embodiments, the host may periodically perform fault detection in response to a fault diagnosis on condition being met, including: in response to the use of the hardware port to be detected, periodically performing fault detection on the hardware port; and/or, in response to the power-on operation of the part to be detected, periodically detecting the fault of the part.

For example, the fault detection process for the hardware port may be, but not limited to, detecting whether the related IO signal can be correctly transmitted through the hardware port, or detecting the transmission efficiency of the data transmitted through the hardware port, or detecting the power supply condition of the hardware port.

For example, the fault detection process of the component may be detecting an operation state of the component, for example, obtaining an operation parameter of the component, and detecting whether the operation parameter of the component exceeds a set value, where the operation parameter includes, but is not limited to, an operation temperature, a voltage, or a current; but is not limited thereto.

Then upon detecting a fault, generating first fault information comprising: generating first fault information corresponding to the hardware port when the fault of the hardware port in use is detected, wherein the first fault information is used for indicating the fault condition of the hardware port; and/or when detecting that the component in operation breaks down, generating first fault information corresponding to the component, so as to be used for indicating the fault condition of the component.

For example, the first fault information corresponding to the hardware port may be that the IO signal cannot be transmitted through the hardware port, or that the transmission efficiency of the data does not meet the preset transmission condition, or that the power is not normally supplied, or the like. For example, the first fault information corresponding to the component may be that the operation parameter of the component exceeds a set value, and the like.

In some possible embodiments, to avoid or reduce a fault misdetection condition, generating the first fault information when a fault is detected includes: and when the fault is detected and the fault generation time period is longer than a third preset time period, generating first fault information. In this embodiment, the first fault information needs to be regenerated after waiting for a period of time for the fault to occur, so that the fault false detection condition can be avoided or reduced, and the fault detection accuracy is improved.

It should be noted that, the structures of the plurality of water area thrusters are the same, the process of generating the first fault information by the slave is the same as the process of generating the first fault information by the master, and the description of the relevant parts of the process of generating the first fault information by the slave can be referred to above, which is not repeated here. After generating the first fault information, the slave machine sends the generated first fault information to the master machine.

In some embodiments, the water propulsion device is also in communication with the energy source assembly. For convenience of the following unified description, the interaction component and the energy component are collectively referred to as a preset component. The interactive assembly can be connected with the water area propeller through a bus system or a wireless communication system; the energy source assembly is connected with the water area propeller through the bus system.

The energy source assembly comprises at least one battery pack, which is a device for storing energy and supplying electricity at any time, and is usually composed of a plurality of battery cells, and can convert chemical energy into electric energy through chemical reaction and release electricity when necessary. Under the condition that the interactive assembly is connected with the water area propeller through the bus communication system, the energy assembly is used for providing power for the interactive assembly and the water area propeller so as to meet the energy requirement of normal operation of the interactive assembly and the water area propeller. For example, the interactive assembly and all water propulsion may be powered by one battery pack. Alternatively, when the energy source assembly includes a plurality of battery packs, the plurality of battery packs may supply power to the interaction assembly and the plurality of water area thrusters in a one-to-one correspondence. The present embodiment does not impose any limitation on the specific power supply form.

It should be noted that the energy component may also be various devices capable of providing electric energy, such as a wind power generation component, a photovoltaic component, a diesel generator component, and the like, which is not limited in this application.

In one possible implementation, certain failures of the preset components require the detection and generation of first failure information by the host. For example, the preset assembly includes a battery that when powering the water propulsion device may have faults such as a timeout in the upper high voltage response, a failure in the high voltage interlock, etc., which may need to be detected by the water propulsion device. The first failure information generated by the host includes at least one of: (1) The method comprises the steps that a host computer generates first fault information when detecting that the host computer has faults; (2) And the host computer generates first fault information when detecting that the preset component breaks down.

For example, the host may periodically perform fault detection on the preset component in response to the fault diagnosis start condition being satisfied; upon detection of a fault, first fault information is generated. The fault diagnosis start condition may include: the hardware ports of the preset components are in use and/or the parts of the preset components are in power-on operation.

For example, the host may generate the first fault information when a fault is detected and the fault generation time period is longer than a third preset time period. The first fault information is regenerated after waiting for a period of time to generate the fault, so that fault false detection conditions are avoided or reduced, and fault detection accuracy is improved.

Regarding the process of detecting the fault of the host to the host is the same as the process of detecting the fault of the host to the preset component, the relevant parts can be referred to the above description, and the details are not repeated here.

In another possible implementation, the preset component may generate the first failure information when a failure is detected and send the first failure information to the host. Acquiring at least one first fault information, further comprising: and receiving first fault information sent when the preset component fails.

For example, the preset component may periodically perform fault detection in response to a fault diagnosis on condition being met; upon detection of a fault, first fault information is generated. The fault diagnosis start condition may include: the hardware ports of the preset components are in use and/or the parts of the preset components are in power-on operation.

For example, the preset component may generate the first fault information when a fault is detected and the fault generation time period is longer than a third preset time period. The first fault information is regenerated after waiting for a period of time to generate the fault, so that fault false detection conditions are avoided or reduced, and fault detection accuracy is improved.

The process of generating the first fault information by the preset component is the same as the process of generating the first fault information by the host, and the relevant points are referred to the above description and are not repeated here.

In some embodiments, for S402, after acquiring the first fault information generated by at least one of the plurality of water thrusters and/or the first fault information generated by the preset assembly, the host may perform a fault diagnosis based on the at least one first fault information, determining the second fault information. The method and the system realize fault arbitration from the global view by the host, and help to quickly detect faults.

In some possible embodiments, in the case that the first fault information includes a plurality of faults, it is considered that there may be a plurality of situations, such as that the occurrence of root cause fault may result in cascade occurrence of other faults, that is, the faults are causally related; also, for example, the causes of the faults may not be related to each other. Accordingly, performing fault diagnosis according to at least one first fault information, and determining second fault information includes the following two determination manners:

in the first determination mode, the host can perform fault diagnosis on first fault information with causal association in the plurality of first fault information together, and determine second fault information corresponding to the first fault information with causal association together; the first fault information with causal relation can have certain relevance, and by diagnosing the first fault information and the second fault information at the same time, problems can be more efficiently found, and the second fault information which corresponds to the first fault information and the second fault information can be deduced, so that the fault diagnosis time is reduced; and by analyzing a plurality of first fault information with causal association relation, the fault cause can be more accurately positioned, the first fault information with causal association relation can affect each other or cause other faults to occur, and by carrying out fault diagnosis together, the association between the first fault information and the first fault information is found, the whole fault chain can be restored, and the fault source is traced back to the root fault source, so that guidance is provided for subsequent fault repair.

For example, considering that the root fault is often the starting point of the fault chain, performing fault diagnosis on the first fault information with causal relation in the plurality of first fault information together, determining the second fault information with causal relation, which corresponds to the first fault information together, includes: determining first fault information belonging to root cause faults from the first fault information with causal association relation; and performing fault diagnosis according to the first fault information belonging to the root cause fault, and determining second fault information which is corresponding to the first fault information with causal association. In this embodiment, by determining the root cause fault in the first fault information with causal relationship, the core problem that causes other faults to occur can be accurately found; the root fault is often the starting point of a fault chain, and the fault source can be accurately positioned by carrying out fault diagnosis on the root fault so as to take targeted measures for repairing.

For example, assume that a host receives first fault information from an energy component: (1) the battery in the energy source assembly is undervoltage, and first fault information is also received from the water area propeller: (2) bus bar under-voltage in water area propeller. The under-voltage of the battery in the energy component can cause the under-voltage of the bus in the water area propeller, that is, the two first fault information have causal relation, and the battery fault in the energy component belongs to a root cause fault, and then the second fault information which corresponds to the two first fault information with causal relation together can be determined according to the root cause fault, which is: battery failure in the energy source assembly.

In the second determination mode, fault diagnosis is performed on first fault information which does not have causal relation among the plurality of first fault information, and second fault information corresponding to the first fault information which does not have causal relation is determined. By respectively diagnosing the first fault information without causal relationship and determining the corresponding second fault information, a plurality of independent fault conditions can be comprehensively considered, so that confusion or error attribution of different fault information to the same fault can be avoided, and the accuracy and comprehensiveness of fault diagnosis can be improved.

For example, at least two first fault information that are not causally related may also have different degrees of impact on the water propulsion system. Therefore, different first failure information may be preset to correspond to different priorities. Under the condition that priorities of a plurality of first fault information received by a host are different, respectively performing fault diagnosis on first fault information which does not have causal relation in the plurality of first fault information, and determining second fault information which corresponds to the first fault information which does not have causal relation, wherein the method comprises the following steps: determining the processing order of the first fault information without causal relation according to the priority of the first fault information without causal relation, wherein the higher the priority of the first fault information is, the earlier the processing order of the first fault information is; and respectively carrying out fault diagnosis on the first fault information without the causal relationship according to the processing sequence, and determining second fault information respectively corresponding to the first fault information without the causal relationship. In this embodiment, by determining the processing order of the first fault information without causal relationship, limited resources of the host can be reasonably allocated, faults with higher priority can be preferentially processed, resource waste can be avoided, resource utilization efficiency is improved, and fault processing speed is increased. And the first fault information with higher priority is placed in front for diagnosis, so that key faults with the greatest influence on the stability and the function of the water propulsion system can be solved as soon as possible, and the normal operation of the water propulsion system can be recovered as soon as possible by rapidly checking and repairing the faults with higher priority, so that potential loss and risk are reduced.

For example, the host receives a first fault message from one of the water thrusters: (1) the temperature of the driving motor in the water area propeller is too high (for example, the temperature of the MOS tube in the driving motor exceeds the set MOS serious over-temperature upper limit threshold value, and the continuous operation will have the risk of damaging components). The host also receives first fault information from another water propeller: (2) the communication module in the water propeller fails. The two first fault information do not have causal relationship, and the communication module in the "(1) water area propeller has higher priority than the communication module in the" (2) water area propeller when the temperature of the driving motor in the "(1) water area propeller is too high", so that the host machine performs fault diagnosis on the (1) first fault information first, and then performs fault diagnosis on the (2) first fault information.

A description will be given here of an exemplary process of determining whether first failure information having a causal relationship exists among the plurality of first failure information.

In one possible implementation, to improve the efficiency of fault diagnosis, possible faults of the water propulsion and the preset components can be pre-estimated by the developer and recorded in the fault mapping table. That is, the water propulsion may pre-store a fault mapping table that includes causal relationships between different first fault information. Performing fault diagnosis according to at least one first fault information, determining second fault information, and further comprising: based on the fault mapping table, determining whether first fault information with causal relation exists in the plurality of first fault information, and further executing the fault diagnosis process respectively for the first fault information with causal relation and the first fault information without causal relation. The embodiment realizes that whether the first fault information with causal relationship exists or not is quickly determined by inquiring the fault mapping table, and is beneficial to improving the fault diagnosis efficiency.

For example, referring to table 1, table 1 records various first fault information and causal relationships between different first fault information.

TABLE 1

In another possible implementation manner, in order to improve the fault diagnosis efficiency, possible faults of the water area propeller and the preset components can be presumed in advance by a developer, and different first fault information is set in advance to correspond to different priorities and categories. For example, the first failure information may be set to have the same category as at least two first failure information having causal relationship, and the first failure information serving as the root failure may have a higher priority than the remaining first failure information. Performing fault diagnosis according to at least one first fault information under the condition that the priorities of the plurality of first fault information are different, and determining second fault information, further comprises: based on the priorities and the categories of the plurality of first fault information, determining whether first fault information with causal relation exists in the plurality of first fault information, and further executing the fault diagnosis process respectively for the first fault information with causal relation and the first fault information without causal relation. The embodiment realizes that whether the first fault information with causal association relation exists or not is rapidly determined by comparing the priorities of different first fault information, and is beneficial to improving the fault diagnosis efficiency.

For example, referring to table 2, table 2 records a plurality of different priorities and categories of the first fault information.

TABLE 2

In some embodiments, to improve the efficiency of fault diagnosis, possible faults of the water propulsion and the preset components may be pre-estimated by a developer and recorded in a fault mapping table. That is, the fault mapping table may store a correspondence relationship between at least one first fault information and second fault information. Performing fault diagnosis according to at least one first fault information, and determining second fault information, including: and performing fault diagnosis on at least one piece of first fault information according to a pre-stored fault mapping table, and determining second fault information. The embodiment realizes the rapid determination of the second fault information by inquiring the fault mapping table, and is beneficial to improving the fault diagnosis efficiency.

For example, referring to table 3, table 3 shows the correspondence between the first fault information and the second fault information that are different.

TABLE 3 Table 3

In some embodiments, to implement normalization processing of the first fault information, performing fault diagnosis according to at least one first fault information, determining the second fault information includes: and performing fault diagnosis on the first fault information received in the first preset time every other first preset time, and determining second fault information. The embodiment realizes the periodic fault diagnosis of the first fault information, and can establish a set of standard fault processing flow, thereby improving the efficiency and consistency of fault processing, reducing unnecessary human intervention and subjective judgment, and reducing errors and mistakes in the fault processing process.

It should be noted that, the "preset" or "setting" in the embodiments of the present application may be understood as that information is pre-stored in the water area propeller before the water area propeller leaves the factory. In the actual use process of the water area propeller, the preset information can be kept unchanged, and corresponding correction can be performed according to the application scene of the water area propeller, so that the application is not limited.

For example, the above-mentioned master, slave, and preset component having a fault detection function may periodically perform fault detection in response to a fault diagnosis start condition. The first preset duration may be an integer multiple of at least one of the periods in which the master, slave, and preset components perform fault detection in order to achieve efficient processing of the fault. In this embodiment, the first preset duration is set to be an integer multiple of the fault detection period, so that the fault detection has regularity, faults can be found in time, and the fault processing cost is reduced.

In some embodiments, it is contemplated that situations may occur, such as the failure indicated by the first failure information may be correspondingly relieved by the resolution of the root cause failure, or the failure indicated by the first failure information may be relieved by misdetection. Accordingly, performing fault diagnosis based on at least one first fault information, determining second fault information includes: if the generating time of the fault indicated by the first fault information reaches the second preset time, determining whether the fault indicated by the first fault information is relieved; and responding to the failure indicated by the first failure information not to be relieved, performing failure diagnosis according to the first failure information, and determining second failure information. The embodiment realizes timely fault diagnosis on the first fault information under the condition that the fault indicated by the first fault information is not relieved for a long time, thereby effectively troubleshooting the fault; meanwhile, the problem of resource waste caused by fault misdetection, which is caused by the fact that the host needs to carry out fault diagnosis on the host, is avoided or reduced, the resource utilization efficiency is improved, and the fault processing speed is increased.

Illustratively, the first fault information is from a master, a preset component, or other slave, and the source of the first fault information is different, so that the process of determining whether the fault indicated by the first fault information has been relieved is also different. If the generation time of the fault indicated by the first fault information is longer than the second preset time, determining whether the fault indicated by the first fault information is relieved, including the following three possible cases:

(1) If the first fault information is generated by other water area thrusters and the generation time of the fault indicated by the first fault information is longer than the second preset time, the host sends a query request to the water area thrusters generating the first fault information so as to query the water area thrusters generating the first fault information whether the fault indicated by the first fault information is released or not. Other water thrusters (i.e., slaves) may detect whether the fault indicated by the first fault information has been resolved according to the received query request, and return a query response to the host according to the detection result, where the query response indicates that the fault indicated by the first fault information has been resolved or has not been resolved.

(2) If the first fault information is generated by the host and the generation time of the fault indicated by the first fault information is longer than the second preset time, the host can directly determine whether the fault indicated by the first fault information is relieved.

If the first fault information is generated by the host performing fault detection on the host, and the generation time of the fault indicated by the first fault information is longer than the second preset time, the host may query whether the fault indicated by the first fault information in the host has been relieved.

If the first fault information is generated by the host performing fault detection on the preset component, and the generation time of the fault indicated by the first fault information is longer than the second preset time, the host can inquire whether the fault indicated by the first fault information in the preset component is relieved.

(3) If the first fault information is generated by the preset component and the generation time of the fault indicated by the first fault information is longer than the second preset time, the host sends a query request to the preset component generating the first fault information so as to query the preset component generating the first fault information whether the fault indicated by the first fault information is relieved. The preset component may detect whether the fault indicated by the first fault information has been released according to the received query request, and return a query response to the host according to the detection result, where the query response indicates that the fault indicated by the first fault information has been released or has not been released.

In some embodiments, for S403, after determining the second fault information, if the second fault information is information related to the water propulsion device, the host may send a first control instruction to the water propulsion device according to the second fault information, so that the water propulsion device that receives the first control instruction performs an operation indicated by the first control instruction. If the second fault information is information related to the preset component, the control method further comprises the following steps: and sending a second control instruction to the preset component according to the second fault information so that the preset component which receives the second control instruction executes the operation indicated by the second control instruction.

The operation indicated by the first control command may include at least one of inhibiting a power output of the water propulsion, limiting a power output of the water propulsion, and inhibiting a reverse charge of the water propulsion.

(1) Exemplary description is made for power output of the forbidden waters propeller: if the second fault information determined by fault diagnosis indicates that the temperature of the driving motor in the water area propeller exceeds a first preset temperature value, for example, the temperature of the MOS tube in the driving motor exceeds a set MOS serious overtemperature upper limit threshold (more than 105 ℃); at this time, there is a risk of damaging the components if the operation is continued. The operations indicated by the first control instruction include: and controlling the driving motor to stop outputting (such as shutdown processing of the driving motor), thereby protecting components in the driving motor. And the water area propeller corresponding to the driving motor can continuously monitor the temperature of the driving motor, and the driving motor is operated again under the condition that the temperature of the driving motor is reduced to meet a first preset temperature value.

(2) Exemplary description is made with respect to restricting the power output of a water propeller: if the second fault information determined by fault diagnosis indicates that the temperature of the driving motor in the water area propeller exceeds a second preset temperature value, the second preset temperature value is smaller than a first threshold, for example, the temperature of the MOS tube in the driving motor exceeds a set MOS general overtemperature upper limit threshold (more than 95 ℃); at this point, if the continued operation is to be near the MOS severe overtemperature upper threshold (above 105 ℃). The operations indicated by the first control instruction include: the output power of the drive motor is reduced, thereby suppressing the temperature rise trend of the drive motor. And the water area propeller corresponding to the driving motor can continuously monitor the temperature of the driving motor, and the driving motor is operated according to the output power before the temperature of the driving motor is reduced to meet a second preset temperature value.

(3) Exemplary description is made for prohibiting water propeller recharging: if the second fault information indicates that the driving motor in the water area propeller needs to be actively discharged, releasing energy in a capacitor of the driving motor through active discharging; at this time, the active discharge of the drive motor in the water propeller can result in the generation of electricity to the energy component. The operations indicated by the first control instruction include: and (3) preventing the water area propeller from being reversely charged, namely, disconnecting a power supply circuit between the energy assembly and the water area propeller corresponding to the driving motor which needs to be actively discharged.

Illustratively, the operation indicated by the second control instruction includes at least one of turning off an output of the energy component and limiting the output of the energy component.

(1) Exemplary descriptions are made with respect to the output of the off-energy component: if the second fault information indicates that the temperature of the battery in the energy component is higher than the first threshold value, the battery is continuously discharged, so that the temperature is continuously increased to burn out components in the energy component; the operations indicated by the second control instruction include: and the battery in the energy assembly is forbidden to discharge, so that the damage to components in the energy assembly is avoided.

(2) Exemplary descriptions are made with respect to limiting the output of an energy source assembly: if the second fault information indicates that the charge state of the battery in the energy component is lower than a preset state, the battery is continuously discharged, so that the problem of over-discharge of current is caused; the operations indicated by the second control instruction include: the discharge output capacity of the battery in the energy source assembly is limited to avoid the problem of current over-discharge of the battery.

In some embodiments, the water propulsion is in communication with the interactive assembly; the control method further comprises the following steps: and sending the second fault information to the interaction component so that the interaction component displays the second fault information. The embodiment realizes that the second fault information is displayed in the interactive component, so that a user can know the fault condition in the water propulsion system. For example, if the second fault information is "the communication module in the water area propeller is faulty", at least one of a visual mode and an auditory mode may be used, for example, a display in the interactive assembly displays a visual prompt that "the communication module in the water area propeller is faulty, please overhaul the communication module"; or playing a voice prompt of 'the communication module in the water area propeller fails and please overhaul the communication module' through a loudspeaker in the interaction assembly.

In some embodiments, the water area propeller is in communication connection with the interaction component, and under the condition that any one of the water area propellers fails, the user can also continue to issue operation requirements related to the water area propeller through the interaction component, such as increasing the propulsion speed, maintaining the current propulsion speed, increasing the raising angle, maintaining the current posture, and the like, so that the host can automatically adjust operation parameters of the water area propeller which does not fail based on the requirements issued by the user, so as to meet the user requirements. Then sending a first control instruction to the water area propeller according to the second fault information, and further comprising: when any one of the plurality of water area thrusters fails, determining the operation parameters of the plurality of water area thrusters based on the second failure information and the third control instruction currently received from the interactive assembly; sending a first control instruction carrying operation parameters corresponding to each water area propeller so that the water area propeller receiving the first control instruction operates according to the operation parameters corresponding to the water area propeller; wherein the operation parameters comprise at least one of propulsion parameters, steering parameters and warp raising parameters. The embodiment can automatically and dynamically adjust the working mode of the water area propeller based on the second fault information determined by fault diagnosis and the third control instruction currently received from the interaction assembly, so that the flexibility and the adaptability of the water area propeller system are improved, and various operation scenes and fault conditions can be better dealt with.

For example, the plurality of water propellers includes water propeller a as a master and water propellers B, C, D and F as slaves. The second fault information is "the temperature of the drive motor in the water propeller F is too high". The user may send a third control instruction to the host computer through the interaction component, for example, the third control instruction indicates to maintain the current propulsion speed of the water area movable device, so that the host computer may modify the propulsion parameters of at least one of the water area propellers A, B, C and D, for example, increase the propulsion parameters of the water area propeller B, keep the propulsion parameters of the water area propellers A, C and D unchanged, adjust the propulsion parameters of the water area propeller F to 0, and further send a first control instruction carrying the operation parameters corresponding to the water area propellers to each water area propeller, so that the overall propulsion speed of the water area movable device is maintained unchanged by automatically adjusting the propulsion parameters of the water area propellers which do not fail under the condition that the water area propeller F fails.

The various technical features of the above embodiments may be arbitrarily combined, so long as there is no conflict or contradiction between the combinations of the features, and therefore, the arbitrary combination of the various technical features of the above embodiments also falls within the scope of the disclosure of the present specification.

In some embodiments, referring to fig. 9, a water propulsion 201 provided in the embodiments of the present application includes a processor 61 and a memory 62, and the memory 62 stores executable instructions that can be executed on the processor 61, in addition to the components shown in fig. 4; wherein the processor 61 may implement the steps of the control method according to any of the above embodiments when executing the executable instructions.

The processor 61 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like.

The memory 62 stores executable instructions of the control method, and the memory 62 may include at least one type of storage medium including flash memory, hard disk, multimedia card, card memory (e.g., SD or DX memory, etc.), random Access Memory (RAM), static Random Access Memory (SRAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), programmable Read Only Memory (PROM), magnetic memory, magnetic disk, optical disk, etc.

In an exemplary embodiment, the present application also provides a non-transitory computer readable storage medium including computer instructions, such as a memory including computer instructions executable by a processor of a water propulsion device to perform the above method. For example, the non-transitory computer readable storage medium may be ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.

The foregoing has outlined the detailed description of the method and apparatus provided in the embodiments of the present application, wherein specific examples are provided herein to illustrate the principles and embodiments of the present application, the above examples being provided solely to assist in the understanding of the method and core ideas of the present application; meanwhile, as those skilled in the art will vary in the specific embodiments and application scope according to the ideas of the present application, the contents of the present specification should not be construed as limiting the present application in summary.

Claims

1. A control method applied to each of a plurality of water thrusters connected to a same communication system, the control method comprising:

acquiring the external communication priority of the local machine;

Acquiring the external communication priority of other water area propellers;

2. The control method according to claim 1, wherein the performing master-slave recognition according to the difference between the local external communication priority and the external communication priority of the other water area propeller includes:

if the external communication priority of the local machine is highest, setting the local machine as a host; otherwise, the local machine is set as the slave machine.

3. A control method according to claim 2, wherein the external communication priority comprises a broadcast priority of the water propulsion in the communication system, the higher the broadcast priority of the water propulsion, the higher the external communication priority of the water propulsion.

4. A control method according to claim 3, wherein the external communication priority further comprises a communication signal strength of the water area propeller and cloud communication; the control method further includes:

when the communication signal intensity of the communication between the at least one water area propeller and the cloud is greater than a preset threshold, setting the local machine as a host machine if the communication signal intensity of the local machine is strongest, otherwise, setting the local machine as a slave machine;

When the communication signal intensity of all the water area thrusters is smaller than the preset threshold value, the original master-slave state of the machine is maintained.

5. A control method according to claim 3, wherein the water propulsion is connected to an interactive assembly; the control method further includes:

and when the host is used as a host, outputting electric energy to the interaction component so as to electrify the interaction component.

6. The control method of claim 5, wherein the external communication priority further comprises a communication signal strength of the water propeller to cloud communication; the control method further includes:

when the interaction assembly is electrified and the communication signal intensity of at least one water area propeller is larger than a preset threshold value, setting the local machine as a host machine if the communication signal intensity of the local machine is strongest, otherwise, setting the local machine as a slave machine;

7. A control method according to claim 3, wherein the process identified by the master-slave is performed in response to a configuration instruction.

8. A control method according to claim 7, wherein the configuration instructions are automatically generated by the water propulsion when a predetermined condition is met.

9. The control method according to claim 8, characterized in that the predetermined condition includes any one of:

the water area propeller is in the initialization process of first power-on;

the communication signal intensity of all the water area thrusters and the cloud communication is smaller than a preset threshold value.

10. The control method of claim 7, wherein the configuration instructions are generated by the water propulsion or interaction component in accordance with received user configuration operations, the water propulsion being in communication with the interaction component.

11. The control method according to claim 2, wherein the priority of external communication includes a communication signal strength of the water propulsion device communicating with the cloud, the stronger the communication signal strength of the water propulsion device, the higher the priority of external communication of the water propulsion device.

12. The control method of claim 11, wherein the outbound communication priority further comprises an outbound broadcast priority of the water propulsion in the communication system; the control method further includes:

when the communication signal intensity of at least one water area propeller is larger than a preset threshold value, maintaining the original master-slave state of the machine;

And when the communication signal intensity of all the water area thrusters is smaller than the preset threshold, setting the local machine as a host machine if the broadcasting priority of the local machine in the communication system is highest, otherwise, setting the local machine as a slave machine.

13. The control method of claim 11, wherein the master-slave identified process is performed in response to a configuration instruction.

14. A control method according to claim 13, wherein the configuration instructions are automatically generated by the water propulsion when a predetermined condition is met.

15. The control method according to claim 14, characterized in that the predetermined condition includes any one of:

the water area propeller is in the initialization process of first power-on;

the communication signal strength of the at least one water propulsion device is greater than a preset threshold.

16. A control method according to claim 15, wherein the configuration instructions are generated by the water propulsion or interaction component in accordance with received user configuration operations, the water propulsion being in communication with the interaction component.

17. A control method according to any one of claims 4, 6, 11, 12, wherein the water propulsion as the host is provided with communication signal enhancement means, each water propulsion obtaining local out-of-pair communication priority, comprising:

A communication signal strength at a port local to the communication signal enhancement device is detected.

18. A control method according to any one of claims 3 to 6, 12, wherein the water propulsion means has an identification code which is used to characterise the broadcasting priority of the water propulsion means in the communications system, the identification code being different for different water propulsion means.

19. A control method according to claim 18, wherein the smaller the water propulsion identification code, the higher the broadcasting priority of the water propulsion.

20. The control method according to claim 1, characterized in that the communication system comprises a bus system or a wireless communication system.

21. A control method according to claim 1, wherein the plurality of water thrusters are connected to the same bus communication system; after the master-slave machine identification is performed according to the difference between the external communication priority of the local machine and the external communication priority of the other water area propeller, the control method further comprises the following steps:

when the host is taken as a host, at least one first fault message is acquired, wherein the first fault message is generated by at least one water area propeller in the plurality of water area propellers;

Performing fault diagnosis according to the at least one first fault information, and determining second fault information;

and sending a first control instruction to the water area propeller according to the second fault information so that the water area propeller receiving the first control instruction executes the operation indicated by the first control instruction.

22. The control method according to claim 21, wherein the first failure information includes a plurality of pieces, the performing the failure diagnosis based on the at least one piece of first failure information, determining the second failure information includes:

performing fault diagnosis on first fault information with causal association in the plurality of first fault information together, and determining second fault information which corresponds to the first fault information with causal association together;

and respectively carrying out fault diagnosis on the first fault information without causal relation in the plurality of first fault information, and determining the second fault information respectively corresponding to the first fault information without causal relation.

23. The control method of claim 22, wherein the water propulsion is pre-stored with a fault mapping table comprising causal relationships between different first fault information; the fault diagnosis is performed according to the at least one first fault information, and the second fault information is determined, and the method further comprises the following steps:

And determining whether first fault information with causal relation exists in the plurality of first fault information based on the fault mapping table.

24. The control method according to claim 22, wherein priorities of the plurality of first failure information are different, the performing the failure diagnosis based on the at least one first failure information, determining second failure information, further comprising:

and determining whether first fault information with causal relation exists in the first fault information based on the priorities and the categories of the first fault information, wherein the categories of the first fault information with causal relation are the same, and the priority of the first fault information serving as a root fault is higher than the priority of the rest first fault information.

25. The control method according to claim 22, wherein the performing the fault diagnosis on the first fault information having the causal relationship among the plurality of first fault information together, and determining the second fault information corresponding to the first fault information having the causal relationship together, includes:

determining first fault information belonging to root cause faults from the first fault information with causal association relation;

And performing fault diagnosis according to the first fault information belonging to the root cause fault, and determining second fault information which corresponds to the first fault information with the causal relationship.

26. The control method according to claim 22, wherein priorities of the plurality of first failure information are different, the performing the failure diagnosis on the first failure information having no causal relationship among the plurality of first failure information, and determining the second failure information corresponding to the first failure information having no causal relationship, respectively, includes:

determining the processing order of the first fault information without causal relation according to the priority of the first fault information without causal relation, wherein the higher the priority of the first fault information is, the earlier the processing order of the first fault information is;

and respectively carrying out fault diagnosis on the first fault information without the causal relationship according to the processing sequence, and determining second fault information respectively corresponding to the first fault information without the causal relationship.

27. The control method according to any one of claims 21 to 26, characterized in that said performing fault diagnosis based on said at least one first fault information, determining second fault information, comprises:

Performing fault diagnosis on the at least one first fault information according to a pre-stored fault mapping table, determining the second fault information, and storing the corresponding relation between the at least one first fault information and the second fault information by the fault mapping table.

28. A water propulsion apparatus, comprising:

a processor; and

wherein the processor, when executing the executable instructions, implements the steps of the control method of any one of claims 1 to 27.

29. A water propulsion system comprising a plurality of water propellers as set forth in claim 28.

30. A water propulsion system as claimed in claim 29 further comprising an interactive assembly, a plurality of water propellers connected by a bus, the interactive assembly connected to the plurality of water propellers by another bus.

31. A water area mobile device, comprising:

a movable body; and

a water propulsion system as claimed in claim 29 or claim 30 mounted to the movable body.

32. A computer readable storage medium having stored thereon computer instructions, which when executed by a processor, implement the steps of the control method of any of claims 1 to 27.