CN115465434A

CN115465434A - Control method, single/double control device, water area movable equipment and control system

Info

Publication number: CN115465434A
Application number: CN202211098321.0A
Authority: CN
Inventors: 刘岳峰; 温振钊; 陶师正; 万小康
Original assignee: Guangdong ePropulsion Technology Co Ltd
Current assignee: Guangdong ePropulsion Technology Co Ltd
Priority date: 2022-09-08
Filing date: 2022-09-08
Publication date: 2022-12-13
Anticipated expiration: 2042-09-08
Also published as: CN115465434B

Abstract

The application provides a control method, a single/double control device, a water area movable device and a control system, wherein the control method is used for the single control device, and the single control device and a power device of the water area movable device can be connected 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 control method comprises the following steps: when the single control device and another single control device are accessed into the communication system together, acquiring an operation instruction of the single control device; 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 application 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

The water area movable equipment, such as a ship, is usually equipped with a steering wheel, a control device, a tiller and other control platforms, so that a driver can operate the control platforms 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.

In order to meet different requirements of users on the operating device, two different operating devices, namely a single-machine type operating device and a double-machine type operating device, exist in the related art. 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 of 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 control device capable of accessing the same communication system as a power plant of a movable equipment of a body of water and controlling power of the power plant; 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 accessed into the communication system together, 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 method for a single control device capable of accessing the same communication system as a power plant of a movable equipment of a body of water and controlling power of the power plant; the single control device can be spliced with another single control device to form a double control device, and the single control device and the other single control device work in different functional modes; the control method comprises the following steps:

when the single control device and the other single control device are accessed to the communication system together, acquiring an operation instruction of the single control device;

generating control signals corresponding to the operation instruction and the functional mode of the single control device;

sending the control signal to the power plant to cause the power plant to act based on the control signal.

According to a third aspect of embodiments of the present application, there is provided a control apparatus for a single operation and control apparatus, the single operation and control apparatus being capable of accessing a same communication system as a power apparatus of a movable equipment in a body of water and controlling power of the power apparatus; 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 accessed into the communication system together;

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 fourth aspect of the embodiments of the present application, there is provided a control apparatus for a single operation and control apparatus, the single operation and control apparatus being capable of accessing to the same communication system as a power apparatus of a movable equipment in a water area and controlling power of the power apparatus; the single control device can be spliced with another single control device to form a double control device, and the single control device and the other single control device work in different functional modes; the control device includes:

According to a fifth aspect of embodiments of the present application, there is provided a single control device capable of accessing the same communication system as a power plant of a movable equipment in a body of water and controlling power of the power plant; 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 method of the first aspect.

According to a sixth aspect of embodiments of the present application, there is provided a single control device capable of accessing the same communication system as a power plant of a movable equipment in a body of water and controlling power of the power plant; the single control device and the other single control device can be spliced to form a double control device, and the single control device and the other single control device work in different functional modes; the single manipulation device comprises a control unit for performing the method of the second aspect.

According to a seventh aspect of the embodiments of the present application, there is provided a dual manipulation apparatus, comprising the single manipulation apparatus of any one of the fifth aspect or the sixth aspect, wherein the number of the single manipulation apparatuses includes two.

According to an eighth aspect of embodiments of the present application, there is provided a steering system, including: a power plant and the single operator of any of the foregoing fifth or sixth aspects, the single operator in communication with the power plant; or, a power plant and the dual operation device of the seventh aspect, the dual operation device being in communication with the power plant.

According to a ninth aspect of embodiments herein there is provided a water area movable apparatus comprising: the single manipulation device of any one of the fifth or sixth aspects, wherein the single manipulation device is mounted to the movable body; alternatively, the dual manipulating device of the seventh aspect is mounted on the movable body.

According to a tenth aspect of an embodiment of the present application, there is provided a waters movable apparatus comprising: a power plant and the single control device of any one of the fifth or sixth aspects, wherein the single control device is mounted to the movable body; or, a power plant and the dual operation device of the seventh aspect, wherein the dual operation device is mounted on the movable body.

According to an eleventh aspect of embodiments herein, there is provided a computer-readable storage medium storing a computer program for instructing associated hardware to perform the control method of any one of the first or second aspects.

The technical scheme provided by the embodiment of the application can have the following beneficial effects:

the single control device applied by 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 to control the power device based on the communication system; 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 of the application illustrating the rotation direction of the joystick when the single manipulation device is being installed according to an exemplary embodiment.

Fig. 1E is a schematic view of a rotation direction of a joystick of a single control device according to an exemplary embodiment of the present application.

Fig. 1F is a schematic view of an 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 illustrating the splicing of a single manipulator into a dual manipulator according to an exemplary embodiment of the present application.

FIG. 1J is a schematic illustration of another single effector spliced into a dual effector according to an exemplary embodiment of the present application.

FIG. 1K is a flow chart illustrating another control method according to an exemplary embodiment of the present application.

FIG. 2A is a block diagram of a control device shown in the present application according to an exemplary embodiment.

FIG. 2B is a block diagram of another control device illustrated 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 located.

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 control 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 mobility apparatus illustrated in accordance with an exemplary embodiment of the present application.

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 another waters movement apparatus shown in 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 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 is to 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; \8230when" or "when 8230; \823030when" 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 provides a control method applied to a single control device, 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, when both the single control devices are connected to the communication system, any one of the single control devices can generate a control signal for controlling the power device based on an operation instruction for 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 position for installing the double control devices is required to be arranged in the movable water area equipment, so that the movable water area equipment can be simultaneously suitable for the installation of the single control device and the double control devices, and the installation positions do not need to be respectively set for the single control device and the double control devices.

Next, examples of the present application will be described in detail.

FIG. 1A is a flow chart of a control method, shown herein according to an exemplary embodiment, for a single control device capable of interfacing with a power plant of a movable installation of a body of water to the same communication system and for controlling power of the power plant; the single control device can be spliced with the other 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; under the condition that the single control device and the other single control device are both accessed into the communication system, the control method comprises the following steps:

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 mounting direction may include a forward mounting direction and a reverse mounting 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 is 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 wired connection or wireless connection. In the case that both the single manipulation device and the other single manipulation device access the communication system, the two single manipulation devices may access the communication system in the same or different manners, for example, both the two single manipulation devices access the communication system in a wireless connection manner, or one single manipulation device accesses the communication system in a wireless connection manner and the other single manipulation device accesses the communication system in a wired connection manner.

When the single control device is connected to the communication system in a wired connection manner, the communication system may 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 functional mode, such as a first functional 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 function modes, different function 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 equipment in place of another single control device. In addition, other control signals can be set by the user. It should be noted that the same control signal may be included in different functional modes, for example, the control signal corresponding to the first functional mode and the control signal corresponding to the second functional mode each include a control signal for causing the single control device to control the water movable equipment instead of another single control device, but at least one different control signal exists in the control signals corresponding to the first functional mode and the second functional mode. In an embodiment of the application, the control signals corresponding to the first function mode include a control signal for controlling power on and power off of the dual control device, a control signal for enabling the dual control device to control the movable equipment in the water area, and a control signal for controlling the course and/or position of the movable equipment in 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 operating lever on the single control device is used for controlling the moving direction of the movable equipment in the water area, the functional modes of the single control device comprise the functional modes of the operating lever, and when the installation direction of the single control device is different, the rotating operation of the operating lever in the same direction is used for controlling the movable equipment in the water area 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 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 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 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. The first direction for rotating the joystick may be clockwise or counterclockwise, and the second direction is opposite to the first direction.

The joystick can also be used to control the power of the power plant, and when the joystick is rotated to different angles, the power of the corresponding power plant 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 lever 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.

Referring to fig. 1D, a schematic view of the direction of rotation of the joystick when the single control device is being installed according to an exemplary embodiment of the present application is shown, wherein 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, because the two single operating and controlling devices spliced into the double operating and controlling device have opposite installation directions, the display directions of the first indication information and the second indication information are opposite for the convenience of the user to watch. 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 the display of the indication information of the dual control device according to an exemplary embodiment of the present application, the single control device 111 is installed in a front manner, and the display direction of the first indication information displayed by the function display unit 131 on the single control device is consistent with the 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 water area movable equipment, 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 water area movable equipment and the like. When the single manipulation 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 manipulation device.

In the case where two single manipulation devices are spliced into a double manipulation device, there are the following two splicing methods.

In one mode

Each single control device comprises a first connection port and a second connection port, wherein one single control device is directly connected to the communication system through the first connection port and is connected with the other single control device through the second connection port so that the other single control device is indirectly connected to the communication system, and the communication system comprises a bus system. Referring to fig. 1I, which is a schematic diagram illustrating a single control device spliced into a dual control device according to an exemplary embodiment of the present application, the single control device 111 is installed in a forward direction, is connected to a bus system through a first connection port 151, and is connected to the single control device 112 installed in a reverse direction through a second connection port 152, and the first connection port 151 of the single control device 112 is suspended.

In the mode, a single control device directly accessed to the communication system is a main single control device, and a control signal generated by the single control device is directly sent to the power device; the other single control device indirectly accessing the communication system is a secondary single control device, and the control signal generated by the secondary single control device is sent to the main single control device. The main single control device also needs to receive a control signal sent by another single control device (a secondary single control device) and forward the control signal sent by the other single control device to the power device.

In addition, the installation direction of the single control device is identified by judging whether the first wiring port of the single control device is connected to the communication system. If the first wiring port is accessed to the communication system, the installation direction is a first installation direction; if the first wiring port does not access the communication system, the installation direction is a second installation direction.

Mode two

Each single control device is provided with a communication port for accessing a communication system, one or more communication ports can be arranged, the two single control devices directly access the communication system through the communication ports on the single control devices, and the communication system comprises a bus system. Referring to fig. 1J, which is a schematic diagram of another single control device spliced into a dual control device according to an exemplary embodiment of the present application, the single control device 111 is installed in a forward direction and is connected to a bus system through a first connection port 151, and the single control device 112 is installed in a reverse direction and is also connected to 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.

And a gravity sensing device is configured in the single control device, and the installation direction of the single control device is identified based on the output signal of the gravity sensing device in the second mode. 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 the installation direction of the single manipulation device is determined to be the first installation direction when the output signal is within the first parameter range, and the installation direction of the single manipulation device is determined to be the second installation direction when the output signal is within the second parameter range. 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).

FIG. 1K is a flow chart of another control method, shown in accordance with an exemplary embodiment, for a single operator capable of interfacing with the power plant of the movable installation of the body of water, and for controlling the power of the power plant; the single control device can be spliced with another single control device to form a double control device, and the single control device and the other single control device work in different functional modes; in the case where both the single manipulation device and the other single manipulation device are accessed to the communication system, the control method includes the steps of:

105, acquiring an operation instruction of the single control device;

106, generating control signals corresponding to the operation instruction and the function mode of the single control device;

step 107, 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 of the water area, the control process of the single control device to the power device is consistent with the steps 105 to 107, after the operation command to the single control device is obtained, the control signal corresponding to both the operation command and the function mode of the single control device is generated, and the control signal is sent to the power device to control the action of the power device. The power device may include a propulsion engine mounted on a movable device in a water area, such as an outboard engine, an inboard engine, and the like, and the control of the power device may include adjusting power (such as power and rotating speed) of the power device, a rotating direction of a propeller of the power device, a tilting angle of the power device, and the like.

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.

The double-control device formed by splicing the two single-control devices with different function modes can widen the executable functions of the double-control device. The different functional modes may correspond to different control signals, wherein the control signals may include 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 set by the user.

It should be noted that the same control signal may be included in different function modes, for example, the function modes of the two single control devices are a first function mode and a second function mode, respectively, and the control signal corresponding to the first function mode and the control signal corresponding to the second function mode may both include a control signal for adjusting the power of the power device, but there is at least one different control signal in the control signals corresponding to the first function mode and the second function mode. In an embodiment of the application, the control signals corresponding to the first function mode include a control signal for controlling power on and power off of the dual control device, a control signal for enabling the dual control device to control the movable equipment in the water area, and a control signal for controlling the course and/or position of the movable equipment in the water area; the control signals corresponding to the first functional 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.

In order to remind the user of the functional mode type of the single control device, the single control device comprises a functional display unit for displaying indication information, and the control method further comprises the following steps: and determining indicating information to be displayed by the function display unit, wherein the indicating information corresponds to the function mode of the function key. If the function mode of the single control device is a first function mode, the function display unit is used for displaying first indication information for indicating the first function mode; if the function mode of the single control device is the second function mode, the function display unit is used for displaying second indication information used for indicating the second function mode, and the first function mode is different from the second function mode.

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, and the function display unit 131 in the single control device 111 shown in fig. 1F 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 installation directions of the two single control devices with different function modes can be the same or different, and under the condition that the installation directions of the two single control devices are opposite, before generating control signals corresponding to the operation instruction and the function modes of the single control device, the control method further comprises the following steps: and identifying the installation direction of the single control device, and determining the function mode of the single control device based on the installation direction of the single control device. The mounting direction may include a forward mounting direction and a reverse mounting 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 is 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 on the left side of the single steering device 110 in a direction facing aft.

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 function mode of the joystick is: the control lever is rotated along a first direction to control the water area movable equipment to move forwards, and the control lever is rotated along a second direction to control the water area movable equipment to move backwards; 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. 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 retro-fitting direction, for example the aforementioned direction towards the stern.

The operating lever can also be used for controlling the power of the power device, when the operating lever is rotated to different angles, the power of the corresponding power device is different, for example, when the installation direction of the single operating and controlling device is a 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.

In the case where the two single manipulation devices are installed in opposite directions, for convenience of viewing by a user, the control method further includes determining a display orientation of the indication information based on the installation direction of the single manipulation device, the display orientation of the indication information being the same as the installation direction, i.e., a display orientation of first indication information indicating the first function mode is opposite to a display orientation of second indication information indicating the second function mode. As shown in fig. 1F, which is a schematic diagram illustrating the display of the indication information of the dual control device according to an exemplary embodiment of the present application, the single control device 111 is installed in a front manner, and the display direction of the first indication information displayed by the function display unit 131 on the single control device is consistent with the installation direction; the single control device 112 is reversely installed, 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.

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 water area movable equipment, 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 water area movable equipment 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 manipulation device.

There are two splicing ways of splicing two single operation devices into a double operation device.

In a first mode

Each single control device comprises a first connection port and a second connection port, wherein one single control device is directly connected to the communication system through the first connection port and is connected with the other single control device through the second connection port so that the other single control device is indirectly connected to the communication system, and the communication system comprises a bus system. Referring to fig. 1I, which is a schematic diagram illustrating a single control device according to an exemplary embodiment of the present application spliced into a dual control device, the single control device 111 is installed and connected to a bus system through a first connection port 151, and is connected to the inverted single control device 112 through a second connection port 152, and the first connection port 151 of the single control device 112 is suspended.

In the first mode, a single control device directly connected to the communication system is a main single control device, and a control signal generated by the single control device is directly sent to the power device; the other single control device indirectly accessing the communication system is a secondary single control device, and the control signal generated by the secondary single control device is sent to the main single control device. The main single control device also needs to receive a control signal sent by another single control device (a secondary single control device) and forward the control signal sent by the other single control device to the power device.

In addition, the installation direction of the single control device is identified by judging whether the first port of the single control device is connected to the communication system. If the first wiring port is accessed to the communication system, the installation direction is a first installation direction; if the first wiring port does not access the communication system, the installation direction is a second installation direction.

Mode two

Each single control device is provided with a communication port for accessing a communication system, one or more communication ports can be arranged, the two single control devices directly access the communication system through the communication ports on the single control devices, and the communication system comprises a bus system. Referring to fig. 1J, which is a schematic diagram illustrating another single control device spliced into a dual control device according to an exemplary embodiment of the present application, the single control device 111 is installed in a forward direction and is connected to the bus system through the first connection port 151, and the single control device 112 is installed in a reverse direction and is also connected to the bus system through the first connection port 151.

And a gravity sensing device is configured in the single control device, and the installation direction of the single control device is identified based on the output signal of the gravity sensing device in the second mode. The gravity sensing device includes at least an inertial measurement unit or a tilt switch, which may include a mercury switch. In the case where the gravity device is an inertial measurement unit, two parameter ranges may be preset, and the installation direction of the single manipulation device is determined to be the first installation direction when the output signal is within the first parameter range, and the installation direction of the single manipulation device is determined to be the second installation direction when the output signal is within the second parameter range. 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 is required between the installation plane of two single operation devices and the horizontal plane (the plane of the deck of the movable equipment in the water area).

Corresponding to the embodiment of the aforementioned control method, the present application also provides a control device, as shown in fig. 2A, fig. 2A is a block diagram of a control device 200 shown in the present application according to an exemplary embodiment, for a single operation device, which can be connected to the same communication system as the power device of the movable equipment in the water area, and is used to control the power of the power device; 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: a first obtaining module 210, configured to obtain an operation instruction for a single control device when the single control device and another single control device access a communication system together; a first generating module 220, configured to generate a control signal corresponding to the operation instruction; and a first sending module 230 for sending the control signal to the power device so that the power device 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, 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 operating device is the first installation direction, it is determined that the function mode of the single operating 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 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 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 in 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 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.

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 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.

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, the single operating and controlling device includes a first connection port and a second connection port, the single operating and controlling device directly accesses the communication system through the first connection port, and is connected to another single operating and controlling device through the second connection port so that another single operating and controlling device indirectly accesses the communication system, and the communication system includes a bus system.

Optionally, in some embodiments of the control device of the present application, in a case that the single control device directly accesses the communication system through the first connection port and is connected to another single control device through the second connection port so as to enable another single control device to indirectly access the communication system, if the first connection port accesses the communication system, the installation direction is a first installation direction; if the first wiring port does not access the communication system, the installation direction is a second installation direction.

Optionally, in some embodiments of the control device of the present application, in a case where the single operating device directly accesses the communication system through the first connection port and is connected to another single operating device through the second connection port so that the another single operating device indirectly accesses the communication system, the control device further includes: the first receiving module is used for receiving a control signal sent by another single control device; and the first forwarding module is used for forwarding the control signal sent by the other single control device to the power device.

Optionally, in some embodiments of the control device of the present application, the single operating device and the other single operating device both directly access a communication system, and the communication system includes a bus system.

Optionally, in some embodiments of the control device of the present application, in a case that the single manipulation device and the other single manipulation device are both directly connected to the communication system, the single manipulation device is configured with a gravity sensing device, and the identifying of the installation direction of the single manipulation device includes: the installation direction of the single control device is identified based on the 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.

FIG. 2B is a block diagram of another control apparatus 201, shown in accordance with an exemplary embodiment of the present application, for a single control apparatus capable of interfacing with the power plant of the water area movable facility to the same communication system and for controlling the power of the power plant; the single control device can be spliced with another single control device to form a double control device, and the single control device and the other single control device work in different functional modes; the control device includes: a second obtaining module 240, configured to obtain an operation instruction for a single control device when the single control device and another single control device access the communication system together; a second generating module 250, configured to generate control signals corresponding to both the operation instruction and the functional mode of the single control device; and the second sending module 260 is used for sending the control signal to the power device so that the power device acts based on the control signal.

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 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.

Optionally, in some embodiments of the control device of the present application, the single control device includes a function display unit, and the control device further includes: and the second determining module is used for determining the indicating information to be displayed by the function display unit, and the indicating information corresponds to the function mode of the function key.

Optionally, in some embodiments of the control device of the present application, if the function mode of the single control device is the first function mode, the function display unit is configured to display first indication information for indicating the first function mode; if the function mode of the single control device is the second function mode, the function display unit is used for displaying second indication information used for indicating the second function mode.

Optionally, in some control embodiments of the present application, 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.

Optionally, in some embodiments of the control device of the present 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.

Optionally, in some embodiments of the control device of the present application, the single operating device and another single operating device are installed in opposite directions, and the control device further includes: the second identification module is used for identifying the installation direction of the single control device before the second generation module generates the control signals corresponding to the operation instruction and the functional mode of the single control device; the second determination module of the control device is also used for determining the functional mode of the single control device based on the installation direction of the single control device.

Optionally, in some embodiments of the control device of the present application, in case that the single manipulation device is installed in a direction opposite to that of another single manipulation device, the single manipulation device includes a joystick for controlling a moving direction of the water movable apparatus, and the function mode includes 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 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 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, the function display unit is configured to display indication information corresponding to the function mode, and in a case that the installation direction of the single control device is opposite to that of another single control device, the second determining module of the control device is further configured to determine a display orientation of the indication information based on the installation direction of the single control device, where the display orientation of the indication information is the same as the installation direction.

Optionally, in some embodiments of the control device of the present application, in a case that the single operating and controlling device is installed in a direction opposite to that of another single operating and controlling device, the single operating and controlling device includes a first connection port and a second connection port, the single operating and controlling device directly accesses the communication system through the first connection port, and is connected to another single operating and controlling device through the second connection port so that another single operating and controlling device indirectly accesses the communication system, and the communication system includes a bus system.

Optionally, in some embodiments of the control device of the present application, in a case where the single operating device directly accesses the communication system through the first connection port and is connected to another single operating device through the second connection port so that another single operating device indirectly accesses the communication system, if the first connection port accesses the communication system, the installation direction is a first installation direction; if the first wiring port does not access the communication system, the installation direction is a second installation direction.

Optionally, in some embodiments of the control device of the present application, in a case where the single operating device directly accesses the communication system through the first connection port and is connected to another single operating device through the second connection port so that the another single operating device indirectly accesses the communication system, the control device further includes: the second receiving module is used for receiving a control signal sent by another single control device; and the second forwarding module is used for forwarding the control signal sent by the other single control device to the power device.

Optionally, in some embodiments of the control device of the present application, in a case that the single manipulation device and the other single manipulation device are installed in opposite directions, both the single manipulation device and the other single manipulation device directly access the communication system, 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 embodiments, since they substantially correspond to the method embodiments, reference may be made to the partial description of the method embodiments for relevant points. The above-described embodiments of the apparatus are merely illustrative, and the modules described as separate parts may or may not be physically separate, and the parts 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 described herein may be installed on an electronic device. The apparatus 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 which can be connected with the power device of the movable equipment in the water area into the same communication system and is used for controlling the power of the power device; 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 any one of the method embodiments in case that the installation direction of the single manipulation device is opposite to the installation direction of another single manipulation device.

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 device of the present application, the splicing portion is provided with a limiting groove, the limiting groove is used for detachably adapting to a portion of the splicing bracket, and another portion of the splicing bracket is detachably adapted to a limiting groove of another single operating 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.

The application also provides another single control device, which can be connected to the same communication system with the power device of the movable equipment in the water area and is used for controlling the power of the power device; the single control device can be spliced with another single control device to form a double control device, and the single control device and the other single control device work in different functional modes; the single control device comprises a control unit, and the control unit is used for executing the control method of any one method embodiment under the condition that the single control device and another single control device work in different function modes.

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: the power plant 510 and the dual operation device 530 according to any of the embodiments, the dual operation device 530 is in communication with the power plant 510.

The present application also provides a water area movable apparatus, as shown in fig. 6A, which is a schematic view of a water area movable apparatus 601 according to an exemplary embodiment of the present application, the water area movable apparatus 601 includes: a movable body 6011 and a single manipulation device 610 as described in any one of the above, the single manipulation device 610 being mounted to the movable body 6011.

The present application further provides a water movable apparatus, as shown in fig. 6B, which is a schematic diagram of another water movable apparatus 602 according to an exemplary embodiment of the present application, the water movable apparatus 602 includes: the movable body 6021 and the dual control device 620 as described in any one of the above, wherein the dual control device 620 is mounted on the movable body 6021.

The present application also contemplates another water area movable apparatus, as shown in FIG. 6C, which is a schematic view of yet another water area movable apparatus 603 shown in the present application according to an exemplary embodiment, water area movable apparatus 603 comprising: a movable body 6031, a power device 630, and a single control device 610 as described in any of the above, the single control device 610 being mounted to the movable body 6031, the single control device 610 being in communication with the power device 630.

Another water movable apparatus is proposed in the present application, and fig. 6D is a schematic diagram of a water movable apparatus 604 according to another exemplary embodiment of the present application, the water movable apparatus 604 comprising: a movable body 6041, a power device 630, and a dual operator 620 as described in any of the above, the dual operator 620 being mounted to the movable body 6041, the dual operator 620 being in communication 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.

Correspondingly, the present application further provides a computer-readable storage medium, where a computer program is stored, where the computer program is used to instruct related hardware to implement the control method described in any one of the foregoing method embodiments.

The foregoing description of specific embodiments of the present application has been presented. 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 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 exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A control method is used for a single control device, and is characterized in that the single control device can be connected with a power device of a movable device in a water area into the same communication system and is used for controlling the power of the power device; 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:

generating a control signal corresponding to the operation instruction;

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, 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 area 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 a first installation direction, the functional mode of the joystick is: the operation of rotating the operating lever in a first direction is used for controlling the water area movable equipment to move forward, and the operation of rotating the operating lever in a second direction is used for controlling the water area movable equipment to move backward;

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 the installation direction of the single control 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 is displayed in an opposite direction to the second indication information.

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. A control method is used for a single control device, and is characterized in that the single control device can be connected with a power device of a movable device in a water area into the same communication system and is used for controlling the power of the power device; the single control device can be spliced with another single control device to form a double control device, and the single control device and the other single control device work in different functional modes; the control method comprises the following steps:

15. The control method according to claim 14, wherein the single manipulation device comprises a function key, and the function mode comprises a function mode of the function key.

16. The control method according to claim 15, wherein the control signal corresponding to the function mode of the function key comprises at least one of:

a control signal for controlling the power-on and power-off of the dual manipulating device,

a control signal for enabling the dual control device to control the water area movable equipment,

a control signal for adjusting the power of the power plant;

17. The control method of claim 15, wherein the single manipulation device comprises a function display unit, the control method further comprising:

and determining the indication information to be displayed by the function display unit, wherein the indication information corresponds to the function mode of the function key.

18. The control method according to claim 17, wherein if the function mode of the single control device is a first function mode, the function display unit is configured to display first indication information for indicating the first function mode;

if the function mode of the single control device is a second function mode, the function display unit is used for displaying second indication information used for indicating the second function mode, and the first function mode is different from the second function mode.

19. The control method according to claim 17 or 18, wherein the area where the function display unit is located is spaced apart from the area where the function key is located;

20. The control method according to claim 18, wherein 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.

21. The control method according to claim 14, wherein the single manipulation device and the another single manipulation device are installed in opposite directions, and before generating the control signal corresponding to the operation command and the function mode of the single manipulation device, the control method further comprises:

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.

22. The control method of claim 21, 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 rotating operation of the operating lever along the same direction is used for controlling the water area movable equipment to move towards different moving directions.

23. The control method of claim 22, wherein when the installation direction of the single manipulation device is the first installation direction, the functional mode of the joystick is: the operation of rotating the operating lever in a first direction is used for controlling the water area movable equipment to move forward, and the operation of rotating the operating lever in a 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 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.

24. The control method according to claim 21, wherein the single manipulation device includes a function display unit for displaying indication information corresponding to the function mode, the control method further comprising:

determining a display orientation of the indication information based on an installation direction of the single manipulation device, the display orientation of the indication information being the same as the installation direction.

25. The control method according to any one of claims 2, 8 and 21, wherein the single operating device comprises a first connection port and a second connection port, the single operating device directly accesses the communication system through the first connection port and is connected with the other single operating device through the second connection port so as to indirectly access the communication system through the other single operating device, and the communication system comprises a bus system.

26. The control method of claim 25, wherein the identifying the installation direction of the single manipulation device comprises:

if the first wiring port is accessed to the communication system, the installation direction is a first installation direction;

and if the first wiring port is not accessed into the communication system, the installation direction is a second installation direction.

27. The control method according to claim 25, characterized by further comprising:

receiving a control signal sent by the other single control device;

and forwarding the control signal sent by the other single control device to the power device.

28. The control method according to any one of claims 2, 8 and 21, wherein the single operating device and the other single operating device each have direct access to the communication system, the communication system comprising a bus system.

29. The control method of claim 28, wherein a gravity sensing device is disposed in the single control device, and the identifying 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.

30. The control method according to claim 29, wherein the gravity sensing means comprises at least: an inertial measurement unit or a tilt switch.

31. The control method according to claim 1 or 14, wherein the single operator control device accesses the communication system through a wired connection or a wireless connection.

32. A control device for a single operator, wherein the single operator is capable of interfacing with a power plant of a movable installation in a body of water, and controlling power of the power plant; 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:

33. A control device is used for a single control device, and is characterized in that the single control device can be connected with a power device of a movable device in a water area into the same communication system and is used for controlling the power of the power device; the single control device can be spliced with another single control device to form a double control device, and the single control device and the other single control device work in different functional modes; the control device includes:

the generating module is used for generating control signals corresponding to the operation instruction and the functional mode of the single control device;

34. A single control device, wherein the single control device is capable of interfacing with a power plant of a movable apparatus in a body of water into the same communication system and is configured to control power of the power plant; 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 1-13, 25-31.

35. A single control device, characterized in that the single control device can be connected with a power device of a movable device in a water area to the same communication system and is used for controlling the power of the power device; the single control device and the other single control device can be spliced to form a double control device, and the single control device and the other single control device work in different functional modes; the single manipulation device comprises a control unit for performing the control method of any one of claims 14 to 31.

36. The single manipulation device according to claim 34 or 35, 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 which are mirror-symmetric with respect to a mirror surface perpendicular to a bottom surface of the base, and a rotation axis of the manipulation lever is located on the mirror surface.

37. The single manipulation device of claim 34 or 35, further comprising a base on which is disposed a splice, the splice being capable of being spliced to a splice of the other single manipulation device.

38. The single manipulation device of claim 37, wherein the splicing portion is provided with a limiting groove for detachable fitting with a portion of a splicing bracket, and another portion of the splicing bracket is detachably fitted with a limiting groove of the other single manipulation device.

39. A dual operation device comprising a single operation device as claimed in any one of claims 34 to 38, wherein the number of the single operation device comprises two.

40. The dual manipulator device according to claim 39, further comprising a splice tray through which splices of the two single manipulator devices are spliced.

41. A steering system, comprising:

a power plant and a single operator device according to any one of claims 34 to 38, the single operator device being in communication with the power plant; or

A power plant and the dual operator device of claim 39 or 40 in communication with the power plant.

42. A water movable apparatus, comprising:

a movable body and a single manipulation device of any one of claims 34 to 38 mounted to the movable body water movable apparatus; or

A movable body and the dual manipulating apparatus of claim 39 or 40, the dual manipulating apparatus being mounted to the movable body water movable equipment.

43. A water area movable apparatus, comprising:

a movable body, a power plant and a single operator control device as claimed in any one of claims 34 to 38 mounted to the movable body water movable apparatus, the single operator control device being in communication with the power plant; or

A movable body, a power plant, and the dual operation device of claim 39 or 40, the dual operation device mounted to the movable body water movable apparatus, the dual operation device in communication with the power plant.

44. 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 31.