CN220243514U - Rudder handle, water area propeller and water area movable equipment - Google Patents

Abstract

The application relates to the field of movable equipment in water areas, and provides a tiller, a water area propeller and movable equipment in water areas. The tiller comprises: a base member for connection to the body of the water propeller; the base piece is provided with a matching part; a manipulation section including a swing portion rotatably connected to the base member and generating a displacement with respect to the base member when the manipulation section receives a manipulation input; the sensor is arranged between the matching part and the swinging part and is used for acquiring a digital signal caused by displacement of the swinging part relative to the matching part; when the digital signal accords with the set threshold value, the sensor is triggered to generate a trigger signal, and the trigger signal is used for indicating the water area propeller to execute the set action. The steering device has the beneficial effects that the steering hand feeling of low steering damping during low-speed navigation and high steering damping during high-speed navigation can be simulated, and the steering experience and the driving safety are improved.

Description

Rudder handle, water area propeller and water area movable equipment

Technical Field

The present application relates to the field of water area mobile equipment, and in particular to a tiller, a water area propeller and a water area mobile equipment.

Background

The movable equipment in the water area, such as various ships, needs to perform various operations on the propeller in the water area according to the need during running, such as steering, tilting, acceleration and deceleration, etc.

However, the steering effects of the movable devices in the water area of the known technology are poor or the steering feel and safety are poor, for example, some steering technologies of the propeller in the water area cannot adjust the steering damping according to the needs.

Disclosure of Invention

The present application provides a tiller, a water propeller, and a water movable device that facilitate control of a water propeller to perform a setting operation according to the magnitude of a manipulation input.

In a first aspect, the present application provides a tiller for a water propeller for propelling a water movable device for movement, the tiller comprising:

a base member for connection to the body of the water propeller; the base piece is provided with a matching part;

a manipulation section including a swing portion rotatably connected to the base member and generating a displacement with respect to the base member when the manipulation section receives a manipulation input;

the sensor is arranged between the matching part and the swinging part and is used for acquiring a digital signal caused by displacement of the swinging part relative to the matching part; when the digital signal accords with the set threshold value, the sensor is triggered to generate a trigger signal, and the trigger signal is used for indicating the water area propeller to execute the set action.

In use of the tiller of the present application, a user applies a steering input through the steering section, which thereby produces a swinging displacement relative to the base member, the sensor acquiring a digital signal caused by the displacement. When the digital signal accords with the set threshold value, the sensor is triggered to generate a trigger signal, and the trigger signal is used for indicating the water area propeller to execute the set action.

According to the embodiment, the triggering of the pressure sensor can be controlled according to the swing displacement, the water area propeller can be controlled to execute the set action according to the swing displacement, and the control device can be used for simulating the control hand feeling of low steering damping in low-speed navigation and high steering damping in high-speed navigation, and the control experience and the driving safety are improved.

In a second aspect, the present application provides a water propulsion comprising a body and a tiller as described above; the base piece of the tiller is connected to the main body.

In a third aspect, the present application provides a water mobility device comprising a water carrier and a water propulsion unit as described above, the water propulsion unit being connected to the water carrier.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following description will briefly describe the drawings in the embodiments, it being understood that the following drawings only illustrate some embodiments of the present application and should not be considered as limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a water area mobile device according to an embodiment of the present application;

FIG. 2 is a side view of the water area mobile device of FIG. 1;

FIG. 3 is a schematic view of the tiller of the water area mobile device of FIG. 1;

FIG. 4 is an expanded view of the tiller of FIG. 3;

FIG. 5 is a plan view of the tiller of FIG. 4 with the top wall hidden;

FIG. 6 is a cross-sectional view of the tiller of FIG. 3;

FIG. 7 is another expanded view of the tiller of FIG. 3 with the inner surface of the top wall facing outwardly;

FIG. 8 is an enlarged view at B of FIG. 5, showing a schematic view of a first arrangement of the pressure sensor of the tiller of FIG. 5;

FIG. 9 is a schematic view of a second arrangement of the pressure sensor of the tiller of FIG. 5;

FIG. 10 is a schematic view of a third arrangement of the pressure sensor of the tiller of FIG. 5;

FIG. 11 is a schematic view of a fourth arrangement of the pressure sensor of the tiller of FIG. 5;

FIG. 12 is a schematic view of a fifth arrangement of the pressure sensor of the tiller of FIG. 5;

FIG. 13 is a schematic view of a sixth arrangement of pressure sensors with a tiller disposed at section A-A of FIG. 6;

FIG. 14 is a schematic view of a tiller according to another embodiment of the present application;

FIG. 15 is a cross-sectional view of the tiller of FIG. 14;

FIG. 16 is a schematic view of the structure of the tiller of the embodiment of the present application rotated about a virtual axis;

FIG. 17 is a schematic view of the tiller of FIG. 16 rotated to one side;

FIG. 18 is a schematic view of the tiller of FIG. 16 rotated to the other side;

FIG. 19 is a schematic view of another construction in which the tiller of the present embodiment is rotated about a virtual axis;

FIG. 20 is a schematic view of a water propulsion system according to another embodiment of the present disclosure;

FIG. 21 is a schematic view of a water area mobile device according to another embodiment of the present application;

FIG. 22 is a schematic view of a tiller according to another embodiment of the present application;

FIG. 23 is a schematic structural view of another embodiment of the tiller of FIG. 22;

fig. 24 is a schematic view of a tiller according to yet another embodiment of the present application.

Description of main reference numerals:

water area mobile device 300

Water carrier 310

Water area propeller 100

Tiller 10,70,80,90

Body 11

Electric motor 12

Propeller 13

Steering actuator 14

Base member 15

The handling portion 16

Pressure sensor 17

Swing portion 18

Steering direction 19

Joystick 20

An inner space 21

Shaft hole 22

Rotating shafts 23,63

Arc-shaped groove 24

Slide pins 25,65

Abutment portion 26

Flexible cushion block 27

Gap 28

Deformable wall 29

Bottom wall 30

Top wall 31

End wall 32

Side wall 33

Through hole 34

Active space 35

Sensing tip 36

Fixed end 37

Rotating end 38

Electric control box 39

Sensing device 40

Throttle rotating sleeve 41

Button 42

Trigger circuit board 43

Signal processing circuit board 44

Controller 45

Cable 46

Via hole 47

Display screen 48

Signal amplifier 49

Electronic control unit 50

Sliding part 51

Chute 52

Slider 53

Twisting part 54

Torsion groove 55

Tilting actuator 56

Intermediate portion 57

Direction of raising 58

Tilting shaft 59

Sliding direction 60

Central axis 61

Shaft connecting portion 62

Direction of twist 64

Swing end 66

Clamping groove 67

Clamping block 68

Fixing piece 69

Clamping groove 71

Sensor 81

Mounting seat 91

Mounting hole 92

Flexible ring 93

Virtual axis 94

Mating portion 95

Detailed Description

The following description of the technical solutions in the embodiments of the present application will be made clearly and completely with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments.

It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "or/and" as used herein includes any and all combinations of one or more of the associated listed items.

Some embodiments of the present application are described in detail. The following embodiments and features of the embodiments may be combined with each other without collision.

Examples

Referring to fig. 1, the present embodiment provides a water movable apparatus 300, which includes a water carrier 310 and a water propeller 100, wherein the water propeller 100 is connected to the water carrier 310 for pushing the water movable apparatus 300 to move.

The water movable apparatus 300 in this embodiment may be various ships such as a passenger ship and a yacht, the corresponding water carrier 310 is a ship body, and the water propeller 100 is an outboard motor. Of course, the water movable apparatus 300 may be a fishing boat, a sailing boat, or other vessels, which are not limited herein.

With continued reference to fig. 1, the watercraft propeller 100 includes a main body 11 and a tiller 10. The tiller 10 is connected to a main body 11. In use, a user can control the water propeller 100 to perform a corresponding action by applying a manipulation to the tiller 10. For example, the user controls the operation of the water movable apparatus 300 by controlling the water propulsion 100 to perform steering, tilting, acceleration and deceleration, etc. through the tiller 10.

In this embodiment, the main body 11 is provided with a motor 12 and a propeller 13, and the motor 12 is in transmission connection with the propeller 13 and is used for driving the propeller 13 to rotate so as to generate propulsion. The body 11 is further provided with a steering actuator 14 for driving the body 11 to steer in a steering direction 19.

Referring to fig. 2, in this embodiment, the main body 11 is rotatably connected to the water carrier 310 via the tilting shaft 59, and is provided with a tilting actuator 56 for driving the main body 11 to tilt in the tilting direction 58. The tiller 10 can be electrically connected with the steering actuator 14, the tilting actuator 56 or the motor 12, and the steering, tilting or acceleration and deceleration of the main body 11 can be controlled by controlling the tiller 10 to send an electric signal to the steering actuator 14, the tilting actuator 56 or the motor 12, so that the main body 11 is controlled in an electric power-assisted manner.

Alternatively, the water propulsion 100 is attached to the rear of the water carrier 310 and the tiller 10 is attached to the front of the main body 11 such that the tiller 10 extends to one side of the water carrier 310 for easy handling by a user riding on the water carrier 310.

Fig. 3-8 show a tiller 10 of a water propeller 100 according to the present embodiment.

The tiller 10 in this embodiment comprises a base member 15, a handling portion 16 and a pressure sensor 17. The base member 15 is provided with a mating portion 95 for attachment to the body 11 of the water mover 100, for example, on the forward side of the body 11, the attached configuration being seen in fig. 1. Alternatively, the base member 15 and the body 11 are connected by pins. In other embodiments, the base member 15 may also be part of the body 11.

The operating portion 16 includes a swinging portion 18, the swinging portion 18 being rotatably connected to the base member for receiving an operating input and generating a displacement relative to the base member 15. The movable connection of the handling portion 16 to the base member 15 is a rotatable connection (as shown in fig. 3-8).

The sensor 81 is disposed between the fitting portion 95 and the swinging portion 18, and is configured to acquire a digital signal caused by displacement of the swinging portion 18 relative to the fitting portion 95; when the digital signal meets the set threshold, the sensor 81 is triggered to generate a trigger signal for instructing the water propeller 100 to perform the set action.

The sensor 81 may be a pressure sensor 17, a hall sensor, a photoelectric sensor, a distance sensor, or the like, and is not limited herein.

Taking the example shown in fig. 4 as an example, the sensor 81 is a pressure sensor 17, and is configured to acquire a digital signal caused by displacement of the swinging portion 18 relative to the mating portion 95 as a deformation pressure value, and when the deformation pressure value meets a set threshold value (i.e., a trigger pressure threshold value), the pressure sensor 17 is triggered to generate a trigger signal.

A pressure sensor 17 is provided between the base member 15 and the operating portion 16 for acquiring a deformation pressure value caused by displacement of the operating portion 16 relative to the base member 15; when the deformation pressure value meets a set trigger pressure threshold, a processor in communication with the pressure sensor 17 generates a trigger signal for instructing the water propeller 100 to perform a set action, such as performing an acceleration/deceleration action, a tilting action, a steering action, etc. The processor communicatively connected to the pressure sensor 17 may be any integrated circuit capable of processing control signals and software data, and may be, for example, a CPU (Central Processing Unit ), an MPU (Microprocessor Unit, microprocessor), an ECU (Electronic Control Unit ), or the like, and the processor may be provided on the main body 11 or on the tiller 10. When the pressure sensor 17 is used to control the steering action, the pressure sensor 17 is electrically connected to the steering actuator 14 of the water propeller 100, and the trigger signal is used to instruct the steering actuator 14 to perform the steering action. When the pressure sensor 17 is used for controlling the tilting motion, the pressure sensor 17 is electrically connected to the tilting actuator 56 of the water area propeller 100, and the trigger signal is used for indicating the tilting actuator 56 to execute the tilting motion. When the pressure sensor 17 is used for controlling acceleration and deceleration actions, the pressure sensor 17 is electrically connected with the motor 12 of the water area propeller 100, and the trigger signal is used for indicating the motor 12 to perform acceleration and deceleration.

In this embodiment, the handling portion 16 is rotatably connected to the base member 15. The steering portion 16 may be rotated in a direction substantially parallel to the steering direction of the water propeller, may be rotated in a direction substantially parallel to the tilting direction of the water propeller, or may be rotated in a direction substantially parallel to the screw. The direction of rotation of the steering section 16 relative to the base member 15 can be configured in response to the actuation of the water mover 100 in response to the pressure sensor 17. For example, if the sensing signal of the pressure sensor 17 is in response to controlling the steering of the water propeller 100, the direction of rotation of the steering portion 16 relative to the base member 15 is substantially parallel to the steering direction of the water propeller 100, so that the steering of the steering portion 16 relative to the base member 15 by the operator can be mapped to steer the water propeller 100, and the steering experience and comfort can be improved. For another example, if the sensing signal of the pressure sensor 17 is in response to controlling the tilting of the water area propeller 100, the rotation direction of the manipulating portion 16 relative to the base member 15 is approximately parallel to the tilting direction of the water area propeller 100, so that the manipulating portion 16 is conveniently manipulated by the manipulating person to turn relative to the base member 15, and the tilting of the water area propeller 100 can be mapped and manipulated, thereby improving the manipulation experience and comfort.

Referring to fig. 6 or 7, the manipulating portion 16 includes a shaft connecting portion 62 and a swinging portion 18 swinging around the shaft connecting portion 62, and the shaft connecting portion 62 is connected to the base member 15 through a rotation shaft so that the manipulating portion 16 can rotate relative to the base member 15. The swinging part 18 generates displacement relative to the base member 15 when the operating part 16 rotates, alternatively, the rotating direction of the swinging part 18 relative to the base member 15 is approximately parallel to the steering direction 19 of the water propeller 100, and the pressure sensor 17 outputs a steering signal for controlling the steering of the water propeller 100 by the rotation of the swinging part 18. Optionally, the operating portion 16 further includes an operating lever 20, where the operating lever 20 is connected to the swinging portion 18, and is configured to drive the swinging portion 18 to displace relative to the base member 15 about the shaft connecting portion 62. The pressure sensor 17 is disposed between the swinging portion 18 and the base member 15.

The base member 15 has a substantially shell-like structure and defines an inner space 21, and the swinging portion 18 is provided in the inner space 21. The shaft connecting portion 62 is provided with a rotation shaft hole 22, and the base member 15 is provided with a rotation shaft 23 fitted with the rotation shaft hole 22. The swinging portion 18 is swingable about the axial center of the rotation shaft 23 with respect to the base 15 by engagement of the rotation shaft hole 22 and the rotation shaft 23. Optionally, the swinging part 18 is provided with an arc-shaped groove 24, and the center of a circle where the arc-shaped groove 24 is positioned coincides with the axis of the rotating shaft 23; the base member 15 is equipped with the sliding pin 25 with arc groove 24 sliding fit, and the inner wall at arc groove 24 both ends is used for limiting sliding pin 25 sliding travel to can inject the swing angle of swing portion 18 relative base member 15, avoid the too big deformation that leads to pressure sensor 17 of swing angle and surpass limit deformation state, prevent pressure sensor 17 damage. As shown in fig. 7, the arc-shaped grooves 24 and the slide pins 25 are provided two by two, respectively, and the two sets of arc-shaped grooves 24 and slide pins 25 are symmetrically provided about the central axis of the lever 20.

The engaging portion 95 includes two abutting portions 26, and the two abutting portions 26 are located in the rotation direction of the swinging portion 18, respectively. Correspondingly, there are two pressure sensors 17, one of which 17 is disposed between one of the abutting portions 26 and one side of the swinging portion 18, and the other 17 is disposed between the other abutting portion 26 and the other side of the swinging portion 18. Optionally, a flexible pad 27 is provided on the side of the abutment 26 corresponding to the pressure sensor 17. The flexible cushion block 27 is arranged to buffer the collision between the pressure sensor 17 and the abutting part 26 when the swinging part 18 swings, so that the pressure sensor 17 is prevented from being damaged by the rigid collision between the pressure sensor 17 and the abutting part.

In the present embodiment, the setting position of the pressure sensor 17 may be set as needed.

For example, as shown in fig. 8, the swinging portion 18 has a swinging end 66 away from the rotation shaft 23, and the swinging end 66 has a large rotation stroke due to the distance from the rotation shaft 23. Two pressure sensors 17 are connected to opposite sides of the swing end 66. At this time, the pressure sensors 17 are provided on the outer wall of the swinging portion 18, and the pressure sensors 17 are respectively adjacent to the two flexible pads 27 of the base member 15. A gap 28 may exist between the pressure sensor 17 and the flexible pad 27 or in contact with the flexible pad 27. In this embodiment, the pressure sensor 17 is attached, embedded or otherwise connected to the side of the swing end 66. For example, the pressure sensor 17 is fixed to the side of the swing end 66 by a connector such as a screw, and has an arm spring extending outward, to which a strain gauge is attached. When the swinging part 18 swings, the arm-shaped elastic piece of the pressure sensor 17 approaches and presses against the flexible cushion block 27 to deform, and then the strain gauge on the arm-shaped elastic piece is driven to deform, so that the deformation is converted into an electric signal. As further shown in fig. 9, the pressure sensor 17 is disposed on an inner wall of the swinging portion 18, the swinging portion 18 is provided with a deformable wall 29, the deformable wall 29 corresponds to the abutting portion 26 and the flexible pad 27, and the deformable wall 29 presses against the flexible pad 27 or the abutting portion 26 to deform when the swinging portion 18 swings. The pressure sensor 17 is disposed on an inner side surface of the deformable wall 29 so as to induce deformation of the deformable wall 29 to generate a deformation pressure value. For example, the deformable wall 29 may be a thin-walled structure with fixed two ends, wherein the middle position can be bent and deformed as a whole by lateral force, and the pressure sensor 17 is in the form of a patch type strain gauge and is attached to the inner side surface of the deformable wall 29. In this way, when the deformable wall 29 presses against the flexible pad 27 or the abutment portion 26, the middle position of the deformable wall 29 is bent and deformed, and the strain gauge of the pressure sensor 17 is further driven to deform, and the strain gauge is subjected to a change in electrical parameters (such as resistance) under the effect of the bending deformation, so as to obtain a deformation pressure value. In this arrangement, the pressure sensor 17 is disposed on the inner surface of the deformable wall 29, and when the pressure sensor 17 has a high waterproof requirement, the pressure sensor 17 is built in, so that the pressure sensor 17 has a good waterproof effect while transmitting deformation and pressure, and the pressure sensor 17 is ensured to be safe to use.

As further shown in fig. 10, the pressure sensor 17 is connected to the abutment portion 26 of the base member 15, and in the case where the flexible pad 27 is provided, the pressure sensor 17 may be connected to a side surface of the flexible pad 27 facing the swinging portion 18. The connection of the pressure sensor 17 to the abutting portion 26 may be referred to as the connection of the pressure sensor 17 to the swinging portion 18, that is, the pressure sensor 17 is fixed to the abutting portion 26 and the arm spring attached with the strain gauge of the pressure sensor 17 is protruded toward the swinging portion 18. In this embodiment, alternatively, referring to fig. 4, the base member 15 includes a bottom wall 30, a top wall 31, an end wall 32, and two side walls 33, the two side walls 33 are respectively connected perpendicularly to both sides of the bottom wall 30, and the end wall 32 is connected perpendicularly to the bottom wall 30 and between one end edges of the side walls 33 on both sides. The top wall 31 may be provided as a removable cover structure enclosing the interior space 21 with the bottom wall 30, the end wall 32 and the two side walls 33. The rotation shaft 23 and the sliding pin 25 may be protruded on the inner surface of the bottom wall 30, and the swing portion 18 is fitted on the bottom wall 30 through the rotation shaft hole 22 and the arc-shaped groove 24 thereof to achieve a certain range of rotation. Of course, the rotation shaft hole 22 and the arc-shaped groove 24 may be provided to penetrate the swing portion 18, and the rotation shaft 63 and the slide pin 65 corresponding to the rotation shaft hole 22 and the arc-shaped groove 24 may be provided to the inner surface of the top wall 31, so that the upper and lower sides of the swing portion 18 are respectively rotatably fitted, and the fitting is more stable. The two supporting parts 26 of the base member 15 are respectively located on the two side walls 33, and the corresponding flexible cushion blocks 27 are respectively fixedly connected to the inner surfaces of the side walls 33.

The end wall 32 is provided with a through hole 34 (see fig. 11), one end of the lever 20 passes through the through hole 34 and then enters the internal space 21 (see fig. 6) of the base member 15 and is connected with the swinging part 18, and the other end extends out of the base member 15, so that the operation is convenient. To enable the lever 20 to rotate, the inner diameter of the through hole 34 is set to a certain size difference from the outer diameter of the lever 20 so that a movable space 35 exists between the outer peripheral surface of the lever 20 and the inner peripheral side surface of the through hole 34. In this case, the pressure sensor 17 may be provided in the through hole 34 instead, and for example, as shown in fig. 11, the pressure sensor 17 may be provided on the outer peripheral surface of the lever 20 at a position corresponding to the hole surface of the through hole 34. Of course, the pressure sensor 17 may be disposed on the hole surface of the through hole 34 instead. In this embodiment, the connection of the pressure sensor 17 to the outer peripheral surface of the lever 20 or the hole surface of the through hole 34 may be performed by referring to the connection of the pressure sensor 17 to the swinging portion 18, that is, the pressure sensor 17 is fixed to the outer peripheral surface of the lever 20 or the hole surface of the through hole 34, and the arm spring piece of the pressure sensor 17 to which the strain gauge is attached protrudes toward the hole surface of the through hole 34 or the outer peripheral surface of the lever 20.

Taking the embodiment of fig. 3-8 as an example, when the water area movable device 300 is used, a person located on the water area movable device 300 applies steering force to the part of the control lever 20 extending out of the base member 15, and drives the swinging part 18 on the inner side of the base member 15 to rotate relative to the base member 15 around the axis of the rotating shaft 23, so that the swinging part 18 drives the pressure sensor 17 thereon to press against the flexible cushion block 27 and the supporting part 26, and the pressure sensor 17 obtains a deformation pressure value caused by the rotation displacement; when the deformation pressure value meets the set trigger pressure threshold (for example, when the deformation pressure value exceeds the trigger pressure threshold), the pressure sensor 17 is triggered to generate a trigger signal, and the trigger signal is used for indicating the water area propeller 100 to execute a steering action, for example, the steering actuator 14 of the water area propeller 100 drives the propeller 13 to steer after receiving the trigger signal, so as to drive the water area movable equipment 300 to steer.

In this embodiment, besides providing two pressure sensors 17 to achieve the sensing of the rotational deformation of both sides as described above, only one pressure sensor 17 may be used, as shown in fig. 12 to 15.

Referring to fig. 12, in the present embodiment, the number of the pressure sensors 17 of the tiller 10 is one, and the pressure sensors 17 are capable of sensing the displacement of the operating portion 16 swinging to both sides in the rotation direction with respect to the base member 15, respectively, and generating deformation pressure values, respectively. The pressure sensor 17 has two sensing ends 36, the two sensing ends 36 being located on both sides of the handling portion 16, respectively, for sensing the swinging of the handling portion 16 to both sides, respectively. When the operating portion 16 rotates, the swinging end located in the inner space 21 rotates to a position contacting one of the sensing ends 36, so that the sensing end 36 is pressure-deformed, and the pressure resistance of the pressure sensor 17 changes, thereby recognizing that the sensing end 36 is interfered; when the swinging end rotates to a position contacting with the other sensing end 36, the other sensing end 36 is identified to be interfered. In this embodiment, the sensing ends 36 may be provided with arm-shaped spring plates attached with strain gauges as described above, and one of the arm-shaped spring plates of the sensing ends 36 is abutted against the base member 15, so that the strain gauges are deformed and converted into electrical signals. In this embodiment, in order to ensure the deformation of the arm spring, a deformation space of the arm spring needs to be reserved.

Referring to fig. 13, in another embodiment, the pressure sensor 17 has a fixed end 37 and a rotating end 38, the fixed end 37 being connected to the base member 15, in particular connectable to the rotating shaft 23 of the base member 15; the turning end 38 is connected to the handling portion 16, in particular to the swinging part 18 of the handling portion 16. The fixed end 37 and the intermediate portion 57 of the rotating end 38 are twistable to output two sensing signals of the swinging of the operating portion 16 to both sides. When the operating portion 16 rotates, the swinging portion 18 is twisted about the rotation shaft 23 in the twisting direction 64, so that the rotation end 38 connected to the swinging portion 18 pulls the intermediate portion 57 to twist, the intermediate portion 57 is deformed in the forward direction or the reverse direction by the forward rotation and the reverse rotation of the swinging portion 18, and the voltage-variable resistance of the pressure sensor 17 is changed accordingly, so that the intermediate portion 57 is identified as being subjected to the forward or reverse twisting action.

Referring to fig. 14 and 15, in still another embodiment, the number of the pressure sensors 17 is one, and the pressure sensors 17 are elongated and extend in the axial direction of the lever 20 of the operating portion 16. The engaging portion 95 includes a catching block 68 with a catching groove 67, and the catching block 68 is opposed to the swinging portion 18 at intervals in a direction perpendicular to the swinging direction of the swinging portion 18. One long end of the pressure sensor 17 is clamped in the clamping groove 67, and the other end of the pressure sensor 17 is connected to the swinging part 18 of the operating part 16, so that when the swinging part 18 swings to two sides, the pressure sensor 17 is driven to bend and deform in the corresponding direction, the voltage variable resistor of the pressure sensor 17 changes correspondingly, and corresponding electric signals are generated. In this embodiment, the swing portion 18 may be shaped differently from the swing portion illustrated above, and only needs to be rotatable relative to the base member 15. Optionally, a fixing member 69 is connected to the swing portion 18 at a side close to the pressure sensor 17, and the fixing member 69 is used for connecting the pressure sensor 17. Optionally, the fixing member 69 has a clamping groove 71 formed at an end thereof adjacent to the pressure sensor 17, and a corresponding end of the pressure sensor 17 is clamped in the clamping groove 71. Of course, in other embodiments, the pressure sensor 17 may be connected to the swinging portion 18 in other manners to receive the swinging from the swinging portion 18, which is not limited herein.

In the previous embodiment, the handling portion 16 is rotatable relative to the base member 15 about a solid axis structure (i.e. the rotational axis 23/rotational axis 63), while in another embodiment the handling portion 16 may be arranged to rotate relative to the base member 15 about a virtual axis 94 to effect the swinging. The virtual axis 94 referred to herein refers to a rotational axis where there is no physical axis structure (i.e., rotational axis 23/rotational axis 63). Fig. 16 shows an embodiment providing a rotation of the handling portion 16 about the virtual axis 94 relative to the base member 15.

As shown in fig. 16, the base member 15 includes a mounting seat 91, the mounting seat 91 having a mounting hole 92, and the lever 20 of the operating portion 16 passes through the mounting hole 92 and is supported in the mounting hole 92 of the mounting seat 91 by an axially arranged flexible ring 93. The flexible ring 93 allows the lever 20 to oscillate within the mounting hole 92 such that the flexible ring 93 provides a virtual axis 94 of rotation of the lever 20 relative to the base member 15. That is, the axis of rotation of the flexible ring 93 allowing the lever 20 to rotate relative to the base member 15 forms a virtual axis 94. It will be appreciated that the flexible ring 93 is an elastic member. Since the flexible ring 93 is sleeved on the portion of the lever 20 in the mounting hole 92, when the swinging force applied to the lever 20 is greater than the deformation-resistant force of the flexible ring 93, the lever 20 compresses the portion of the flexible ring 93 to deform, thereby allowing the lever 20 to swing in the mounting hole 92, and further enabling the lever 20 to rotate relative to the base member 15.

Alternatively, as shown in fig. 17 and 18, the lever 20 is supported in the mounting hole 92 by disposing two spaced flexible rings 93.

Upon swinging the operating portion 16 from side to side, the operating lever 20 can compress the flexible ring 93 to effect swinging relative to the mount 91. The virtual axis 94 of the structure is located approximately between the two flexible rings 93. The structure does not need a complex entity rotating shaft structure, and is simpler. The state at the time of the left-right swing can be seen in fig. 17 and 18. When the lever 20 swings in one direction, one of the flexible rings 93 is partially deformed and compressed while the other is stretched, and the other flexible ring 93 is partially deformed and compressed while the other is stretched at a position opposite to the previous flexible ring 93.

Alternatively, as shown in fig. 19, the flexible ring 93 is a flexible sleeve that is sleeved on the lever 20. The flexible ring 93 covers the entire area of the lever 20 within the mounting hole 92. When the rocking force applied to the lever 20 is greater than the deformation-resistant force of the flexible ring 93, the end of the flexible ring 93 adjacent one of the openings of the mounting hole 92 is partially stretched by the deformation-compressed portion, and the end adjacent the other opening of the mounting hole 92 is partially stretched by the compression portion at the opposite position, thereby allowing the lever 20 to rock relative to the mount 91 to effect rotation of the lever 20 relative to the base member 15.

In other embodiments, the virtual axis may be provided in other manners, so long as the manipulation input applied to the manipulation portion 16 can act on the pressure sensor 17, which is not limited herein.

With continued reference to fig. 6, the swing portion 18 in this embodiment may be configured as desired, for example, in a box shape, for example, the swing portion 18 is configured as an electronic control box 39, and the electronic control box 39 is internally provided with a sensing device 40 in a sealing manner, and the sensing device 40 is used for sensing another manipulation input of the manipulation portion 16. The other steering input referred to herein is a steering input different from the steering input described above for sensing by the pressure sensor 17 for controlling the water propeller 100 to perform another action. For example, at least two operation inputs are applied to the tiller 10, wherein one operation input is to rotate the control lever 20 to drive the electronic control box 39 to rotate, so as to trigger the pressure sensor 17, and the water propeller 100 is controlled to perform steering action by the trigger signal of the pressure sensor 17; the other steering input is another control member (e.g., a switch button 42) applied to the joystick 20, which is received by a sensing device 40 in the electronic control box 39 for controlling the water propulsion 100 to perform another action (e.g., controlling the tilting/start-stop of the water propulsion 100, etc.). By providing the additional sensing device 40, a variety of steering controls can be achieved through a tiller 10, which is convenient to use.

In this embodiment, optionally, the operating lever 20 is fixedly connected with the electronic control box 39, the operating portion 16 further includes an accelerator rotating sleeve 41, and the accelerator rotating sleeve 41 is sleeved outside the operating lever 20; the torsion of the throttle pivot bushing 41 relative to the joystick 20 serves as a further actuation input.

Optionally, a button 42 is disposed at an end of the joystick 20, the sensing device 40 is a trigger circuit board 43, and the button 42 is electrically connected to the trigger circuit board 43; the action of pressing button 42 serves as another manipulation input.

The throttle rotation sleeve 41 and the push button 42 may be both present, or may be provided with only one, and are not limited thereto.

Optionally, a signal processing circuit board 44 is further disposed in the electronic control box 39, and the signal processing circuit board 44 is electrically connected to the pressure sensor 17, and is configured to receive a deformation pressure value caused by displacement of the operating portion 16 relative to the base member 15, and compare the deformation pressure value with a set trigger pressure threshold value, so as to obtain a trigger signal. The signal processing circuit board 44 may be a printed circuit board (Printed Circuit Board, PCB) that compares the deformation pressure value with a preset trigger pressure threshold after receiving the deformation pressure value, and does not generate a trigger signal if the deformation pressure value is less than the preset trigger pressure threshold; if the variable pressure value is greater than or equal to the preset trigger pressure threshold, controlling the water area propeller 100 to execute steering at a corresponding proportion angle according to the difference value between the pressure value and the preset trigger pressure threshold.

In this embodiment, the preset trigger pressure threshold may be a fixed value or a variable value related to an operation parameter (such as a sailing speed) of the water area movable apparatus 300. For example, the preset trigger pressure threshold is positively correlated with the speed of the water mobile device 300, i.e., the faster the speed of the water mobile device 300, the greater the preset trigger pressure threshold.

With the arrangement, when the navigation speed of the water area movable equipment 300 is low, the triggering pressure threshold value is small, the pressure sensor 17 can trigger steering at a small pressure value, the feeling of small steering damping at low navigation speed can be obtained, and a user can realize steering by only slightly pushing the control lever 20; when the navigation speed of the movable equipment 300 in the water area is high, the triggering pressure threshold value is high, the pressure sensor 17 needs to trigger steering at a high pressure value, namely, a user needs to apply a high thrust force to realize steering, so that on one hand, the feeling of high steering damping can be obtained, and on the other hand, the fact that the operating part 16 cannot be easily touched at a high navigation speed to accidentally steer or steer at a high navigation speed by a large angle is ensured, and safety accidents are caused.

The preset trigger pressure threshold as a function of the navigational speed of the water movable device 300 may be preset and stored in a memory-enabled device of the control system of the water propulsion system 100, which is not described in detail herein.

In this embodiment, the base member 15 is optionally provided with a controller 45, the controller 45 being coupled to the signal processing circuit board 44 for controlling the water propeller 100 to perform a setting action in response to a trigger signal generated by a processor in communication with the pressure sensor 17. Optionally, the controller 45 is electrically connected to the signal processing circuit board 44 via a cable 46, and the electronic control box 39 is provided with a via 47 for allowing the cable 46 to pass through. A sealing plug is provided at the via hole 47 for sealing the via hole 47. In other embodiments, the controller 45 and the signal processing circuit board 44 may also be connected wirelessly. The cable 46 is shown only in fig. 6, but is hidden from view in the other figures.

In this embodiment, optionally, referring to fig. 4, the base member 15 is provided with a display screen 48 for displaying the posture information adjusted by the pressure sensor 17. Optionally, a display screen 48 is provided at the outer surface of the top wall 31.

In this embodiment, optionally, referring to fig. 4, the tiller 10 further includes a signal amplifier 49, and the signal amplifier 49 is electrically connected to the pressure sensor 17, and is configured to amplify the sensing signal and transmit the amplified sensing signal to the signal processing circuit board 44.

In another embodiment, referring to fig. 20, the signal processing circuit board 44 within the aforementioned electrical control box 39 is omitted, and the electronic control unit 50 on the body 11 of the water propulsion 100 is employed to perform the function of receiving and processing the signals of the pressure sensor 17. In this embodiment, an electronic control unit 50 (ECU, electronic Control Unit) is disposed on the main body 11 of the water area propeller 100, and the electronic control unit 50 is electrically connected to the pressure sensor 17, and is configured to receive the deformation pressure value, and obtain an attitude adjustment signal according to the deformation pressure value and the set trigger pressure threshold, where the attitude adjustment signal is configured to instruct the water area propeller 100 to perform attitude adjustment, such as steering adjustment. The electronic control unit 50 is a central comprehensive operation processor of the water area propeller 100, and is configured to receive electrical signals from a plurality of modules such as a battery, a steering wheel, a tiller 10, a steering system, a tilting system, a propulsion system, and the like, and to process the corresponding electrical signals to control the power of the motor 12, the steering of the water area propeller 100, the tilting of the water area propeller 100, the output power of the battery, and the like.

Referring to fig. 21, the present embodiment also provides a water movable apparatus 300, the tiller 70 of the water propulsion device 100 is substantially the same as the tiller 10, except that the swinging portion 18 of the tiller 10 is rotated in a direction parallel to the steering direction 19 of the water propulsion device 100, the pressure sensor 17 is rotated by the swinging portion 18 to output a steering signal, and the water propulsion device 100 is controlled to perform a steering action; in the tiller 70 shown in fig. 15, the swinging portion 18 is parallel to the tilting direction 58 of the water propeller 100 with respect to the rotation direction of the base member 15, and the pressure sensor 17 is rotated by the swinging portion 18 to output a tilting signal for controlling the tilting or lowering of the water propeller 100.

Referring to fig. 21, the tiller 70 includes a base member 15, a manipulating portion 16, and a pressure sensor 17. The handling section 16 comprises a swinging part 18 and a handling lever 20, the swinging part 18 being rotatably connected to the base member 15 by means of a rotation shaft 23, which rotation shaft 23 may be parallel to the steering plane of the water propeller. For example, the swinging portion 18 is rotatably connected between both side walls of the base member 15 by a rotation shaft 23. The joystick 20 is connected at one end to the swing portion 18 and at the other end for receiving a driving manipulation input. The swing portion 18 is provided with pressure sensors 17 on the upper and lower sides in the illustrated state, and the upper and lower walls of the base member 15 are provided with corresponding abutting portions 26, respectively.

When in use, a user drives the swinging part 18 to rotate relative to the base member 15 around the rotating shaft 23 through the operating lever 20, and the rotation causes the pressure sensor 17 at one side to press against the supporting part 26 to generate induction, so as to control the water area propeller 100 to execute tilting or falling actions. When the user controls the joystick 20 to rotate downward, the pressure sensor 17 at the upper end senses a pressure signal, thereby performing a descending motion in response to controlling the water propeller 100. When the user controls the joystick 20 to rotate upward, the pressure sensor 17 at the lower end senses a pressure signal, thereby performing a tilting action in response to controlling the water propeller 100.

Of course, the pressure sensor 17 of the tiller 70 shown in fig. 21 may be provided as one, and the position of the pressure sensor may be flexibly selected, so long as the rotation of the swinging portion 18 can be sensed, which will not be described herein.

Fig. 22 and 23 show another tiller 80 which differs from the tiller 10 or tiller 70 described above in that the displacement of the handling portion 16 of the tiller 80 is not generated in rotation but in sliding.

Referring to fig. 22, in the tiller 80, the operating portion 16 is slidably connected to the base member 15 to be displaced. The manipulating portion 16 has a sliding portion 51, and the sliding portion 51 generates displacement with respect to the base member 15 when the manipulating portion 16 slides. The base member 15 is provided with two abutting portions 26, and the two abutting portions 26 are located on both sides of the sliding portion 51 in the sliding direction 60, respectively. The pressure sensors 17 are provided in two, and the two pressure sensors 17 are respectively disposed between the two abutting portions 26 and the sliding portion 51.

Referring to fig. 23, in another embodiment of the tiller 80, only one of the number of pressure sensors 17 may be provided, and the pressure sensor 17 has two sensing ends 36 located in the sliding direction of the operating portion 16 for respectively sensing the displacement of the operating portion 16 to slide back and forth in the sliding direction with respect to the base member 15 and respectively generating deformation pressure values.

In the case that the operating portion 16 includes the operating lever 20 and the electronic control box 39, the electronic control box 39 is slidably connected to the base member 15, and the operating lever 20 is connected to the electronic control box 39 for driving the electronic control box 39 to slide relative to the base member 15. Optionally, the electronic control box 39 is provided with a slide groove 52, the base member 15 is provided with a slide block 53 cooperating with the slide groove 52, and the sliding cooperation is achieved by cooperation of the slide groove 52 and the slide block 53. Of course, in other embodiments, the sliding fit of the electronic control box 39 and the base member 15 may take other forms, which are not limited herein.

In some embodiments, the steering mode of the tiller 80 sliding back and forth as shown in fig. 22 or 23 is used to control the propulsion speed of the water propeller 100 to implement the electronic throttle function. For example, the user pushes forward on the steering portion 16 of the tiller 80 to effect control of the water propeller 100 to accelerate forward; the user pulls the handling portion 16 of the tiller 80 rearward, thereby effecting control of the water propulsion 100 to slow down or reverse. The control mode has consistent control actions and results, has certain logic relevance and is easier to be accepted by operators. Practice has shown that in emergency situations, such as when the driver is driving a water movable apparatus, and suddenly finds that there is an obstacle in the immediate front, the instinctive action may be to pull the tiller back in an attempt to prevent the water movable apparatus from hitting the obstacle forward, in which case the tiller 80 in this back-and-forth sliding manoeuvring mode is able to control the water movable apparatus to slow down and stop, thereby avoiding or reducing the risk of collision. Therefore, the tiller adopting the control structure and the control mode accords with the control habit, the probability of correct control actions of a driver in emergency can be improved to a certain extent, and the use safety is improved.

Fig. 24 shows a further tiller 90 which differs from the tiller 10, tiller 70 or tiller 80 described previously in that the displacement of the handling portion 16 of the tiller 90 is not generated in a rotational or sliding manner, but in a twisting manner.

Referring to fig. 24, in the tiller 90, the operating portion 16 is rotatably connected to the base member 15 about a central axis 61 of the operating portion 16 to generate displacement. The handling part 16 has a twisting part 54, which twisting part 54 generates a displacement relative to the base member 15 when the handling part 16 is twisted. The base member 15 is provided with two abutting portions 26, and the two abutting portions 26 are located on both sides of the twisting portion 54 in the twisting direction, respectively. The pressure sensors 17 are provided in two, and the two pressure sensors 17 are respectively disposed between the two abutting portions 26 and the twisting portion 54.

In the case that the operation portion includes the lever 20 and the electric control box 39, the electric control box 39 is rotatably connected to the base member 15 about a central axis of the electric control box 39, and the lever 20 is connected to the electric control box 39 for driving the electric control box 39 to twist with respect to the base member 15. Optionally, the base member 15 is provided with a torsion slot 55, and the electronic control box 39 is rotatably provided in the torsion slot 55. Of course, in other embodiments, the twist-fit of the electronic control box 39 and the base member 15 may take other forms, and is not limited herein.

In another embodiment of the tiller 90, the number of pressure sensors 17 can also be one.

The displacement of the steering section 16 of the tiller 90 caused by the torsion shown in fig. 21 is small in signal, and a better control effect can be obtained by referring to the manner in which the signal amplifier 49 is provided to amplify the induction signal and then transmit it to the signal processing circuit board 44.

In some embodiments, the steering mode in which tiller 80 is twisted as shown in fig. 21 is used to control the propulsion speed of water propeller 100, mimicking the electronic throttle of a motorcycle or the like that is controlled in speed by twisting the handle. For example, the user twists the steering portion 16 of the tiller 90 to achieve control of the speed of the water propeller 100 to advance, the greater the twisting force or angle, the faster the speed or acceleration of the water propeller 100; upon stopping twisting the steering portion 16 of the tiller 90, the water propeller 100 stops accelerating. In this manner, the steering action is consistent with other types of vehicles (e.g., motorcycles) and is more readily accepted by operators having associated experience in use.

The embodiment also provides a control method of the movable equipment in the water area, which comprises the following steps:

acquiring a set trigger pressure threshold;

The deformation pressure value obtained by the pressure sensor 17 of the tiller 10,70,80,90 is compared with the trigger pressure threshold value to obtain an attitude adjustment signal, and the attitude adjustment signal is used for indicating the water propeller 100 to perform attitude adjustment. The posture adjustment signal may be a steering signal, a warp signal, an acceleration/deceleration signal, or the like, depending on the setting, and is not limited herein.

Optionally, the control method further includes: the navigational speed of the water area mobile device 300 is obtained, and the trigger pressure threshold is adjusted according to the navigational speed. For example, the trigger pressure threshold is positively correlated with the voyage speed, i.e., as the voyage speed increases, the corresponding pressure threshold is adjusted to be greater. Thus, the steering feeling of low speed, low damping and high speed, high damping can be obtained, and the dangerous operation of large angle steering is ensured to be difficult to operate by mistake at high speed.

In the present control method, the pressure sensors 17 may be two or one.

For example, there are two pressure sensors 17, a first pressure sensor and a second pressure sensor, respectively; comparing the first deformation pressure value obtained by the first pressure sensor with the trigger pressure threshold value to obtain a first posture adjustment signal, wherein the first posture adjustment signal is used for indicating the water area propeller 100 to perform posture adjustment; or comparing the second deformation pressure value obtained by the second pressure sensor with the trigger pressure threshold value to obtain a second posture adjustment signal, wherein the second posture adjustment signal is used for indicating the water area propeller 100 to perform posture adjustment.

Alternatively, the pressure sensor 17 has one, and the pressure sensor 17 is configured to acquire a first deformation pressure value and a second deformation pressure value caused by displacement of the manipulation portion 16; comparing the first deformation pressure value with the trigger pressure threshold value to obtain a first posture adjustment signal, wherein the first posture adjustment signal is used for indicating the water area propeller 100 to perform posture adjustment; alternatively, the second deformation pressure value is compared with the trigger pressure threshold to obtain a second attitude adjustment signal, where the second attitude adjustment signal is used to instruct the water propulsion 100 to perform attitude adjustment.

The embodiment also provides a storage medium, which comprises a stored program, and the program executes the control method of the movable equipment in the water area.

The above embodiments are only for illustrating the technical solution of the present application and not for limiting, and although the present application has been described in detail with reference to the above preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present application may be modified or substituted without departing from the spirit and scope of the technical solution of the present application.

Claims (24)

1. A tiller for a water propeller for propelling a water movable device to move, the tiller comprising:

A base member for connection to the body of the water propulsion device; the base piece is provided with a matching part;

a manipulation portion including a swing portion rotatably connected to the base member and generating a displacement with respect to the base member when the manipulation portion receives a manipulation input;

the sensor is arranged between the matching part and the swinging part and is used for acquiring a digital signal caused by displacement of the swinging part relative to the matching part; when the digital signal meets a set threshold, the sensor is triggered to generate a trigger signal, and the trigger signal is used for indicating the water area propeller to execute a set action.

2. A tiller according to claim 1, characterized in that:

the sensor is a pressure sensor, the pressure sensor is used for acquiring a deformation pressure value caused by displacement of the swinging part relative to the matching part, and when the deformation pressure value accords with a set trigger pressure threshold, the pressure sensor is triggered to generate the trigger signal.

3. A tiller according to claim 2, characterized in that:

the matching part comprises two propping parts which are respectively positioned at two sides of the rotation direction of the swinging part;

The pressure sensors are arranged between the abutting part and one side of the swinging part, and the other pressure sensor is arranged between the abutting part and the other side of the swinging part.

4. A tiller according to claim 3, characterized in that:

and a flexible cushion block is arranged on one side of the supporting part corresponding to the pressure sensor.

5. A tiller according to claim 3, characterized in that:

the swinging part is parallel to the steering direction of the water area propeller relative to the rotating direction of the base piece, and the pressure sensor is rotated by the swinging part to output a steering signal.

6. A tiller according to claim 3, characterized in that:

the swinging part is parallel to the tilting direction of the water area propeller relative to the rotating direction of the base piece, and the pressure sensor is rotated by the swinging part to output a tilting signal.

7. A tiller according to claim 3, characterized in that:

the pressure sensor is connected to the abutting part, and a gap exists between the pressure sensor and the swinging part or abuts against the swinging part.

8. A tiller according to claim 3, characterized in that:

The pressure sensor is connected to the swinging part, and a gap exists between the pressure sensor and the abutting part or is in contact with the abutting part.

9. A tiller according to claim 8, characterized in that:

the swing part is box-shaped, and the pressure sensor is arranged on the outer wall of the swing part.

10. A tiller according to claim 8, characterized in that:

the swing part is box-shaped, the pressure sensor is arranged on the inner wall of the swing part, and the position, corresponding to the pressure sensor, of the inner wall of the swing part is provided with a deformable part.

11. A tiller according to claim 2, characterized in that:

the pressure sensors are arranged in one, and can respectively sense the displacement of the swinging part swinging towards two sides of the rotating direction relative to the matching part, and respectively generate the deformation pressure values.

12. A tiller according to claim 11, characterized in that:

the pressure sensor is provided with two sensing ends, and the two sensing ends are respectively positioned at two sides of the swinging part and used for respectively sensing the swinging of the swinging part to two sides.

13. A tiller according to claim 11, characterized in that:

the pressure sensor is provided with a fixed end and a rotating end, the fixed end is connected with the base piece, the rotating end is connected with the operating part, and the middle parts of the fixed end and the rotating end can twist so as to output two induction signals of swinging the operating part towards two sides.

14. A tiller according to claim 2, characterized in that:

the matching part comprises clamping blocks, and the clamping blocks are opposite to the swinging part at intervals along the direction perpendicular to the swinging direction of the swinging part;

the pressure sensor is long, one end of the pressure sensor is connected with the clamping block, the other end of the pressure sensor is connected with the swinging part and can bend and deform along with the swinging of the swinging part so as to generate the deformation pressure value.

15. A tiller according to claim 14, characterized in that:

the clamping block is provided with a clamping groove, and the pressure sensor is clamped in the clamping groove through the end part of the pressure sensor.

16. A tiller according to claim 14, characterized in that:

one side of the swinging part, which is close to the pressure sensor, is connected with a fixing piece, a clamping groove is formed in one end, which is close to the pressure sensor, of the fixing piece, and one end of the pressure sensor is clamped in the clamping groove.

17. A tiller according to claim 2, characterized in that:

the operating part further comprises an operating rod, one end of the operating rod is connected to the swinging part, and the other end of the operating rod extends out of the base piece.

18. A tiller according to claim 2, characterized in that:

the swinging part is provided with a rotating shaft hole, and the base piece is provided with a rotating shaft matched with the rotating shaft hole.

19. A tiller according to claim 18, wherein:

the swinging part is provided with an arc-shaped groove, and the circle center of the circle where the arc-shaped groove is positioned coincides with the rotation center of the swinging part;

the base member is provided with a slide pin engaged with the arcuate slot for defining a rotation range of the swing portion.

20. A tiller according to claim 17, wherein:

the manipulation portion is rotatably connected to the base member about a virtual axis; the operating part comprises an operating rod connected with the swinging part, the base piece comprises a mounting seat, the mounting seat is provided with a mounting hole, the operating rod passes through the mounting hole and is supported in the mounting hole through a flexible ring which is axially arranged, and the flexible ring allows the operating rod to rotate relative to the rotating axis of the base piece to form the virtual axis.

21. A tiller according to claim 2, characterized in that:

the trigger pressure threshold is positively correlated with the speed of the water movable equipment.

22. A water propulsion apparatus, comprising:

a main body;

a tiller according to any one of claims 1 to 21; the base member of the tiller is connected to the main body.

23. A water propulsion apparatus as claimed in claim 22 wherein:

the main body is provided with a motor and a propeller, and the motor is connected with the propeller in a transmission way and is used for driving the propeller to rotate so as to generate propelling force.

24. A water area mobile device, comprising:

a water area carrier;

a water propulsion device as claimed in any one of claims 22 to 23 connected to the water carrier.