CN115437456A - Control method, single/double control device, water area movable equipment and control system - Google Patents

Control method, single/double control device, water area movable equipment and control system Download PDF

Info

Publication number
CN115437456A
CN115437456A CN202211098319.3A CN202211098319A CN115437456A CN 115437456 A CN115437456 A CN 115437456A CN 202211098319 A CN202211098319 A CN 202211098319A CN 115437456 A CN115437456 A CN 115437456A
Authority
CN
China
Prior art keywords
control device
control
installation direction
single control
function
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202211098319.3A
Other languages
Chinese (zh)
Other versions
CN115437456B (en
Inventor
刘岳峰
温振钊
陶师正
万小康
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangdong ePropulsion Technology Co Ltd
Original Assignee
Guangdong ePropulsion Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Guangdong ePropulsion Technology Co Ltd filed Critical Guangdong ePropulsion Technology Co Ltd
Priority to CN202211098319.3A priority Critical patent/CN115437456B/en
Publication of CN115437456A publication Critical patent/CN115437456A/en
Application granted granted Critical
Publication of CN115437456B publication Critical patent/CN115437456B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H21/00—Use of propulsion power plant or units on vessels
    • B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0423—Input/output
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
    • G05G1/04—Controlling members for hand actuation by pivoting movement, e.g. levers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/25—Pc structure of the system
    • G05B2219/25257—Microcontroller
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Control Devices (AREA)
  • Selective Calling Equipment (AREA)

Abstract

The application provides a control method, a single/double control device, a water area movable device and a control system. The control method is used for a single control device, and the single control device and a power device of the movable equipment in the water area can be accessed into the same communication system; the single control device can be spliced with another single control device to form a double control device; the control method comprises the following steps: when the single control device and another single control device are directly accessed into the communication system, an operation instruction of the single control device is obtained; generating a control signal corresponding to the operation instruction; the control signal is sent to the power plant to cause the power plant to act based on the control signal.

Description

Control method, single/double control device, water area movable equipment and control system
Technical Field
The present disclosure relates to the field of ship technologies, and in particular, to a control method, a single/dual control device, a movable water area device, and a control system.
Background
Movable installations in the water area, such as ships, are usually equipped with a variety of control consoles, such as steering wheels, steering devices, and tiller, so that the driver can operate the control consoles to control the navigation. The control device is generally provided with a control lever and a key, wherein the control lever can be used for controlling the forward movement, the backward movement and the like of the ship, and the key can be used for starting a preset function, such as starting a power device of the movable equipment in the water area.
Aiming at different requirements of users on the control device, the single machine type and the double machine type in the related technology are different control devices. The applicable scene of the same type of control device is limited, so that the user needs to buy two types of control devices in a single machine mode and a double machine mode simultaneously to meet different requirements of the user.
Disclosure of Invention
To overcome the problems in the related art, the present application provides a control method, a single manipulation device, a dual manipulation device, a water movable apparatus, a manipulation system, and a computer-readable storage medium.
According to a first aspect of embodiments of the present application, there is provided a control method for a single operator capable of accessing the same communication system as a power plant of an aquatic movable equipment; the single control device can be spliced with another single control device to form a double control device, and the installation direction of the single control device is opposite to that of the other single control device; the control method comprises the following steps:
when the single control device and the other single control device are directly accessed to the communication system, acquiring an operation instruction of the single control device;
generating a control signal corresponding to the operation instruction;
and sending the control signal to the power device so that the power device acts based on the control signal.
According to a second aspect of embodiments of the present application, there is provided a control apparatus for a single-control apparatus capable of accessing the same communication system as a power plant of a water area movable facility; the single control device can be spliced with another single control device to form a double control device, and the installation direction of the single control device is opposite to that of the other single control device; the control device includes:
the acquisition module is used for acquiring an operation instruction of the single control device when the single control device and the other single control device are directly accessed to the communication system;
the generating module is used for generating a control signal corresponding to the operation instruction;
and the sending module is used for sending the control signal to the power device so as to enable the power device to act based on the control signal.
According to a third aspect of embodiments of the present application, there is provided a single control device capable of accessing the same communication system as the power plant of the movable installation of the body of water; the single control device can be spliced with another single control device to form a double control device, and the installation direction of the single control device is opposite to that of the other single control device; the single manipulation device comprises a control unit for executing the control method of the first aspect.
According to a fourth aspect of the embodiments of the present application, there is provided a dual manipulator, including the single manipulator of the third aspect, where the number of the single manipulators includes two.
According to a fifth aspect of embodiments of the present application, there is provided a steering system, including: a power plant and the single operation and control device of the third aspect, wherein the single operation and control device is communicated with the power plant; or, a power plant and the dual operation device of the fourth aspect, the dual operation device is in communication with the power plant.
According to a sixth aspect of embodiments herein there is provided a water area movable apparatus comprising: a movable body and the single manipulation device of the third aspect, wherein the single manipulation device is mounted on the movable body; or, a movable body and the dual manipulating device of the fourth aspect, wherein the dual manipulating device is mounted on the movable body.
According to a seventh aspect of embodiments of the present application, there is provided a water area movable apparatus comprising: a movable body, a power device, and the single control device of the third aspect, wherein the single control device is mounted to the movable body, and the single control device is in communication with the power device; or, a movable body power device and the dual manipulation device of the fourth aspect, the dual manipulation device being mounted to the movable body, the dual manipulation device being in communication with the power device.
According to an eighth aspect of embodiments of the present application, there is provided a computer-readable storage medium storing a computer program for instructing associated hardware to perform the method of the first aspect.
The technical scheme provided by the embodiment of the application can have the following beneficial effects:
the single control device applied to the control method provided by the application can be accessed to the same communication system with the power device of the water area controllable equipment on one hand, and sends a control signal to the power device based on the communication system so as to control the power device; on the other hand, the power device can be spliced with another single control device to form a double control device, and the power device is still controlled when the other single control device is also connected to the communication system. Therefore, the application can be simultaneously suitable for the scene needing to use the single-machine control device and the scene needing to use the double-machine control device, the application range is widened, and different requirements of users can be met.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
FIG. 1A is a flow chart illustrating a control method according to an exemplary embodiment of the present application.
Fig. 1B is a front view of a single manipulation device shown in the present application according to an exemplary embodiment.
Fig. 1C is a reverse view of a single manipulation device shown in the present application according to an exemplary embodiment.
Fig. 1D is a schematic view illustrating a rotation direction of a joystick when a single control device is installed according to an exemplary embodiment of the present application.
Fig. 1E is a schematic view of the direction of rotation of a joystick when a single actuation device is retro-fitted according to an exemplary embodiment of the present application.
Fig. 1F is a schematic diagram illustrating indication information display of a dual control device according to an exemplary embodiment of the present application.
Fig. 1G is a schematic diagram illustrating indication information display when a single control device is reversely installed according to an exemplary embodiment of the present application.
Fig. 1H is a schematic diagram illustrating relative positions between a function display unit and function keys according to an exemplary embodiment of the present application.
Fig. 1I is a schematic diagram of a single manipulator spliced into a dual manipulator apparatus according to an exemplary embodiment of the present application.
FIG. 2 is a block diagram of a control device shown in the present application according to an exemplary embodiment.
Fig. 3 is a hardware configuration diagram of an electronic device in which a control apparatus according to an exemplary embodiment is shown.
Fig. 4A is a schematic structural diagram of a single manipulation device according to an exemplary embodiment of the present application.
Fig. 4B is a schematic structural diagram of a dual operation device according to an exemplary embodiment of the present application.
Fig. 5A is a schematic diagram of a steering system shown in the present application according to an exemplary embodiment.
Fig. 5B is a schematic diagram of another steering system shown in the present application according to an exemplary embodiment.
FIG. 6A is a schematic illustration of a water movable apparatus of the present application according to an exemplary embodiment.
FIG. 6B is a schematic illustration of another waters movable installation illustrated herein in accordance with an exemplary embodiment.
FIG. 6C is a schematic illustration of yet another water area movable apparatus of the present application according to an exemplary embodiment.
FIG. 6D is a schematic illustration of a water area movable apparatus of the present application according to another exemplary embodiment.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. The word "if" as used herein may be interpreted as "at" \8230; "or" when 8230; \8230; "or" in response to a determination ", depending on the context.
In order to overcome the problem that the applicable scenarios of the control device in the related art are limited, the present application proposes a control method applied to a single control device, where the single control device and a power device connected to a movable device in a water area can be connected to the same communication system to control the power device, and the single control device can be further connected to another single control device to form a dual control device, and when two single control devices are connected to the communication system, any single control device can generate a control signal for controlling the power device based on an operation command to the single control device. Therefore, the method and the device can be simultaneously suitable for scenes needing to use the single-machine control device and scenes needing to use the double-machine control device, the application range is widened, and different requirements of users can be met. In addition, only one installation groove for installing the double control devices is needed to be arranged in the movable equipment in the water area, so that the movable equipment is suitable for installing the single control device and the double control device at the same time, and installation grooves do not need to be respectively arranged for the single control device and the double control device.
Next, examples of the present application will be described in detail.
FIG. 1A is a flow chart of a control method for a single operator capable of accessing the same communication system as the power plant of a movable piece of water in accordance with an exemplary embodiment of the present application, as shown in FIG. 1A; the single control device can be spliced with another single control device to form a double control device, and the installation direction of the single control device is opposite to that of the other single control device; in the case where both the single manipulation device and the other single manipulation device directly access the communication system, the control method includes the steps of:
step 101, acquiring an operation instruction of a single control device;
102, generating a control signal corresponding to an operation instruction;
and 103, sending the control signal to the power device so that the power device operates based on the control signal.
It can be understood that, when only one single control device is used to control the movable equipment in the water area, the control process of the single control device to the power device is consistent with the above steps 101 to 103, and after the operation instruction to the single control device is obtained, a corresponding control signal is generated and sent to the power device to control the action of the power device. The installation direction may include a forward installation direction and a reverse installation direction. The front and back of the installation direction can be customized by a user, the difference between the front installation and the back installation lies in the difference of the installation angle, the back installation direction is rotated by a certain angle compared with the front installation direction, the rotation angle can be between 150 degrees and 210 degrees, for example, the rotation angle can be 150 degrees, 164 degrees, 180 degrees, 198.2 degrees, 210 degrees, etc. A joystick is generally disposed on the single control device, and as shown in fig. 1B, a front-mounted schematic view of a single control device according to an exemplary embodiment of the present application is shown, in which the joystick 120 is mounted on the right side of the single control device 110, facing the direction of the bow of the ship, as a front-mounted state; fig. 1C is a schematic reverse-mounted view of a single steering device according to an exemplary embodiment of the present application, wherein the joystick 120 is mounted in a direction facing aft on the left side of the single steering device 110.
The power plant may include a propulsion engine mounted to a movable device in the water, such as an outboard motor, an inboard motor, etc., and the control of the power plant may include adjusting the power (e.g., power, rotational speed, etc.) of the power plant, the rotational direction of a propeller of the power plant, the tilt angle of the power plant, etc.
The mode of the single control device accessing the communication system can be a wired connection or a wireless connection. In the case that the single control device and the other single control device are both connected to the communication system, the two single control devices may be connected to the communication system in the same or different manners, for example, both single control devices are connected to the communication system in a wireless connection manner, or one single control device is connected to the communication system in a wireless connection manner and the other single control device is connected to the communication system in a wired connection manner.
When the single control device is connected to the communication system in a wired connection mode, the communication system can be a bus system. By way of example, the bus system may be a CAN bus system, an RS485 bus system, etc., and is not limited herein.
In order to expand the functions of the operation device, the single operation device can correspond to a plurality of function modes and send different control signals to the power device under different function modes. When a single operator is used to control the power plant, the single operator is used to perform a function mode, such as a first function mode. When the double-control device is used for controlling the power device, the functional mode of each single-control device is determined based on the installation direction of the single-control device, and the corresponding functional modes in different installation directions are different.
In an embodiment of the application, the control method further includes identifying an installation direction of the single manipulation device, and determining a functional mode of the single manipulation device based on the installation direction of the single manipulation device. If the installation direction of the single control device is the first installation direction, the function mode of the single control device is the first function mode; if the installation direction of the single control device is the second installation direction, the function mode of the single control device is a second function mode different from the first function mode; wherein the first mounting direction is opposite to the second mounting direction. Wherein the first mounting direction may be set to a forward mounting direction, such as the aforementioned direction towards the bow of the vessel; the second mounting direction is set to a reverse mounting direction, for example the aforementioned direction towards the stern. The corresponding relationship between the installation direction and the function mode is customized by a user, for example, the installation direction of the single control device is used for executing the first function mode when the single control device is installed (the single control device is installed normally), the installation direction of the single control device is used for executing the second function mode when the single control device is installed reversely (the single control device is installed reversely), or the installation direction of the single control device is used for executing the first function mode when the single control device is installed reversely, and the installation direction of the single control device is used for executing the second function mode when the single control device is installed normally, which is not limited in the present application.
When the single control device comprises a plurality of functional modes, different functional modes can correspond to different control signals. Wherein the control signal may comprise one or more of: the control signal is used for controlling the power on and power off of the double control devices; a control signal for activating the dual control device to control the movable equipment in the water area; a control signal for controlling a heading and/or a position of the movable equipment in the water area; a control signal for adjusting the power of the power plant; a control signal for causing the single control device to control the water area movable apparatus in place of another single control device. In addition, other control signals can be used, and the control signals can be set by the user. It should be noted that the same control signal may be included in different function modes, for example, the control signal corresponding to the first function mode and the control signal corresponding to the second function mode include a control signal for causing the single control device to control the movable equipment of the water area instead of another single control device, but at least one of the control signals corresponding to the first function mode and the second function mode is different. In an embodiment of the present application, the control signals corresponding to the first functional mode include a control signal for controlling power on and power off of the dual operating device, a control signal for enabling the dual operating device to control the movable equipment of the water area, and a control signal for controlling a heading and/or a position of the movable equipment of the water area; the control signals corresponding to the second function mode include a control signal for adjusting the power of the power plant and a control signal for causing the single operator to control the movable equipment of the water area in place of another single operator.
The single control device is provided with function keys, and the function modes of the single control device comprise function modes corresponding to the function keys. In different functional modes, corresponding control signals can be generated by triggering the function keys.
The control rod on the single control device is used for controlling the moving direction of the water area movable equipment, the function mode of the single control device comprises the function mode of the control rod, and when the installation direction of the single control device is different, the rotation operation of the control rod along the same direction is used for controlling the water area movable equipment to move towards different moving directions. In an embodiment of the present application, when the installation direction of the single control device is the first installation direction, the functional mode of the joystick is: the operation of rotating the operating lever along the first direction is used for controlling the water area movable equipment to move forward, and the operation of rotating the operating lever along the second direction is used for controlling the water area movable equipment to move backward; when the installation direction of the single control device is the second installation direction, the function mode of the control lever is as follows: the rotation operation of the joystick in the second direction is for controlling the water area movable apparatus to move forward, and the rotation operation of the joystick in the first direction is for controlling the water area movable apparatus to move backward. The first direction for rotating the joystick may be clockwise or counterclockwise, and the second direction is opposite to the first direction.
The control lever can also be used for controlling the power of the power device, and when the control lever is rotated to different angles, the power of the corresponding power device is different. For example, when the installation direction of the single control device is the first installation direction, the operating lever pushes 30 degrees along the first direction, the power of the power device is adjusted to the first power, and the speed of the movable equipment in the water area is adjusted to the first speed; the operating rod pushes 60 degrees along the first direction, the power of the power device is adjusted to be second power, and the speed of the movable equipment in the water area is adjusted to be second speed; the joystick is pushed 90 degrees in a first direction, the power of the power plant is adjusted to a third power, the speed of the water movable device is adjusted to a third speed, the magnitudes of the first power, the second power, and the third power exhibit an increasing trend, and the magnitudes of the first speed, the second speed, and the third speed exhibit an increasing trend.
As shown in fig. 1D, which is a schematic view illustrating a rotation direction of a joystick when the single control device is installed according to an exemplary embodiment of the present application, the water movable apparatus moves forward when the joystick 120 is rotated in a first direction, and moves backward when the joystick is rotated in a second direction. Referring to fig. 1E, a schematic view of the direction of rotation of the joystick when the single control device is reversed is shown according to an exemplary embodiment of the present application, wherein the water movable apparatus moves forward when the joystick 120 is rotated in the second direction and moves backward when the joystick is rotated in the first direction.
The single control device comprises a function display unit used for displaying indication information used for indicating the function mode. It is understood that the indication information displayed by the function display unit is different in different function modes, and the function mode of the single control device is determined based on the installation direction, and the indication information displayed by the function display unit can also be determined based on the installation direction. In an embodiment of the application, the control method further includes identifying an installation direction of the single control device, and determining indication information to be displayed by the function display unit based on the installation direction of the single control device; wherein different installation directions correspond to different indication information. The determination function display unit is configured to display first indication information indicating a first function mode when the installation direction is a first installation direction, and to display second indication information indicating a second function mode when the installation direction is a second installation direction. In addition, since the two single manipulation devices spliced into the dual manipulation device are installed in opposite directions, the first indication information and the second indication information are displayed in opposite directions for the convenience of a user to view. It should be noted that, the display orientation is relative to the single manipulation device itself, and the display orientation of the indication information may be consistent with the installation direction of the single manipulation device. As shown in fig. 1F, which is a schematic diagram illustrating indication information display of a dual control device according to an exemplary embodiment of the present application, the single control device 111 is installed in a front manner, and a display direction of first indication information displayed on the function display unit 131 on the single control device is consistent with a front installation direction; the single control device 112 is reversely installed, and the display direction of the second indication information displayed by the function display unit 132 on the single control device is consistent with the reverse installation direction, and 120 is a joystick. In order to more clearly show the opposite display direction between the second indication information and the first indication information, fig. 1G shows that the single control device 112 is rotated to the forward direction, and the second indication information displayed on the function display unit 132 is displayed upside down, 120 is a joystick.
The area of the function display unit on the single control device and the area of the function key can be separated, for example, the function display unit can be located on any one of the upper, lower, left and right sides of the function key, as shown in fig. 1F, and the function display unit 131 in the single control device 111 is located on the left side of the function key 140. Alternatively, the area where the function display unit is located and the area where the function key is located at least partially overlap, and as shown in fig. 1H, the area where the function display unit 131 is located in the single manipulation device 111 partially overlaps with the area where the function key 140 is located. In different function modes, the relative positions of the area where the function display unit is located and the area where the function key is located may be the same or different.
The function display unit may be a display screen such as an LED, an OLED, an LCD, or an indicator light, which is not limited in this application. When the function display unit is the indicator light, in an embodiment of the application, a relative position between the function display unit and the function key in the first function mode is different from a relative position between the function display unit and the function key in the second function mode. For example, the function display unit is located on the left side of the function key in the first function mode, and the function display unit is located on the right side of the function key in the second function mode, which is not limited in this application.
In addition, the function display unit can also be used for displaying one or more of parameters of the single control device, parameters of the power device and parameters of the movable equipment in the water area, such as displaying the gear position (forward gear or reverse gear) of the operating lever of the single control device, displaying the rotating angle of the operating lever of the single control device, power of the power device, speed of the movable equipment in the water area and the like. When the single control device is installed in different directions, the display orientations of the parameter-related indication information are different. In one embodiment of the application, the indication information related to the parameter is displayed in the same direction as the installation direction of the single control device.
Each single control device is provided with a communication port for accessing a communication system, one or more communication ports may be provided, for example, the communication port may include a first connection port and a second connection port, both single control devices directly access the communication system through the communication port thereon, and the communication system includes a bus system. Taking a communication system as an example of a bus system, as shown in fig. 1I, a schematic diagram of a single control device spliced into a dual control device according to an exemplary embodiment of the present application is shown, the single control device 111 is installed and accesses the bus system through the first connection port 151, and the single control device 112 is installed reversely and also accesses the bus system through the first connection port 151. It should be noted that any of the above schematic diagrams are only examples and are not intended to limit the present application.
The single control device is provided with a gravity sensing device, and the installation direction of the single control device can be identified based on an output signal of the gravity sensing device. The gravity sensing means comprises at least an inertial measurement unit or a tilt switch, which may comprise a mercury switch. In the case where the gravity device is an inertial measurement unit, two parameter ranges may be preset, and when the output signal is within the first parameter range, the mounting direction of the single manipulation device is determined as the first mounting direction, and when the output signal is within the second parameter range, the mounting direction of the single manipulation device is determined as the second mounting direction. Determining the installation direction of the single control device as a first installation direction if the output signal indicates that the tilt switch is switched on, and determining the installation direction of the single control device as a second installation direction if the output signal indicates that the tilt switch is switched off; or, in the case that the gravity device is a tilt switch, determining the installation direction based on the on/off state of the tilt switch, determining the installation direction of the single control device to be the second installation direction if the output signal indicates that the tilt switch is on, and determining the installation direction of the single control device to be the first installation direction if the output signal indicates that the tilt switch is off. It can be understood that the installation position and angle of the manipulation device can be adaptively adjusted according to the type of the gravity sensing device used. For example, the mercury switch works on the principle that mercury flows by tilting the mercury switch to turn the switch on and off, and if the mercury switch is used as a gravity sensing device, a certain inclination angle needs to be formed between the installation plane of the single control device and the horizontal plane (the plane where the deck of the movable equipment in the water area is located).
In correspondence with the foregoing embodiment of the control method, the present application further provides a control apparatus, as shown in fig. 2, fig. 2 is a block diagram of a control apparatus 200 shown in the present application according to an exemplary embodiment, for a single-operation apparatus capable of accessing the same communication system as the power plant of the movable equipment of the water area; the single control device can be spliced with another single control device to form a double control device, and the installation direction of the single control device is opposite to that of the other single control device; the control device includes:
an obtaining module 210, configured to obtain an operation instruction for a single control device when the single control device and another single control device are directly accessed to a communication system;
a generating module 220, configured to generate a control signal corresponding to the operation instruction;
and a sending module 230, configured to send the control signal to the power apparatus, so that the power apparatus acts based on the control signal.
Optionally, in some embodiments of the control device of the present application, the control device further includes: the first identification module is used for identifying the installation direction of the single control device; the first determining module is used for determining the functional mode of the single control device based on the installation direction of the single control device; wherein the different functional modes correspond to different control signals.
Optionally, in some embodiments of the control device of the present application, if the installation direction of the single control device is the first installation direction, it is determined that the function mode of the single control device is the first function mode; and if the installation direction of the single control device is the second installation direction, determining that the functional mode of the single control device is a second functional mode different from the first functional mode.
Optionally, in some embodiments of the control device of the present application, the single control device includes a function key, and the function mode includes a function mode of the function key.
Optionally, in some embodiments of the control device of the present application, the control signal corresponding to the function mode of the function key includes at least one of: the control signal is used for controlling the power on and power off of the double control devices; a control signal for activating the double control device to control the movable equipment in the water area; a control signal for controlling a heading and/or a position of the movable equipment in the water area; a control signal for adjusting the power of the power plant; a control signal for causing the single control device to control the water area movable equipment in place of another single control device.
Optionally, in some embodiments of the control device of the present application, the single control device comprises a joystick, the joystick is used for controlling a moving direction of the water movable apparatus, and the function mode comprises a function mode of the joystick; when the installation directions of the single control devices are different, the rotation operation of the operating lever along the same direction is used for controlling the water area movable equipment to move towards different moving directions.
Optionally, in some embodiments of the control device of the present application, when the installation direction of the single control device is the first installation direction, the function mode of the joystick is: the operation of rotating the operating lever along the first direction is used for controlling the water area movable equipment to move forward, and the operation of rotating the operating lever along the second direction is used for controlling the water area movable equipment to move backward; when the installation direction of the single control device is the second installation direction, the function mode of the control lever is as follows: the operation of rotating the operating lever in the second direction is for controlling the water movable apparatus to move forward, and the operation of rotating the operating lever in the first direction is for controlling the water movable apparatus to move backward.
Optionally, in some embodiments of the control device of the present application, the single control device includes a function display unit, and the first identification module of the control device is further configured to identify an installation direction of the single control device; the first determining module of the control device is also used for determining the indicating information to be displayed by the function display unit based on the installation direction of the single control device; wherein different installation directions correspond to different indication information.
Optionally, in some embodiments of the control device of the present application, when the installation direction is a first installation direction, the determining function display unit is configured to display first indication information for indicating a first function mode, and when the installation direction is a second installation direction, the determining function display unit is configured to display second indication information for indicating a second function mode, where the first function mode is different from the second function mode.
Optionally, in some embodiments of the control device of the present application, the first indication information and the second indication information are displayed in opposite directions.
Optionally, in some embodiments of the control device of the present application, the indication information is displayed in the same orientation as the corresponding installation direction.
Optionally, in some embodiments of the control device of the present application, the single control device further includes a function key, and the area where the function display unit is located is spaced apart from the area where the function key is located; or the area of the function display unit is at least partially overlapped with the area of the function key.
Optionally, in some embodiments of the control device of the present application, the single control device further includes a function key, and a relative position between the function display unit and the function key in the first function mode is different from a relative position between the function display unit and the function key in the second function mode. Optionally, in some embodiments of the control device of the present application, a gravity sensing device is configured in the single control device, and the first identification module of the control device is further configured to identify an installation direction of the single control device based on an output signal of the gravity sensing device.
Optionally, in some embodiments of the control device of the present application, the gravity sensing device at least includes: an inertial measurement unit or a tilt switch.
Optionally, in some embodiments of the control device of the present application, the single control device accesses the communication system through a wired connection or a wireless connection, and the communication system includes a bus system.
The implementation process of the functions and actions of each module in the above device is specifically described in the implementation process of the corresponding step in the above method, and is not described herein again.
For the device embodiment, since it basically corresponds to the method embodiment, reference may be made to the partial description of the method embodiment for relevant points. The above-described embodiments of the apparatus are merely illustrative, and the modules described as separate components may or may not be physically separate, and the components displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of the application. One of ordinary skill in the art can understand and implement it without inventive effort.
Embodiments of the control apparatus in this document may be mounted on an electronic device. The device embodiments may be implemented by software, or by hardware, or by a combination of hardware and software. The software implementation is taken as an example, and as a logical device, the device is formed by reading corresponding computer program instructions in the nonvolatile memory into the memory through the processor and running the computer program instructions. From a hardware aspect, as shown in fig. 3, which is a hardware structure diagram of an electronic device 300 in which a control apparatus 331 is located in an embodiment of the present application, except for the processor 310, the memory 330, the network interface 320, and the nonvolatile memory 340 shown in fig. 3, the electronic device in which the control apparatus 331 is located in the embodiment may also include other hardware according to an actual function of the electronic device, which is not described again.
Correspondingly, the application also provides a single control device, and the single control device and the power device of the movable equipment in the water area can be accessed into the same communication system; the single control device can be spliced with another single control device to form a double control device, and the installation direction of the single control device is opposite to that of the other single control device; the single manipulation device comprises a control unit for performing the control method of any one of the method embodiments described above.
Optionally, in some embodiments of the single operating device of the present application, the single operating device further includes a base and an operating lever capable of rotating relative to the base, the single operating device is provided with a first wiring port and a second wiring port, the first wiring port and the second wiring port are mirror-symmetric with respect to a mirror surface, the mirror surface is perpendicular to a bottom surface of the base, and a rotation axis of the operating lever is located on the mirror surface.
Optionally, in some embodiments of the single operating device of the present application, the single operating device further includes a base, and a splicing portion is disposed on the base, and the splicing portion can be spliced with a splicing portion of another single operating device.
Optionally, in some embodiments of the single operating and controlling device of the present application, the splicing portion is provided with a limiting groove, the limiting groove is used for detachably adapting to a part of the splicing support, and another part of the splicing support is detachably adapted to a limiting groove of another single operating and controlling device.
Optionally, in some embodiments of the single operating device of the present application, the base, the connection port, the operating rod, and the splice are all mirror-symmetric with respect to the mirror surface. Under this kind of mode of setting up, two single controlling device concatenations form two controlling devices after, the asymmetric problem of two parts of two controlling devices can not appear, avoids producing the influence to user's operation and impression, and user's operation experience and impression are better.
As shown in fig. 4A, which is a schematic diagram of a single control device 401 shown in the present application according to an exemplary embodiment, a base 420 of the single control device is provided with a first wiring port 411 and a second wiring port 412, and the first wiring port 411 and the second wiring port 412 are mirror-symmetrical with respect to a mirror surface that is perpendicular to a bottom surface of the base 420, and a rotation axis of an operating lever 430 that rotates with respect to the base 420 is located on the mirror surface. The base is further provided with a limiting groove 440 which is used for being spliced with a splicing plate in the splicing part of another single control device.
In addition, the application also provides a double-control device, which comprises any one of the single-control devices, and the number of the single-control devices comprises two.
Optionally, in some embodiments of the dual operating device of the present application, the dual operating device further includes a splicing support, and the splicing portions of the two single operating devices are spliced by the splicing support.
As shown in fig. 4B, which is a schematic view of a dual operating device 402 according to an exemplary embodiment of the present application, two single operating devices 401 each have the structure shown in fig. 4A, a splicing bracket 450 can be received in a large limiting groove formed by combining the limiting grooves of the splicing parts of the two single operating devices, and a screw passes through the splicing bracket 450 and then penetrates through the bottom surface of the single operating device to realize splicing and fixing of the two single operating devices.
Optionally, in the spliced dual-control device, a gap exists between the two control levers to avoid interference of one control lever with the other control lever.
The present application further proposes a steering system, as shown in fig. 5A, which is a schematic diagram of a steering system 501 according to an exemplary embodiment of the present application, where the steering system 501 includes: a power plant 510 and a single operator 520 as described in any of the previous embodiments, the single operator 520 being in communication with the power plant 510.
As shown in fig. 5B, which is a schematic diagram of a steering system 502 according to an exemplary embodiment of the present application, the steering system 502 includes: a power plant 510 and a dual operation device 530 as described in any of the previous embodiments, the dual operation device 530 being in communication with the power plant 510.
The application also provides a waters movable equipment, waters movable equipment includes: a movable body and a single manipulation device as described in any of the previous embodiments, the single manipulation device being mounted to the movable body.
As shown in fig. 6A, which is a schematic diagram of a water movable apparatus 601 according to an exemplary embodiment of the present application, the water movable apparatus 601 includes: a movable body 6011 and a single manipulation device 610, the single manipulation device 610 is installed at the water movable apparatus 601.
The present application further provides another waters movable apparatus, the waters movable apparatus comprising: a movable body and a dual operation device as described in any of the previous embodiments, the dual operation device being mounted to the movable body.
As shown in fig. 6B, another illustrative embodiment of a water area movable apparatus 602 of the present application is shown, the water area movable apparatus 602 comprising: a movable body 6021 and a dual control device 620, wherein the dual control device 620 is mounted on the movable body 6021.
The present application further proposes another water area mobile device, the water area mobile device comprising: the mobile body, the power device, and the single control device of any of the foregoing embodiments, wherein the single control device is mounted to the mobile body, and the single control device is in communication with the power device.
As shown in fig. 6C, which is a schematic illustration of yet another water movable apparatus 603 of the present application according to an exemplary embodiment, water movable apparatus 603 comprises: a movable body 6031, a power device 630 and a single control device 610, the single control device 610 is mounted on the movable body 6031, and the single control device 610 is in communication with the power device 630.
The present application further proposes another water area mobile device, the water area mobile device comprising: the mobile body, the power device, and the dual operation device according to any of the embodiments described above, wherein the dual operation device is mounted on the mobile body, and the dual operation device is in communication with the power device.
As shown in fig. 6D, a schematic illustration of a water area movable apparatus 604 of the present application according to another exemplary embodiment is shown, the water area movable apparatus 604 comprising: a movable body 6041, a power device 630 and a dual operating device 620, the dual operating device 620 is mounted on the movable body 6041, and the dual operating device 620 communicates with the power device 630.
The movable equipment in the water area can be various water area vehicles such as commercial ships, passenger ships, yachts, fishing boats, sailing ships, civil ships and the like, can also be equipment which can move in the water area such as water area inspection equipment, water area treatment equipment, water area environment monitoring equipment and the like, and can also be equipment such as electric surfboards and electric paddles, and the application does not limit the equipment.
Accordingly, the present application also provides a computer-readable storage medium storing a computer program for instructing related hardware to perform the method according to any of the foregoing method embodiments.
The foregoing description has been directed to specific embodiments of this application. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It will be understood that the present application is not limited to the precise arrangements that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
The above description is only a preferred embodiment of the present application and should not be taken as limiting the present application, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (27)

1. A control method for a single operator, wherein the single operator is capable of accessing the same communication system as a power plant of a movable apparatus in a body of water; the single control device can be spliced with another single control device to form a double control device, and the installation direction of the single control device is opposite to that of the other single control device; the control method comprises the following steps:
when the single control device and the other single control device are directly accessed to the communication system, acquiring an operation instruction of the single control device;
generating a control signal corresponding to the operation instruction;
and sending the control signal to the power device so that the power device acts based on the control signal.
2. The control method according to claim 1, characterized by further comprising:
identifying an installation direction of the single manipulation device;
determining a functional mode of the single manipulation device based on an installation direction of the single manipulation device; wherein the different functional modes correspond to different control signals.
3. The control method of claim 2, wherein the determining the functional mode of the single manipulation device based on the installation direction of the single manipulation device comprises:
if the installation direction of the single control device is a first installation direction, determining that the function mode of the single control device is a first function mode;
and if the installation direction of the single control device is a second installation direction, determining that the functional mode of the single control device is a second functional mode different from the first functional mode.
4. The control method of claim 2, wherein the single manipulation device comprises a function key, and the function mode comprises a function mode of the function key.
5. The control method according to claim 4, wherein the control signal corresponding to the function mode of the function key comprises at least one of:
the control signal is used for controlling the power on and power off of the double control device;
a control signal for enabling the dual control device to control the water area movable equipment;
a control signal for controlling a heading and/or a position of the movable equipment in the water area;
a control signal for adjusting the power of the power plant;
a control signal for causing the single control device to control the water movable apparatus in place of the other single control device.
6. The control method of claim 2, wherein the single control device comprises a joystick for controlling a direction of movement of the water movable apparatus, the functional mode comprising a functional mode of the joystick;
when the installation directions of the single control device are different, the rotation operation of the operating lever along the same direction is used for controlling the water area movable equipment to move towards different moving directions.
7. The control method according to claim 6, wherein when the installation direction of the single manipulation device is the first installation direction, the functional mode of the joystick is: the control lever is rotated along a first direction to control the water area movable device to move forwards, and the control lever is rotated along a second direction to control the water area movable device to move backwards;
when the installation direction of the single control device is a second installation direction, the function mode of the operating lever is as follows: the operation of rotating the operating lever in the second direction is used to control the water movable apparatus to move forward, and the operation of rotating the operating lever in the first direction is used to control the water movable apparatus to move backward.
8. The control method of claim 1, wherein the single manipulation device comprises a function display unit, the control method further comprising:
identifying an installation direction of the single manipulation device;
determining indication information to be displayed by the function display unit based on the installation direction of the single control device; wherein different installation directions correspond to different indication information.
9. The control method according to claim 8, wherein when the mounting direction is a first mounting direction, it is determined that the function display unit is used to display first indication information indicating a first function mode, and when the mounting direction is a second mounting direction, it is determined that the function display unit is used to display second indication information indicating a second function mode, the first function mode being different from the second function mode.
10. The control method according to claim 9, wherein the first indication information and the second indication information are displayed in opposite directions.
11. The control method according to any one of claims 8 to 10, wherein the indication information is displayed in the same orientation as the installation direction corresponding thereto.
12. The control method according to any one of claims 8 to 10, wherein the single manipulation device further comprises a function key, and the area where the function display unit is located is spaced apart from the area where the function key is located;
or the area where the function display unit is located is at least partially overlapped with the area where the function key is located.
13. The control method according to claim 9 or 10, wherein the single manipulation device further comprises a function key, and a relative position of the function display unit and the function key in the first function mode is different from a relative position of the function display unit and the function key in the second function mode.
14. The control method according to claim 2, wherein a gravity sensing device is disposed in the single control device, and the identifying of the installation direction of the single control device comprises:
and identifying the installation direction of the single control device based on the output signal of the gravity sensing device.
15. The control method according to claim 14, wherein the gravity sensing means comprises at least: an inertial measurement unit or a tilt switch.
16. The control method according to claim 1, wherein the single manipulation device accesses the communication system by wired connection or wireless connection, the communication system including a bus system.
17. A control device for a single operator, wherein the single operator is capable of accessing the same communication system as a power plant of a movable apparatus in a body of water; the single control device can be spliced with another single control device to form a double control device, and the installation direction of the single control device is opposite to that of the other single control device; the control device includes:
the acquisition module is used for acquiring an operation instruction of the single control device when the single control device and the other single control device are directly accessed to the communication system;
the generating module is used for generating a control signal corresponding to the operation instruction;
and the sending module is used for sending the control signal to the power device so as to enable the power device to act based on the control signal.
18. A single control device, wherein said single control device is capable of accessing the same communication system as the power plant of the movable equipment in the body of water; the single control device can be spliced with another single control device to form a double control device, and the installation direction of the single control device is opposite to that of the other single control device; the single manipulation device comprises a control unit for performing the control method of any one of claims 1 to 16.
19. The single manipulation device of claim 18, further comprising a base and a manipulation lever rotatable with respect to the base, wherein the single manipulation device is provided with a first wiring port and a second wiring port, the first wiring port and the second wiring port are mirror-symmetric with respect to a mirror surface, the mirror surface is perpendicular to a bottom surface of the base, and a rotation axis of the manipulation lever is located on the mirror surface.
20. The single manipulation device of claim 18, further comprising a base, wherein a splice is provided on the base, wherein the splice is capable of being spliced to a splice of the other single manipulation device.
21. The single manipulation device according to claim 20, wherein the splicing portion is provided with a limiting groove for detachable fitting with a portion of the splicing bracket, and another portion of the splicing bracket is detachably fitted with the limiting groove of the other single manipulation device.
22. A dual operation device, comprising a single operation device as claimed in any one of claims 18 to 21, wherein the number of the single operation device comprises two.
23. The dual manipulator according to claim 22, further comprising a splice bracket through which the splices of the two single manipulators are spliced.
24. A steering system, comprising:
a power plant and a single operator device as claimed in any one of claims 18 to 21, the single operator device being in communication with the power plant; or
A power plant and the dual operation device of claim 22 or 23, the dual operation device being in communication with the power plant.
25. A water movable apparatus, comprising:
a movable body and a single manipulation device according to any one of claims 18 to 21, the single manipulation device being mounted to the movable body; or
A movable body and a dual manipulation device according to claim 22 or 23, mounted to the movable body.
26. A water area movable apparatus, comprising:
a movable body, a power plant and a single manipulation device according to any one of claims 18 to 21, the single manipulation device being mounted to the movable body, the single manipulation device being in communication with the power plant; or
A movable body, a power plant, and the dual operator device of claim 22 or 23, the dual operator device mounted to the movable body, the dual operator device in communication with the power plant.
27. A computer-readable storage medium storing a computer program for instructing associated hardware to perform the control method of any one of claims 1 to 16.
CN202211098319.3A 2022-09-08 2022-09-08 Control method, single/double control device, water area movable equipment and control system Active CN115437456B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211098319.3A CN115437456B (en) 2022-09-08 2022-09-08 Control method, single/double control device, water area movable equipment and control system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211098319.3A CN115437456B (en) 2022-09-08 2022-09-08 Control method, single/double control device, water area movable equipment and control system

Publications (2)

Publication Number Publication Date
CN115437456A true CN115437456A (en) 2022-12-06
CN115437456B CN115437456B (en) 2023-09-08

Family

ID=84246880

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202211098319.3A Active CN115437456B (en) 2022-09-08 2022-09-08 Control method, single/double control device, water area movable equipment and control system

Country Status (1)

Country Link
CN (1) CN115437456B (en)

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4801282A (en) * 1986-02-21 1989-01-31 Nissan Motor Co., Ltd. Remote control apparatus
JPH04193696A (en) * 1990-11-28 1992-07-13 Asahi Denso Kk Both rightward and leftward reversible operating lever
US5967867A (en) * 1997-04-10 1999-10-19 Honda Giken Kogyo Kabushiki Kaisha Controller for boat propelling device
US6280269B1 (en) * 2000-03-01 2001-08-28 Brunswick Corporation Operator display panel control by throttle mechanism switch manipulation
WO2007109827A1 (en) * 2006-03-28 2007-10-04 Aimbridge Pty Ltd Joining two lever housings by a sealing member
CN104210638A (en) * 2013-05-31 2014-12-17 卡特彼勒公司 Automatic thruster control of a marine vessel during sport fishing mode
KR20170058907A (en) * 2017-05-23 2017-05-29 주식회사 에이피에스 Auto pilot device for small boat outboard motor
CN210011873U (en) * 2019-04-16 2020-02-04 洛阳市黄河软轴控制器股份有限公司 Controller for ship
CN114263537A (en) * 2020-09-16 2022-04-01 广东逸动科技有限公司 Marine electronic throttle control device, control method and ship
CN216861798U (en) * 2022-03-23 2022-07-01 洛阳兴宇软轴控制器有限公司 Marine single-handle and double-handle switching device

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4801282A (en) * 1986-02-21 1989-01-31 Nissan Motor Co., Ltd. Remote control apparatus
JPH04193696A (en) * 1990-11-28 1992-07-13 Asahi Denso Kk Both rightward and leftward reversible operating lever
US5967867A (en) * 1997-04-10 1999-10-19 Honda Giken Kogyo Kabushiki Kaisha Controller for boat propelling device
US6280269B1 (en) * 2000-03-01 2001-08-28 Brunswick Corporation Operator display panel control by throttle mechanism switch manipulation
WO2007109827A1 (en) * 2006-03-28 2007-10-04 Aimbridge Pty Ltd Joining two lever housings by a sealing member
CN104210638A (en) * 2013-05-31 2014-12-17 卡特彼勒公司 Automatic thruster control of a marine vessel during sport fishing mode
KR20170058907A (en) * 2017-05-23 2017-05-29 주식회사 에이피에스 Auto pilot device for small boat outboard motor
CN210011873U (en) * 2019-04-16 2020-02-04 洛阳市黄河软轴控制器股份有限公司 Controller for ship
CN114263537A (en) * 2020-09-16 2022-04-01 广东逸动科技有限公司 Marine electronic throttle control device, control method and ship
CN216861798U (en) * 2022-03-23 2022-07-01 洛阳兴宇软轴控制器有限公司 Marine single-handle and double-handle switching device

Also Published As

Publication number Publication date
CN115437456B (en) 2023-09-08

Similar Documents

Publication Publication Date Title
US6325684B1 (en) Trolling motor steering control
US10358203B2 (en) Vessel display system and small vessel including the same
JP4313261B2 (en) Outboard motor control device
EP2907741B1 (en) Device for controlling outboard motor, method for controlling outboard motor, and program
CN104703876A (en) System for controlling ship, method for controlling ship, and program
JPWO2018179443A1 (en) Ship navigation assistance system
US20220374015A1 (en) Marine vessel propulsion control system and marine vessel
AU2019348982B2 (en) Bonded information display for marine vessels
JP4981871B2 (en) Ship steering device
JP2013230797A (en) Display apparatus
CN115437456B (en) Control method, single/double control device, water area movable equipment and control system
CN116438111B (en) Control method, single/double control device, water area movable equipment and control system
CN115465434A (en) Control method, single/double control device, water area movable equipment and control system
JP6911161B2 (en) Ship maneuvering support device and outboard motor
US20220382281A1 (en) Marine vessel propulsion control system and marine vessel
CN115562098B (en) Control method, single/double control device, water area movable equipment and control system
US11586207B1 (en) Marine propulsion system and method for preventing collision of marine propulsion devices
US20220169353A1 (en) System for and method of controlling watercraft
JP7026726B2 (en) Ship trim control device
US12091148B2 (en) System for and method of controlling watercraft
EP4365074A1 (en) Watercraft propulsion system, watercraft and watercraft propulsion control method
EP4357237A1 (en) Watercraft propulsion system, watercraft and watercraft propulsion control method
US20240150000A1 (en) Watercraft propulsion system, and watercraft including the watercraft propulsion system
US20240149998A1 (en) Watercraft propulsion system, and watercraft including the watercraft propulsion system
US20240132189A1 (en) Watercraft propulsion system, and watercraft

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant