CN116583792A - Control device and system, water area movable equipment, method and storage medium - Google Patents
Control device and system, water area movable equipment, method and storage medium Download PDFInfo
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- CN116583792A CN116583792A CN202280006334.2A CN202280006334A CN116583792A CN 116583792 A CN116583792 A CN 116583792A CN 202280006334 A CN202280006334 A CN 202280006334A CN 116583792 A CN116583792 A CN 116583792A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 51
- 238000000034 method Methods 0.000 title claims abstract description 44
- 238000003860 storage Methods 0.000 title claims abstract description 9
- 238000009434 installation Methods 0.000 claims abstract description 104
- 230000036544 posture Effects 0.000 claims description 110
- 230000005484 gravity Effects 0.000 claims description 11
- 238000005259 measurement Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 14
- 230000003044 adaptive effect Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 3
- 230000003993 interaction Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- QSHDDOUJBYECFT-UHFFFAOYSA-N mercury Chemical compound [Hg] QSHDDOUJBYECFT-UHFFFAOYSA-N 0.000 description 2
- 229910052753 mercury Inorganic materials 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- User Interface Of Digital Computer (AREA)
Abstract
The application provides a control device, a control system, water area movable equipment, a method for controlling the control device and a storage medium. The control device comprises a display unit and a control unit, wherein the display unit is preset with a plurality of display modes, and the control unit is used for controlling the display unit to execute the display modes matched with the installation posture of the control device.
Description
Technical Field
The present application relates to the field of equipment control technologies, and in particular, to a control device, a control system, a water area movable device, a method for controlling the control device, and a storage medium.
Background
The device is usually provided with a manipulation means by which the user can control the device. The control device in the related art can only provide one display mode, and has limited applicable scenes.
Disclosure of Invention
In view of the above, it is an object of the present application to provide a control device, a water movable apparatus, a method for controlling the control device, and a storage medium.
According to a first aspect of an embodiment of the present application, there is provided a manipulation device adapted to a plurality of installation postures, the manipulation device including a display unit and a control unit, the display unit being preset with a plurality of display modes, the control unit being configured to control the display unit to execute the display mode adapted to the installation posture of the manipulation device.
According to a second aspect of an embodiment of the present application, there is provided a manipulation system comprising: a power device; and the control device of the first aspect is connected with the power device.
According to a third aspect of embodiments of the present application, there is provided a water area movable apparatus, including a body and the control device according to the first aspect, the control device being combined with the body.
According to a fourth aspect of embodiments of the present application, there is provided a water area movable apparatus, comprising a body and the control system of the third aspect, the control system being combined with the body.
According to a fifth aspect of embodiments of the present application, there is provided a method of controlling a manipulation device adapted to a plurality of installation postures, the manipulation device including a display unit preset with a plurality of display modes, the method comprising: and controlling the display unit to execute a display mode adapted to the installation posture of the control device.
According to a sixth aspect of embodiments of the present application, there is provided a computer-readable storage medium having stored thereon a program which, when executed by a processor, implements the operations in the method of controlling a steering device as described in the fifth aspect.
The technical scheme provided by the embodiment of the application can comprise the following beneficial effects:
the control device in the embodiment of the application comprises a display unit and a control unit, wherein the display unit is preset with a plurality of display modes, and the control unit is used for controlling the display unit to execute the display modes which are matched with the installation posture of the control device. Therefore, the control device provided by the embodiment of the application is suitable for various installation postures, and the same product can be suitable for the use requirements of different devices and the use habits of different users.
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 as claimed.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort to a person skilled in the art.
FIG. 1 is a block diagram of a steering device according to an exemplary embodiment of the present application;
FIG. 2 is a schematic diagram of a key function set of a manipulator in one of its installed orientations, according to an exemplary embodiment of the present application;
FIG. 3A is a schematic diagram showing a conversion relationship between a key function set of a control device in two different installation postures according to an exemplary embodiment of the present application;
FIG. 3B is a schematic diagram of a key function set of a manipulating device according to the exemplary embodiment of FIG. 3A, the manipulating device being mounted in a different posture from that of FIG. 2;
FIG. 4A is a schematic diagram showing another conversion relationship of the key function set of the operating device in two different installation postures according to another exemplary embodiment of the present application;
FIG. 4B is a schematic illustration of a key function set of another operator control device according to the exemplary embodiment of FIG. 4A, the operator control device being mounted in a different orientation than FIG. 2;
FIG. 5A is a schematic diagram showing still another conversion relationship of the key function set of the operating device in two different installation postures according to still another exemplary embodiment of the present application;
FIG. 5B is a schematic illustration of a key function set with a steering device according to the exemplary embodiment of FIG. 5A, the steering device being mounted in a different orientation than that of FIG. 2;
FIG. 6A is a schematic diagram of one of the steering modes of the steering device according to an exemplary embodiment of the present application;
FIG. 6B is a schematic diagram of another mode of manipulation of a manipulation device according to an exemplary embodiment of the present application;
FIG. 7 is a schematic diagram of an accelerometer showing an inertial measurement unit according to an exemplary embodiment of the application;
FIG. 8 is a schematic view of a steering device according to an exemplary embodiment of the present application;
FIG. 9 is a schematic view of the mounting direction of an accelerometer of an inertial measurement unit in the steering device shown in the exemplary embodiment of FIG. 8 according to the present application;
FIG. 10 is a schematic view of a steering device according to an exemplary embodiment of the present application;
FIG. 11 is a schematic diagram of a steering system according to an exemplary embodiment of the present application;
FIG. 12 is a schematic diagram of a water area mobile device according to an exemplary embodiment of the present application;
fig. 13 is a schematic view of another water area mobile device according to another exemplary embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
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 specification 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 or all possible combinations of one or more of the associated listed items.
It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, these information should not be limited by 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 application. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "responsive to a determination", depending on the context.
The embodiments of the present application will be described in detail.
The device is usually provided with a manipulation means by which the user can control the device. The control device in the related art cannot generally adapt to various installation modes, provides various display modes in an adaptive manner, and has limited application scenes.
Based on this, the present application provides a manipulation apparatus 100 adapted to a plurality of installation postures, as shown in fig. 1, fig. 1 is a block diagram of a manipulation apparatus 100 according to an exemplary embodiment of the present application, the manipulation apparatus 100 includes a control unit 101 and a display unit 102, the display unit 102 is preset with a plurality of display modes, and the control unit 101 is configured to control the display unit 102 to execute the display mode adapted to the installation posture of the manipulation apparatus 100.
In some scenarios, the manipulation device 100 may have multiple mounting postures, and the orientations of the manipulation device 100 may be different in different mounting postures, so as to adapt to different mounting postures, and in different display modes, the orientations of the identification patterns displayed by the display unit 102 may be different. In addition, as an example, the orientation of the identification pattern may be the same as the orientation of the manipulation device 100 in the installation posture.
It will be appreciated that the effect of the identification pattern is to prompt the user so that the orientation of the identification pattern should be consistent with the orientation of the user to facilitate the user's use of the steering apparatus 100 in accordance with the identification pattern, e.g. when the device is in a driving position, the orientation of the identification pattern may be fixed in the same direction as the orientation of the driving position. That is, when the direction of the manipulation device 100 is the same as the direction of the user, the direction of the identification pattern may be the same as the direction of the manipulation device 100, and in other cases, the direction of the identification pattern may be different from the direction of the manipulation device 100. Since the display unit 102 is mounted on the manipulation device 100, when the orientation of the manipulation device 100 is changed, the identification pattern displayed by the display unit 102 is also changed with the manipulation device 100.
According to one embodiment of the present disclosure, the mounting gestures may include a first mounting gesture and a second mounting gesture, the steering device 100 being oriented in a first direction when in the first mounting gesture; when in the second posture, the first direction is opposite to the second direction.
Corresponding to the installation posture, the display modes can also comprise a first display mode and a second display mode, and the identification pattern faces to the first direction in the first display mode; in the second display mode, the identification pattern faces a second direction.
For convenience of description, the manipulation device 100 of the first and second mounting postures in the above embodiment may be distinguished by a front mounting and a reverse mounting, and different display modes may be distinguished by a front display mode and a reverse display mode.
It should be understood that the forward mounting and reverse mounting are relative concepts, and if the first direction is considered to be the forward mounting direction, the operation device 100 mounted toward the first direction is the forward mounting device, and at this time, the second direction opposite to the first direction is the reverse mounting direction, and the operation device 100 mounted in the second direction is the reverse mounting device; and vice versa. Any one of the fixed mounting orientations should not be determined to be either the forward or reverse orientation to limit the present application. Accordingly, the positive display and the reverse display are also a relative concept, and the display mode adapted to the positive assembly is the positive display mode and the display mode adapted to the reverse assembly is the reverse display mode.
It should be noted that the first direction being opposite to the second direction may be understood that the steering device 100 facing the second direction is rotated clockwise or counterclockwise relative to the steering device 100 facing the first direction by a predetermined angle, and the predetermined angle may have a value in a range of [150 °,210 ° ], for example, the predetermined angle may be 150 °, 172 °, 180 °, 194.6 °, 200 °,210 °, or the like.
In order to facilitate the operation of the device, the operation device 100 may further have a function key set 103, and further, the display mode may also be adapted to the function of the function key set 103. The following embodiments illustrate the changes that occur to the control device 100 and the function key group 103 in the forward and reverse mounted states. For convenience of description, the following embodiments and the first direction of fig. 2-5B are all forward directions, which represent directions from the B end to the a end; the second direction is the reverse direction and represents the direction from the A end to the B end. Fig. 2 shows an exemplary key function set of the control device 100 in the normal state, comprising three function keys: key 1031, active; key 1032, hold; key 1033, power. It will be appreciated that the control device 100 may include one or more keys thereon, and the present application is not limited to the number of keys on the control device. The keys may be physical keys or virtual keys displayed by a display screen or the like, and the application is not limited to the specific form of the keys.
In the above embodiment, the Active is an activation key, and when there are multiple consoles on the device, each console may include an operation device, where the operation device may be the operation device 100 disclosed in the present application, or may be a dual operation device formed by splicing two operation devices 100. The console can be switched by pressing the Active key, so that the console to which the control device 100 or the dual control device belongs can obtain control rights. Hold is a Hold key for direction and/or position Hold. Power is a Power key. It should be understood that the three keys are merely exemplary, and the control device may include one or more of the three keys, or may not include any of the above keys, and the keys of the key function group should not be regarded as limiting the present application, and accordingly, the present application also does not limit the functions that can be implemented by the key function group.
According to an embodiment of the present application, the control unit 101 may change the manipulation device 100 in the normal state shown in fig. 2 to the reverse state by adjusting the manipulation mode and the display mode, and the manipulation device 100 before and after adjustment may be as shown in fig. 3A. At this time, as shown in fig. 3B, in the reverse installation state, the functions of the function key group 103 of the operation device 100 are unchanged in the two installation postures of the forward installation and the reverse installation, and the order of the key group in the first direction is changed.
It should be noted that, the left view of fig. 3A is a view of the operating device 100 when it is being assembled, fig. 3B is a view of the operating device 100 when it is being assembled reversely, and the right view of fig. 3A is a view of fig. 3B rotated 180 ° clockwise, which is used for comparison with the left view of fig. 3A, so as to highlight the difference between the operating device 100 in the two states of being assembled and reversely. The right diagram of fig. 4A and the right diagram of fig. 5A in the following are similar in function, and are not repeated.
According to another embodiment of the present application, the control device 100 before and after adjustment may also be as shown in fig. 4A. At this time, as shown in fig. 4B, in the reverse mounting state, the functions of the function key group 103 of the control device 100 are unchanged in the two mounting postures of the forward mounting and the reverse mounting, and the order in the first direction is unchanged.
According to a further embodiment of the present application, the control device 100 before and after adjustment may also be as shown in fig. 5A. At this time, as shown in fig. 5B, the functions of the keys of the control device 100 in the reverse mounting state are changed in the function key group 103 of the control device 100 in both the forward and reverse mounting states (in the figure, the key 1041Active is 1044Dock is taken as an example). Fig. 5A shows that a part of the functions of the function key set 103 of the control device 100 is changed, and in other embodiments, after the installation posture of the control device 100 is changed, all the functions of the function key set 103 of the control device 100 may be changed. Wherein Dock is a power limited key. When the joystick 105 is turned to the maximum angle (i.e., the throttle value is the maximum throttle value) after the key is pressed, the corresponding power is: in the power-unlimited state, the lever 105 rotates to 50% of the power value corresponding to the maximum angle (i.e., the throttle value is the maximum throttle value). It should be noted that 50% is only an example, and the value may be 20%, 30%, 60%, 85%, or the like, which is not limited herein.
Based on the above three embodiments, the present application is not limited to the respective functions and sequences of the key function groups of the control device 100 in the forward and reverse installation states, and those skilled in the art can consider how to set the functions of the key function groups according to the actual situation, and the above Active, hold, power, dock keys and the corresponding functions cannot be used to limit the present application.
In order to further facilitate the use of the user, the display unit 102 of the operating device 100 may further include an indicator light set 104, where after the indicator light set 104 is turned on, an identification pattern (in the drawing, the indicator light sets 1041-1044 corresponding to the keys 1031-1034 are taken as an example) shown in a dashed box of any one of fig. 2-5B may be formed, so as to indicate the function of each key for the user. To accommodate different mounting attitudes of the operating device 100, a plurality of sets of indicator lights may be provided, each adapted to one mounting attitude, the number of indicator lights in one set of indicator lights 104 corresponding to the number of function keys in the set of function keys 103.
It will be appreciated that the positions of the dashed boxes in the different display modes are shown in fig. 3A, 4A and 5A by way of example only, and that the positions between the two sets of indicator lights may be arranged differently so that the positions of the identification patterns relative to the keys are different in the different mounting positions. For example, for an "Active" key, the set of indicator lights 104A may be illuminated in a forward display mode so that the identification pattern is on one side of the key, and another set of indicator lights 104B may be illuminated in a reverse display mode so that the identification pattern is on the other side of the key. The application is not limited to the specific location of the set of indicator lights 104 in the different display modes.
Further, according to an embodiment of the present application, the positional relationship of the display unit 102 and the function key group 103 may be: the display area of the display unit 102 at least partially overlaps with the area where the function key group 103 is located; it may also be: the display area of the display unit 102 is spaced apart from the area where the function key group 103 is located. That is, the relative positional relationship between the indicator light assembly 104 and the function key is not limited in the present application.
When the controlled device of the control device 100 is a water movable device such as a ship, the control device 100 may further include a control lever 105, and the control lever 105 may be used to control a traveling direction of the water movable device. In the related art, the control device usually has only one installation mode, so that the control lever also has only one control mode, and for the same user with a plurality of devices of the same type, different control devices are required to be selected according to own habits, the construction of each device and other factors, which is time-consuming and labor-consuming; for manufacturers of such devices, in order to adapt to the habits of different users, various types of levers need to be designed to meet the requirements of different users, which is also a burden for the manufacturers.
Unlike the related art, as an embodiment, the joystick 105 in the present application may be preset with various operation modes such as a forward mode and a reverse mode corresponding to different installation postures such as forward installation and reverse installation, and in actual use, the control unit 101 may configure the operation mode for the joystick 105 that matches the installation posture of the operation device 100.
For example, with the direction from the B end to the a end being the forward direction, the steering device 100 with the joystick 105 can be forward mounted as shown in fig. 2. The first manipulation mode that is being fitted may be as shown in fig. 6A, where: the joystick 105 is moved in a first direction in the figure to control the water movable apparatus to travel in a first designated direction and is moved in a second direction to control the water movable apparatus to travel in a second designated direction.
Accordingly, a second manipulation mode adapted to the reverse fitting may be as shown in fig. 6B, in which: the joystick 105 controls the water movable apparatus to travel in the second prescribed direction when moving in the first direction, and controls the water movable apparatus to travel in the first prescribed direction when moving in the second direction.
As an example, controlling the water movable apparatus to travel in the first designated direction may be controlling the water movable apparatus to advance, and controlling the water movable apparatus to travel in the second designated direction may be controlling the water movable apparatus to retract.
Thus, the control device 100 disclosed by the application can adaptively adjust the display mode and the control mode based on the current installation posture, so that the control device 100 can adapt to various installation postures, and one product can meet most of demands of users. After the operation device 100 is installed, before the display mode and the operation mode are adjusted, the user can manually input a configuration command to enable the operation device 100 to adjust the display mode and the operation mode according to the configuration command of the user; the control device 100 may automatically recognize the current installation posture, and adjust the display mode and the control mode based on the recognition result.
According to an embodiment of the present application, the display unit 102 of the manipulation device 100 may use a device having a man-machine interaction function, such as a touch screen, as the display unit or a part of the display unit, so that a configuration instruction input by a user may be accepted through the display unit 102, so that the control unit 101 controls the display unit 102 to execute a corresponding display mode based on the configuration instruction.
According to another embodiment of the present application, the control device 100 may also be communicatively connected to a display module, which may be, for example, a display module mounted on a controlled device. Taking a ship as an example, the control device 100 may communicate with a display module such as a central control screen on the ship through a bus, and a user may input a configuration instruction to the control device 100 through other devices on the ship, so that the control unit 101 of the control device 100 controls the display unit 102 to execute a corresponding display mode based on the configuration instruction.
As can be seen from the foregoing embodiments, the control device 100 may further include a function key group 103, and the control unit 101 may further control the display unit 102 to execute a display mode adapted to both the function of the function key group 103 and the installation posture of the control device 100. Also, the functions of the function key group 103 may be triggered by a configuration instruction of the user, and thus, the configuration instruction may indicate not only what display mode is executed but also parameters of how to set the keys of the function key group 103. After receiving the configuration instruction, the control device 100 may further configure a corresponding function for the function key group 103, and control the display unit 102 to execute a display mode adapted to both the function of the function key group 103 and the installation posture of the control device 100.
When the joystick 105 is provided on the manipulation device 100, if the joystick 105 has a plurality of manipulation modes, the control unit 101 may further configure the joystick 105 with a manipulation mode matching the installation posture of the manipulation device 100 based on the configuration instruction.
As an example, for a manipulator 100 having different mounting postures, the control unit 101 may also recognize the mounting posture of the manipulator 100.
According to an embodiment of the disclosure, the control device 100 further includes a gravity sensing module such as an IMU (Inertial Measurement Unit ), a roll switch (e.g., mercury tilt switch, liquid tilt switch, weight tilt switch) and the like, and the control unit 101 can identify the installation posture of the control device 100 based on the output signal of the gravity sensing module.
Taking IMU as an example, as shown in fig. 7, the accelerometer in IMU can detect the magnitude and direction of the Z-axis (gravitational axis). Illustratively, the force of gravity detected by the IMU is positive when the steering device 100 is in the normal orientation and negative when the steering device 100 is in the reverse orientation. At this time, the installation posture of the control device 100 can be recognized by the output signal of the IMU. In addition, the accelerometer in the IMU may also detect the value of the X-axis or the Y-axis in the drawing, and output a signal according to the value of the X-axis or the value of the Y-axis, so as to identify the forward and reverse mounting of the steering device 100. The specific axis value is used to determine whether the steering device 100 is being installed or not, depending on the manner in which the accelerometer is installed. Further, when the manipulation device 100 is shown in fig. 8, for example, the determination of the forward and reverse mounting may be made based on the Z-axis value, and the accelerometer is mounted as shown in fig. 9.
In order to enable the manipulator to better adapt to a variety of mounting attitudes, the manipulator 100 may further comprise a base 106 and a joystick 105 as shown in fig. 10, the joystick 105 being rotatable relative to the base 106, according to one embodiment of the application. The plane perpendicular to the bottom surface of the base 106 and passing through the rotation axis of the lever 105 is used as a mirror plane, and part or all of the components of the control device 100 are arranged in mirror symmetry with respect to the mirror plane.
In order to enable the control device 100 to have a plurality of mounting positions, a plurality of interfaces may be provided for the control device 100, and the control unit 101 may recognize the mounting position based on the interfaces of the control device 100. For example, the installation posture of the manipulation device 100 may be determined by recognizing the on state of the interfaces, specifically, the installation posture of the manipulation device 100 may be determined by detecting parameters such as voltage, current, etc. of the respective interfaces, or the installation posture of the manipulation device 100 may be determined by detecting the transmitting end or the receiving end of the signal.
As an example, the respective interfaces may be located on the bottom surface of the base 106. The interfaces may also be arranged mirror-symmetrically with respect to the mirror plane. In position, these interfaces may be located on the bottom surface of the base 106 (two interfaces 1071 and 1072 are taken as examples in fig. 10), or may be located at two ends of the control device 100 (e.g. at two ends A, B in fig. 2-5B).
In the above embodiment of recognizing the installation posture through the interface, the base 106 is provided with the installation indication identifier, which indicates the corresponding relationship between the interface and the installation posture. The user can more conveniently determine the interface corresponding to the current installation posture according to the indication mark.
The control device 100 disclosed in the present application has a display unit 102 and a control unit 101 attached thereon, and the control unit 101 can execute an adaptive display mode based on the direction of the control device 100, adapt to various installation postures, configure a corresponding control mode, and set a corresponding function for the function key group 103, thereby facilitating the purchase and use of a user and the production of a manufacturer.
As shown in fig. 11, the present application further provides a control system 200, which includes a power device 201 and the control device 100 shown in the first aspect of the present application, where the power device 201 is connected to the control device 100. The power device 201 and the control device 100 may be connected by a wired or wireless method. As an example, the power pack 201 and the steering device 100 may be connected via a bus. The steering device 100 may be used to control the power and/or the tilt angle of the power plant 201. Where the water movable apparatus is a ship, the power plant 201 may be an outboard motor.
As shown in fig. 12, the present application further provides a water area movable apparatus 301, where the water area movable apparatus 301 includes a body 3011 and the control device 100 in the above embodiments. The steering device 100 is coupled to the body 3011, for example, the steering device 100 is mounted to the body. When the movable equipment in the water area is a ship, the body 3011 is a ship body.
Another water mobile device 302 according to the present application is shown in fig. 13, where the water mobile device 302 includes a main body 3021 and the control system 200 according to the above embodiments. The steering system 200 is coupled to the body 3021. When the movable apparatus is a ship, the body 3021 is a hull.
When the movable equipment in the water area is a ship, the ship can be various water area vehicles such as a commercial ship, a passenger ship, a yacht, a fishing boat, a sailing boat, a civil ship and the like, and 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.
The application also provides a method of controlling a steering device, which may be performed by the control unit 101 in the steering device 100 in the above embodiments, as an example, without excluding execution by other devices in the steering device 100 having processing capabilities and software execution capabilities. The method comprises the following steps: the control display unit performs a display mode adapted to the installation posture of the manipulation device.
In some scenarios, the manipulation device 100 may have multiple mounting postures, and the orientations of the manipulation device 100 may be different in different mounting postures, so as to adapt to different mounting postures, and in different display modes, the orientations of the identification patterns displayed by the display unit 102 may be different. In addition, as an example, the orientation of the identification pattern may be the same as the orientation of the manipulation device 100 in the installation posture.
It will be appreciated that the effect of the identification pattern is to prompt the user so that the orientation of the identification pattern should be consistent with the orientation of the user to facilitate the user's use of the steering apparatus 100 in accordance with the identification pattern, e.g. when the device is in a driving position, the orientation of the identification pattern may be fixed in the same direction as the orientation of the driving position. That is, when the manipulation device 100 is oriented the same as the user, the orientation of the identification pattern may be the same as the manipulation device 100, and in other cases, the orientation of the identification pattern may be different from the orientation of the manipulation device 100. Since the display unit 102 is mounted on the manipulation device 100, when the orientation of the manipulation device 100 is changed, the identification pattern displayed by the display unit 102 is also changed with the manipulation device 100.
According to one embodiment of the present disclosure, the mounting gestures may include a first mounting gesture and a second mounting gesture, the steering device 100 being oriented in a first direction when in the first mounting gesture; when in the second posture, the first direction is opposite to the second direction.
Corresponding to the installation posture, the display modes can also comprise a first display mode and a second display mode, and the identification pattern faces to the first direction in the first display mode; in the second display mode, the identification pattern faces a second direction.
It should be noted that the first direction being opposite to the second direction may be understood as that the steering device 100 oriented in the second direction is rotated clockwise or counterclockwise by a predetermined angle with respect to the steering device 100 oriented in the first direction, and the predetermined angle has a value in the range of [150 °,210 ° ].
In order to facilitate the operation of the device, the operation device 100 may further have a function key set 103, and further, the display mode may also be adapted to the function of the function key set 103. Wherein, when the control device 100 is in different installation postures, the functions of the function key set 103 can be unchanged; alternatively, when the control device 100 is in a different installation posture, at least part of the functions of the function key group 103 are changed.
As can be seen from the embodiments of fig. 2 to 5B, the present application is not limited to the respective functions and sequences of the key function groups of the operating device 100 in the forward and reverse mounting states, and those skilled in the art can consider how to set the functions of the key function groups according to the actual situation, and the key such as Active, hold, power, dock in the above-mentioned figures and the corresponding functions are not limited to the present application.
In order to further facilitate the use of the user, the display unit 102 of the control device 100 may further include an indicator light set 104, where the indicator light set 104 may form an identification pattern as shown in the dashed line boxes of any of the above-mentioned fig. 2-5B after being lightened, so as to indicate the function of each key for the user. To accommodate different mounting attitudes of the operating device 100, a plurality of sets of indicator lights may be provided, each adapted to one mounting attitude, the number of indicator lights in one set of indicator lights 104 corresponding to the number of function keys in the set of function keys 103.
It will be appreciated that the positions of the dashed boxes in the different display modes are shown by way of example only, and that the positions between the two sets of indicator lights may be set differently so that the positions of the identification patterns relative to the keys are different in different mounting attitudes.
Further, according to an embodiment of the present application, the positional relationship of the display unit 102 and the function key group 103 may be: the display area of the display unit 102 at least partially overlaps with the area where the function key group 103 is located; it may also be: the display area of the display unit 102 is spaced apart from the area where the function key group 103 is located. That is, the relative positional relationship between the indicator light assembly 104 and the function key is not limited in the present application.
When the controlled device of the control device 100 is a water movable device such as a ship, the control device 100 may further include a control lever 105, and the control lever 105 may be used to control a traveling direction of the water movable device. In the related art, the control device usually has only one installation mode, so that the control lever also has only one control mode, and for the same user with a plurality of devices of the same type, different control devices are required to be selected according to own habits, the construction of each device and other factors, which is time-consuming and labor-consuming; for manufacturers of such devices, in order to adapt to the habits of different users, various types of levers need to be designed to meet the requirements of different users, which is also a burden for the manufacturers.
Unlike the related art, as an embodiment, the joystick 105 in the present application may be preset with various operation modes such as a forward mode and a reverse mode corresponding to different installation postures such as forward installation and reverse installation, and in actual use, the control unit 101 may configure the operation mode for the joystick 105 that matches the installation posture of the operation device 100.
For example, with the direction from the B end to the a end being the forward direction, the steering device 100 with the joystick 105 can be forward mounted as shown in fig. 2. The first and second directions in the first manipulation mode adapted to the normal assembly can be shown in fig. 6A, and the first and second directions in the second manipulation mode adapted to the reverse assembly can be shown in fig. 6B, and the specific embodiments of the first and second manipulation modes can be referred to as device embodiments, which are not repeated herein, but any embodiment should not be considered as limiting the application.
As an example, controlling the water movable apparatus to travel in the first designated direction may be controlling the water movable apparatus to advance, and controlling the water movable apparatus to travel in the second designated direction may be controlling the water movable apparatus to retract.
The present application thus discloses a method for controlling a control device, which can adaptively adjust a display mode and a control mode based on a current installation posture, so that the control device 100 can adapt to multiple installation postures, and one product can meet most of demands of users. After the operation device 100 is installed, before the display mode and the operation mode are adjusted, the user can manually input a configuration command to enable the operation device 100 to adjust the display mode and the operation mode according to the configuration command of the user; the control device 100 may automatically recognize the current installation posture, and adjust the display mode and the control mode based on the recognition result.
According to an embodiment of the present application, the display unit 102 of the manipulation device 100 may include a device having a man-machine interaction function, such as a touch screen, so that a configuration instruction input by a user may be accepted through the display unit 102, so that the control unit 101 controls the display unit 102 to execute a corresponding display mode based on the configuration instruction.
According to another embodiment of the present application, the control device 100 may also be communicatively connected to a display module, which may be, for example, a display module mounted on a controlled device. Taking a ship as an example, the control device 100 may communicate with a display module such as a central control screen on the ship through a bus, and a user may input a configuration instruction to the control device 100 through other devices with man-machine interaction functions on the ship, so that the control unit 101 of the control device 100 controls the display unit 102 to execute a corresponding display mode based on the configuration instruction.
As can be seen from the foregoing embodiments, the control device 100 may further include a function key group 103, and the control unit 101 may further control the display unit 102 to execute a display mode adapted to both the function of the function key group 103 and the installation posture of the control device 100. Also, the functions of the function key group 103 may be triggered by a configuration instruction of the user, and thus the configuration instruction may indicate not only what display mode is executed but also parameters if the keys of the function key group 103 are set. After receiving the configuration instruction, the control device 100 may further configure a corresponding function for the function key group 103, and control the display unit 102 to execute a display mode adapted to both the function of the function key group 103 and the installation posture of the control device 100.
When the joystick 105 is provided on the manipulation device 100, if the joystick 105 has a plurality of manipulation modes, the control unit 101 may further configure the joystick 105 with a manipulation mode matching the installation posture of the manipulation device 100 based on the configuration instruction.
As an example, for a manipulation device 100 having different mounting postures, the mounting posture of the manipulation device 100 can also be recognized by the control unit 101.
According to an embodiment of the disclosure, the control device 100 further includes a gravity sensing module such as an IMU (Inertial Measurement Unit ), a roll switch (e.g., mercury tilt switch, liquid tilt switch, weight tilt switch) and the like, and the control unit 101 can identify the installation posture of the control device 100 based on the output signal of the gravity sensing module.
Referring to the embodiment shown in fig. 7, an accelerometer in the IMU may detect the magnitude and direction of acceleration values in any one or more of the three axes X, Y, Z. The specific axis value is used to determine whether the steering device 100 is being mounted or being mounted reversely, and the present application is not limited thereto, depending on the manner in which the accelerometer is mounted.
In some embodiments, multiple interfaces may be configured for the console 100, and the control unit 101 may identify the installation posture based on the interfaces of the console 100 at this time, each interface may correspond to one installation posture. For example, the installation posture of the manipulation device 100 may be determined by recognizing the on state of the interfaces, specifically, the installation posture of the manipulation device 100 may be determined by detecting parameters such as voltage, current, etc. of the respective interfaces, or the installation posture of the manipulation device 100 may be determined by detecting the transmitting end or the receiving end of the signal.
In position, these interfaces may be located on the bottom surface of the base 106 (two interfaces 1071 and 1072 are taken as examples in fig. 10), or may be located at two ends of the control device 100 (e.g. at two ends A, B in fig. 2-5B). In the normal installation posture, the steering device 100 may be oriented as shown in fig. 2; correspondingly, in the reverse installation posture, the operation device can be shown in any embodiment corresponding to fig. 3A, 4A and 5A. Of course, the above figures and embodiments are only exemplary, the front mounted steering device 100 may be oriented in other directions, and the reverse mounted steering device 100 may be oriented in opposite directions accordingly, and the above embodiments should not be construed as limiting the application.
In the above embodiment of recognizing the installation posture through the interface, the base 106 is provided with the installation indication identifier, which indicates the corresponding relationship between the interface and the installation posture. The user can more conveniently determine the interface corresponding to the loading posture of the target according to the indication mark.
The application discloses a method for controlling the control device, which can execute an adaptive display mode based on the orientation of the control device, adapt to various installation postures, can configure corresponding control modes and set corresponding functions for the function key group, thereby being convenient for the purchase and use of users and the production of manufacturers.
Corresponding to the embodiments of the method described above, the present application also provides a computer-readable storage medium, on which a program is stored, which program, when being executed by a processor, carries out the corresponding operations in any of the method embodiments of controlling the steering device 100 described above.
For the embodiments of the handling system, the water-area movable device, the method and the storage medium, reference is made to the description of the embodiments of the handling device, since this essentially corresponds to the embodiments of the handling device. The apparatus embodiments described above are merely illustrative, wherein the modules illustrated as separate components may or may not be physically separate, and the components shown as modules may or may not be physical, i.e., may be located in one place, or may be distributed over a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purposes of the present application. Those of ordinary skill in the art will understand and implement the present application without undue burden.
The foregoing describes certain embodiments of the present application. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can 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 are also possible or may be advantageous.
The foregoing description of the preferred embodiments of the application is not intended to be limiting, but rather to enable any modification, equivalent replacement, improvement or the like to be made within the spirit and principles of the application.
The foregoing has outlined rather broadly the methods and apparatus provided in embodiments of the present application in order that the detailed description of the principles and embodiments of the present application may be implemented in any way that is used to facilitate the understanding of the method and core concepts of the present application; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.
Claims (48)
1. The control device is characterized by being adapted to various installation postures, the control device comprises a display unit and a control unit, the display unit is preset with various display modes, and the control unit is used for controlling the display unit to execute the display modes adapted to the installation postures of the control device.
2. The steering device of claim 1, wherein the steering device is oriented differently in different mounting orientations;
The display unit is used for displaying the identification patterns, and the orientation of the identification patterns is different under different display modes.
3. The handling device of claim 2, wherein the orientation of the identification pattern is the same as the orientation of the handling device in the installed attitude.
4. A steering device according to claim 3, wherein the mounting positions comprise a first mounting position and a second mounting position, the steering device being oriented in a first direction when the steering device is in the first mounting position, the steering device being oriented in a second direction when the steering device is in the second mounting position, the first direction being opposite to the second direction;
the display modes comprise a first display mode and a second display mode, wherein in the first display mode, the identification pattern faces the first direction, and in the second display mode, the identification pattern faces the second direction.
5. The control device according to any of claims 1-4, characterized in that the control device further comprises a set of function keys, said set of function keys comprising at least one function key, said display mode being further adapted to the function of said set of function keys.
6. The control device according to claim 5, wherein the function of the function key group is unchanged when the control device is in different mounting postures; or (b)
When the control device is in different installation postures, at least part of functions of the function key group are changed, and the control unit is further used for configuring functions matched with the installation postures of the control device for the function key group.
7. The control device according to claim 5, wherein a display area of the display unit at least partially overlaps an area where the function key group is located; or (b)
The display area of the display unit is spaced from the area where the function key group is located.
8. The control device according to claim 5, wherein the display unit includes an indicator light group including a number of indicator lights corresponding to the number of the function keys in the function key group, the indicator light group being lit to form an identification pattern displayed by the display unit, the number of the indicator light group including a plurality of groups, each of the indicator light groups being adapted to one of the mounting postures of the control device.
9. The handling device according to any of claims 1-4, further comprising a joystick for controlling the direction of travel of the water movable apparatus, the joystick having a plurality of handling modes, the control unit being further adapted to configure the joystick with a handling mode matching the mounting posture of the handling device.
10. The steering device of claim 9, wherein the mounting gestures comprise a first mounting gesture and a second mounting gesture, and the steering modes comprise a first steering mode and a second steering mode; when the control device is in the first installation posture, the control device faces a first direction, and when the control device is in the second installation posture, the control device faces a second direction, and the first direction is opposite to the second direction;
the first manipulation mode includes: the control rod controls the movable equipment in the water area to travel in a first designated direction when moving in the first direction, and controls the movable equipment in the water area to travel in a second designated direction when moving in the second direction, wherein the first designated direction is opposite to the second designated direction;
The second manipulation mode includes: and when the control rod moves towards the first direction, the movable equipment in the water area is controlled to travel towards the second designated direction, and when the control rod moves towards the second direction, the movable equipment in the water area is controlled to travel towards the first designated direction.
11. The manipulation device according to claim 1, wherein the display unit is further configured to receive a configuration instruction of a user, and the control unit is configured to control the display unit to execute a display mode adapted to an installation posture of the manipulation device based on the configuration instruction.
12. The control device according to claim 1, wherein the control device is communicatively connected to a display module, the display module is configured to receive a configuration instruction of a user, and the control unit is configured to receive the configuration instruction sent by the display module, and control the display unit to execute a display mode adapted to an installation posture of the control device based on the configuration instruction.
13. The control device according to claim 11 or 12, further comprising a function key group, wherein the control unit is further configured to control the display unit to execute a display mode adapted to both a function of the function key group and an installation posture of the control device.
14. The manipulation device according to claim 13, wherein the control unit is further configured to configure a function adapted to an installation posture of the manipulation device for the function key group based on the configuration instruction.
15. A handling device according to claim 11 or 12, further comprising a joystick for controlling the direction of travel of the water movable apparatus, the joystick having a plurality of handling modes, the control unit being further adapted to configure the joystick with a handling mode matching the mounting posture of the handling device based on the configuration instructions.
16. The steering device according to claim 1, wherein the control unit is further configured to identify an installation posture of the steering device.
17. The steering device of claim 16, wherein the steering device comprises a plurality of interfaces corresponding to the plurality of mounting gestures; the control unit determines the installation position of the control device by recognizing the interface in the on state.
18. The steering device of claim 17, wherein the mounting pose comprises a first mounting pose and a second mounting pose, the steering device facing a first direction when the steering device is in the first mounting pose and the steering device facing a second direction when the steering device is in the second mounting pose, the first direction being opposite the second direction; the interface comprises a first interface and a second interface;
When the control unit detects that the first interface is in the on state, the control unit determines that the control device is in the first installation posture;
and when the control unit detects that the second interface is in the on state, determining that the control device is in the second installation posture.
19. The steering device of claim 16, further comprising a gravity sensing module, wherein the control unit identifies the mounting pose of the steering device based on an output signal of the gravity sensing module.
20. The steering device of claim 19, wherein the gravity sensing module comprises an inertial measurement unit or a tilt switch.
21. The steering device of claim 1, wherein the steering device comprises a base and a joystick, the joystick is rotatable relative to the base, at least some of the components of the steering device are mirror-symmetrically disposed about a mirror plane, the mirror plane is perpendicular to a bottom surface of the base, and a rotational axis of the joystick is located on the mirror plane.
22. The steering device of claim 21, wherein the steering device further comprises: the control unit identifies the installation posture of the control device based on the on state of the interfaces, and the interfaces are arranged in a mirror symmetry mode relative to the mirror surface.
23. The steering device of claim 22, wherein the at least two interfaces are each located on a bottom surface of the base.
24. The manipulating device according to claim 23, wherein the base is provided with a mounting indication identifier, and the mounting indication identifier is used for indicating a correspondence between the interface and the mounting posture.
25. A steering system, comprising:
a power device; and
The steering device of any one of claims 1-24, wherein the steering device is coupled to the power device.
26. A water area mobile device, comprising:
a body; and
The steering device of any one of claims 1-24, in combination with the body.
27. A water area mobile device, comprising:
a body; and
The steering system of claim 25, in combination with the body.
28. A method of controlling a manipulation device, wherein the manipulation device is adapted to a plurality of installation attitudes, the manipulation device comprising a display unit, the display unit being preset with a plurality of display modes, the method comprising:
and controlling the display unit to execute a display mode adapted to the installation posture of the control device.
29. The method of claim 28, wherein the steering device is oriented differently for different mounting orientations; and under different display modes, the directions of the identification patterns displayed by the display unit are different.
30. The method of claim 29, wherein the orientation of the identification pattern is the same as the orientation of the handling device in the current installation posture.
31. The method of claim 30, wherein the mounting positions comprise a first mounting position and a second mounting position, the steering device oriented in a first direction when the steering device is in the first mounting position, the steering device oriented in a second direction when the steering device is in the second mounting position, the first direction being opposite the second direction;
the display modes comprise a first display mode and a second display mode, wherein in the first display mode, the identification pattern faces the first direction, and in the second display mode, the identification pattern faces the second direction.
32. The method according to any of the claims 28-31, wherein the manipulation device further comprises a set of function keys, the set of function keys comprising at least one function key, the display mode further being adapted to the function of the set of function keys.
33. The method of claim 32, wherein the functions of the set of function keys are unchanged when the steering device is in different mounting positions; or (b)
When the control device is in different installation postures, at least part of functions of the function key set are changed.
34. The method of claim 32, wherein a display area of the display unit at least partially overlaps an area where the set of function keys is located; or (b)
The display area of the display unit is spaced from the area where the function key group is located.
35. The method of claim 32, wherein the display unit includes a set of indicator lights, the set of indicator lights including a number of indicator lights corresponding to the number of function keys in the set of function keys, the set of indicator lights being illuminated to form an identification pattern displayed by the display unit, the number of sets of indicator lights including a plurality of sets, each set of indicator lights being adapted to one of the mounting gestures of the operating device.
36. A method according to any one of claims 28 to 31, wherein the steering device further comprises a joystick for controlling the direction of travel of the water movable apparatus, the joystick having a plurality of steering modes, the method further comprising:
And configuring a control mode matched with the installation posture for the control rod based on the installation posture.
37. The method of claim 36, wherein the mounting pose comprises a first mounting pose and a second mounting pose, and the manipulation mode comprises a first manipulation mode and a second manipulation mode; when the control device is in the first installation posture, the control device faces a first direction, and when the control device is in the second installation posture, the control device faces a second direction, and the first direction is opposite to the second direction;
the first manipulation mode includes: the control rod controls the movable equipment in the water area to travel in a first designated direction when moving in the first direction, and controls the movable equipment in the water area to travel in a second designated direction when moving in the second direction, wherein the first designated direction is opposite to the second designated direction;
the second manipulation mode includes: and when the control rod moves towards the first direction, the movable equipment in the water area is controlled to travel towards the second designated direction, and when the control rod moves towards the second direction, the movable equipment in the water area is controlled to travel towards the first designated direction.
38. The method of claim 28, wherein the display unit is further configured to receive a configuration instruction from a user, and wherein the controlling the display unit to execute the display mode adapted to the installation posture of the manipulation device includes:
and controlling the display unit to execute a display mode adapted to the installation posture of the control device based on the configuration instruction.
39. The method according to claim 28, wherein the manipulation device is capable of being connected to a display module and receiving a configuration instruction input by a user and transmitted by the display module, and the controlling the display unit to execute a display mode adapted to an installation posture of the manipulation device includes:
and controlling the display unit to execute a display mode adapted to the installation posture of the control device based on the configuration instruction.
40. The method of claim 38 or 39, wherein the operating device further comprises a set of function keys, and the display mode is further adapted to the function of the set of function keys.
41. The method of claim 40, further comprising:
and configuring the function matched with the installation posture of the control device for the function key group based on the configuration instruction.
42. The method of claim 38 or 39, wherein the steering device further comprises a joystick for controlling the direction of travel of the water movable apparatus, the joystick having a plurality of steering modes, the method further comprising:
and configuring a control mode matched with the installation posture of the control device for the control rod based on the configuration instruction.
43. The method of claim 28, wherein the method further comprises:
and identifying the installation posture of the control device.
44. The method of claim 43, wherein the manipulator device comprises a plurality of interfaces, each interface corresponding to a respective mounting gesture, the identifying the mounting gesture of the manipulator device comprising:
the interface in the on state is identified to determine the mounting posture of the control device.
45. The method of claim 44, wherein the mounting positions comprise a first mounting position and a second mounting position, the steering device oriented in a first direction when the steering device is in the first mounting position, the steering device oriented in a second direction when the steering device is in the second mounting position, the first direction being opposite the second direction; the interface comprises a first interface and a second interface;
The identifying the interface in the on state to determine the installation posture of the control device comprises:
when the first interface is detected to be in the on state, determining that the control device is in the first installation posture;
when the second interface is detected to be in the on state, the control device is determined to be in the second installation posture.
46. The method of claim 43, wherein the manipulator further comprises a gravity sensing module, the identifying the mounting pose of the manipulator comprising:
and identifying the installation posture of the control device based on the output signal of the gravity sensing module.
47. The method of claim 46, wherein the gravity sensing module comprises an inertial measurement unit or a tilt switch.
48. A computer-readable storage medium, on which a program is stored, which program, when being executed by a processor, carries out the operations in the method of controlling a steering device according to any one of claims 28 to 47.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2022/117942 WO2024050786A1 (en) | 2022-09-08 | 2022-09-08 | Manipulation apparatus and system, water-area movable device, method, and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116583792A true CN116583792A (en) | 2023-08-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202280006334.2A Pending CN116583792A (en) | 2022-09-08 | 2022-09-08 | Control device and system, water area movable equipment, method and storage medium |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN116583792A (en) |
| WO (1) | WO2024050786A1 (en) |
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| WO2024050786A1 (en) | 2024-03-14 |
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