WO2024050733A1 - Procédé d'identification de positions d'installation d'une pluralité de moteurs hors-bord, et appareil associé - Google Patents

Procédé d'identification de positions d'installation d'une pluralité de moteurs hors-bord, et appareil associé Download PDF

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Publication number
WO2024050733A1
WO2024050733A1 PCT/CN2022/117641 CN2022117641W WO2024050733A1 WO 2024050733 A1 WO2024050733 A1 WO 2024050733A1 CN 2022117641 W CN2022117641 W CN 2022117641W WO 2024050733 A1 WO2024050733 A1 WO 2024050733A1
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WIPO (PCT)
Prior art keywords
host
ship
data
outboard motors
slave
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PCT/CN2022/117641
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English (en)
Chinese (zh)
Inventor
威迪•安德烈亚斯
陈英安
林泽晟
陶师正
万小康
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广东逸动科技有限公司
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Priority to PCT/CN2022/117641 priority Critical patent/WO2024050733A1/fr
Priority to CN202280005948.9A priority patent/CN117999220A/zh
Publication of WO2024050733A1 publication Critical patent/WO2024050733A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H20/00—Outboard propulsion units, e.g. outboard motors or Z-drives; Arrangements thereof on vessels

Definitions

  • the present application relates to the technical field of ship systems, and in particular to a method, device, outboard motor, ship and storage medium for identifying the installation locations of multiple outboard motors.
  • the topology diagram of a ship system is usually used to show users which access devices are included in the ship system and the connection relationships between each access device.
  • the topology diagram can display the same number. of outboard motors, but the relative positional relationship between multiple outboard motors cannot be displayed, so users cannot understand the installation locations of multiple outboard motors on the ship through the topology diagram.
  • this application provides a method, device, outboard motor, ship and storage medium for identifying the installation locations of multiple outboard motors.
  • a method for identifying the installation locations of multiple outboard motors includes:
  • the relative position relationship of the multiple outboard motors on the ship is determined, and the relative position relationship is used in the topology diagram of the ship system.
  • the multiple outboard motors are displayed, and the relative positions between the multiple outboard motors displayed in the topological diagram are the same as the relative positions of the multiple outboard motors on the ship.
  • a device for identifying the installation locations of multiple outboard motors includes a master machine and a slave machine.
  • the device includes:
  • the first acquisition module is configured to acquire the host positioning data and the host orientation data of the host machine, and acquire the slave positioning data of the slave machine;
  • the first determination module is configured to determine the relative position relationship of the multiple outboard motors on the ship based on the host positioning data, the slave positioning data and the host orientation data; the relative position relationship is expressed in The multiple outboard motors are displayed in a topological diagram of the ship system; the relative positions of the multiple outboard motors displayed in the topological diagram are consistent with the positions of the multiple outboard motors on the ship. The relative positions are the same.
  • an outboard motor includes: a propeller; a motor for driving the propeller to rotate; and a processor connected to the motor, the processor being In executing the method for identifying the installation locations of multiple outboard motors described in any embodiment of the present application.
  • a ship including: a hull; and the outboard motor according to any embodiment of the present application, the outboard motor being loaded on the hull.
  • a computer-readable storage medium is provided.
  • a computer program is stored on the readable storage medium.
  • the computer program is executed by a processor, the method described in any embodiment of the present application is implemented. How to identify the installation locations of multiple outboard motors.
  • the position of the slave relative to the master is determined based on the master positioning data and the slave positioning data, and then the host orientation data is used as a direction reference to determine multiple The relative position relationship between the outboard motors on the ship. Since the relative positions between the multiple outboard motors shown in the topology diagram are the same as the relative positions of the multiple outboard motors on the ship, the user can Topology map to understand where multiple outboard motors are installed on the boat.
  • Figure 1 is a flow chart of a method for identifying the installation locations of multiple outboard motors according to an exemplary embodiment of the present application
  • Figure 2 is a schematic diagram of the relative positions of three outboard motors according to an exemplary embodiment of the present application
  • Figure 3 is a schematic diagram of the relative positions of another three outboard motors shown in this application according to an exemplary embodiment
  • Figure 4 is a flow chart of another method for identifying the installation locations of multiple outboard motors according to an exemplary embodiment of the present application
  • Figure 5 is a flow chart of another method of identifying the installation locations of multiple outboard motors according to an exemplary embodiment of the present application
  • Figure 6 is a flow chart of another method of identifying the installation locations of multiple outboard motors according to an exemplary embodiment of the present application
  • Figure 7 is a flow chart of another method of identifying the installation locations of multiple outboard motors according to an exemplary embodiment of the present application.
  • Figure 8 is a flow chart of another method of identifying the installation locations of multiple outboard motors according to an exemplary embodiment of the present application.
  • Figure 9 is a topology diagram of a ship system in related technologies.
  • Figure 10 is a topological diagram of the ship system shown in this application according to an exemplary embodiment
  • Figure 11 is a schematic diagram of a device for identifying the installation locations of multiple outboard motors according to an exemplary embodiment of the present application
  • Figure 12 is a schematic diagram of another device for identifying the installation locations of multiple outboard motors according to an exemplary embodiment of the present application
  • Figure 14 is a schematic diagram of a ship according to an exemplary embodiment of the present application.
  • first, second, third, etc. may be used in this application to describe various information, the information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other.
  • first information may also be called second information, and similarly, the second information may also be called first information.
  • word “if” as used herein may be interpreted as "when” or “when” or “in response to determining.”
  • a ship usually includes a hull, propulsion system and control system.
  • the propulsion system includes the outboard motor and the battery that powers the outboard motor
  • the control system includes the steering wheel, remote control box, and remote control.
  • Outboard motor refers to the propulsion engine installed on the outside of the hull (ship side), also called outboard motor, and is usually hung on the outside of the stern plate.
  • an outboard motor includes a propeller, a motor that drives the propeller to rotate, and a processor connected to the motor.
  • Outboard motors are highly integrated and easy to install and purchase. They are the first choice for personal leisure and entertainment boats. They are also widely used in fisheries, commercial operations, and government law enforcement.
  • the topology diagram of a ship system is usually used to show users which access devices are included in the ship system and the connection relationships between each access device.
  • the topology diagram can display the same number. of outboard motors, but the relative positional relationship between multiple outboard motors cannot be displayed, so users cannot understand the installation locations of multiple outboard motors on the ship through the topology diagram.
  • this application proposes a method, device, outboard motor, ship and storage medium for identifying the installation locations of multiple outboard motors, so as to solve the problem that topological diagrams cannot display the relative positional relationships between multiple outboard motors. It is convenient for users to understand the installation locations of multiple outboard motors on the ship through the topology diagram.
  • Figure 1 is a flow chart of a method for identifying the installation locations of multiple outboard motors according to an exemplary embodiment of the present application, which includes the following steps:
  • Step S101 Obtain the host positioning data and host orientation data of the host
  • Step S102 Obtain the slave positioning data of the slave machine
  • Step S103 Determine the relative positional relationship of the multiple outboard motors on the ship based on the host positioning data, the slave positioning data and the host orientation data.
  • the outboard motor as the master in the marine system is responsible for obtaining the required data from other outboards and combining it with its own data to perform calculations and processing according to the target task to obtain the results, while the outboard motor as the slave is Need to provide its own data to the host.
  • Each outboard motor is equipped with a processor. Information can be transferred between the processors of different outboard motors through the communication bus.
  • the processor of each outboard motor can be used as both the sender and the sender of information.
  • the receiver when an outboard motor serves as the master, the outboard motor serves as the receiver of information; when an outboard motor serves as the slave, the outboard motor serves as the sender of information.
  • the processor integrated into the outboard motor may be one or more electronic control units (ECU).
  • the ECU consists of a microcontroller (MCU), memory (ROM, RAM), and input/output interfaces. (I/O), analog-to-digital converter (A/D), and large-scale integrated circuits such as shaping and driving.
  • the ECU has computing and control functions.
  • processors that can complete the above functions are within the protection scope of this application. This application is not limited here.
  • the master positioning data and the slave positioning data may be the longitude and latitude data corresponding to the master and the longitude and latitude data corresponding to the slave respectively.
  • the longitude and latitude data can determine the host and the slave.
  • the relative position of the slave machine For example, when the latitude is the same, using the longitude of the master machine as the central reference value, the relative positional relationship between the master machine and the slave machine can be known by comparing the longitudes of the master machine and the slave machine. For example, the master machine and the slave machine are at different degrees of east longitude. Then by comparing the magnitude of the degrees, you can know the position of the slave relative to the master.
  • the orientation of the outboard motor is generally consistent with the direction of the propulsion force, and the direction of the propulsion force is consistent with the direction of the ship from the stern to the bow.
  • an outboard motor relies on the propeller blades to rotate in the water to convert the engine rotational power into propulsion and drive the ship. Therefore, the orientation of the outboard motor, the direction of the propulsion force, and the direction of the ship from the stern to the bow should be Maintain a consistent relationship. Therefore, the main engine orientation data can be used to indicate the direction of the propulsion force of the outboard motor as the main engine, and thereby indirectly obtain the direction of the ship from the stern to the bow.
  • the orientation of the host is used as the positive center reference line.
  • the position of the slave relative to the host can be determined.
  • the ship system includes three outboard motors.
  • the orientation of the main engine is used as the forward center reference line.
  • the slave machine I is located on the left side of the main machine, and the slave machine I is located on the left side of the main machine.
  • Machine II is located on the right side of the main engine.
  • the slave machine I is located on the left side of the main machine.
  • the slave machine II is located on the right side of the master machine.
  • left and “right” here are relative to the direction of the ship from the stern to the bow. For example, you can take the location of the host machine as the center point and the direction of the stern pointing to the bow as the reference direction. If the center point is regarded as the starting point of the vector, and the direction of the stern pointing to the bow of the ship is regarded as the direction of the vector, then the landing point The area where the vector rotates clockwise from 0 degrees to 180 degrees from the starting point is determined to be right, and the direction in which the vector rotates counterclockwise from 0 degrees to 180 degrees from the starting point is determined to be left.
  • the obtained relative position relationship can be combined into the topology diagram of the ship system to display multiple outboard motors, so that users can know the position distribution of the outboard motors on the ship through the topology diagram of the ship system.
  • one outboard motor can be selected as the master through the election strategy, and the other outboard motors are regarded as slaves.
  • the election strategy adopted may be to use the outboard unit that first accesses the communication bus as the host, which can save time in selecting the host.
  • the election strategy adopted may be to use the device identification code in the device identification information. After all outboards are connected to the communication bus, each outboard can obtain other outboards through the communication bus. and compare it with its own device identification code, then the outboard motor with the smallest device identification code is confirmed to be the host. In this way, when communication is restored after the power supply is cut off, the same outboard motor can still be selected according to this election strategy.
  • An outboard motor serves as the host, eliminating the need for the time-consuming behavior of data retransmission or data re-collection caused by changing the host, which wastes user time and affects the user experience.
  • FIG. 4 it is a flow chart illustrating another method of identifying the installation locations of multiple outboard motors according to an exemplary embodiment. Based on the previous embodiment, this embodiment describes a method based on the host positioning. Data, the slave machine positioning data and the host machine orientation data, a processing process for determining the relative positional relationship of the multiple outboard machines on the ship includes the following steps:
  • Step S1031 Determine the orientation of the host according to the acceleration data of the host
  • Step S1032 Determine the orientation from the stern to the bow of the ship based on the orientation of the main engine
  • Step S1033 Determine the relative positional relationship of the multiple outboard motors on the ship based on the master positioning data, the slave positioning data and the direction from the stern to the bow of the ship.
  • the host orientation data may include acceleration data or angular velocity data of the host. Since the orientation of the host is consistent with the direction of the propulsion force, and the propulsion direction of the host is equivalent to the acceleration direction of the host, the acceleration data in the host orientation data is It can be used to determine the orientation of the main engine and thus the orientation of the ship from stern to bow. For example, when the acceleration data shows that the acceleration value in the true north direction is positive, the orientation of the main engine is true north at this time. According to the direction of the propulsion force of the main engine is parallel to the direction of the ship from the stern to the bow, then the current direction of the ship from the stern to the bow Orientation is due north.
  • FIG. 5 it is a flow chart showing another method of identifying the installation locations of multiple outboard motors according to an exemplary embodiment. Based on the previous embodiment, this embodiment describes the method of identifying the installation locations of multiple outboard motors.
  • a process for determining the orientation of the host using acceleration data including the following steps:
  • Step S10311 Obtain the host acceleration data collected by the host acceleration detection unit of the host;
  • Step S10312 Determine the orientation of the host according to the acceleration data of the host.
  • the host acceleration detection unit may be an accelerometer.
  • the host acceleration detection unit may be an inertial measurement unit (IMU).
  • IMU inertial measurement unit
  • the host's acceleration data can be collected first through the host's built-in host acceleration detection unit, and then directly obtained by the host's processor. Therefore, the host's processor does not need to perform additional communications to other devices to obtain data as the host's acceleration. data, which improves the efficiency with which the host's processor determines the host's orientation.
  • FIG. 6 it is a flow chart of another method of identifying the installation locations of multiple outboard motors according to an exemplary embodiment. Based on the previous embodiment, this embodiment describes a method based on the acceleration of the main engine.
  • a process for determining the orientation of the host using data including the following steps:
  • Step S10312A When the host acceleration data is available, determine the orientation of the host according to the host acceleration data;
  • Step S10312B When the host acceleration data is unavailable, obtain the slave acceleration data collected by the slave acceleration detection unit of the slave machine, and determine the orientation of the host based on the slave acceleration data.
  • the slave acceleration detection unit may be an accelerometer.
  • the slave acceleration detection unit may be an inertial measurement unit (IMU).
  • IMU inertial measurement unit
  • the processor may determine whether the host acceleration data is available based on at least one of a data format, a value range, and a communication status between the host acceleration detection unit and the host's processor. For example, in the example of determining whether the host acceleration data is available based on the data format of the host acceleration data, if the host acceleration data meets the preset data format, then the host acceleration data is considered available; if the host acceleration data is garbled or intermittent data , then the host acceleration data is regarded as unavailable; for another example, in the example of determining whether the host acceleration data is available based on the numerical range of the host acceleration data, if the host acceleration data satisfies the preset numerical range, then the host acceleration data is regarded as Available; if the host acceleration data exceeds the upper or lower limit of the range, the host acceleration data is considered unavailable; for another example, in the example of determining whether the host acceleration data is available based on the communication status between the host acceleration detection unit and the host's processor , if the communication status between the host acceleration
  • the host acceleration data that may be obtained is empty, and the host acceleration data is considered unavailable. Then when the host acceleration data is unavailable, generally speaking, the orientation of the host and slave is the same, and the host's processor can obtain the slave acceleration data collected by the slave acceleration detection unit as substitute data, and Determine the orientation of the main engine based on the acceleration data of the slave machine. This can avoid being unable to determine the orientation of the main engine when the acceleration data of the main engine is unavailable, thus affecting the topology map's display of the relative position of the outboard motor on the ship.
  • step S10311 and step S10312 can be Replace with step S10313 and step S10314,
  • Step S10313 Collect the slave acceleration data of the slave machine and send it to the host machine as the acceleration data of the host machine;
  • Step S10314 Determine the orientation of the host according to the acceleration data of the host.
  • different settings are made for the acceleration detection unit of the host and the slave.
  • the user sets the acceleration detection unit of the host to have high accuracy.
  • the user can set the host's processor to give priority to obtaining the slave acceleration data from the slave acceleration detection unit as the host's acceleration data.
  • the user sets the host acceleration detection unit to obtain data at a higher rate than the slave acceleration detection unit. If the acquisition rate requirement is lower, the user can set the host's processor to obtain slave acceleration data from the slave acceleration detection unit first. As the acceleration data of the host.
  • the user sets the range of the acceleration data obtained by the host acceleration detection unit to be larger than that of the slave acceleration detection unit. If the range of acceleration data is not required, the user can set the host's processor to give priority to the acceleration data from the slave.
  • the detection unit obtains the acceleration data of the slave machine as the acceleration data of the host machine.
  • the topology diagram of the ship system may be formed from a top view of the ship.
  • the display direction of the topology diagram from bottom to top may be the direction of the ship from the stern to the bow.
  • the topology diagram displays multiple units.
  • the position distribution of the outboard motors on the ship is further displayed based on the left and right position information of the slave machine relative to the master machine, so that when the user is on the ship, the location of the outboard motors can be easily distinguished based on the topological map. It is convenient for users to identify the position of the outboard motor on the ship and the corresponding control and detection needs.
  • FIG. 8 it is a flow chart of another method of identifying the installation locations of multiple outboard motors according to an exemplary embodiment. Based on the previous embodiment, this embodiment also includes the following steps:
  • Step S104 Obtain model information of the multiple outboard motors.
  • the model information is used to display the models of the multiple outboard motors in the topology diagram of the ship system.
  • model information is unique for each outboard motor.
  • the topology map can use icons to display each outboard motor and at the same time display the model of the outboard motor correspondingly, thereby facilitating the user to compare the model information of the corresponding position on the topology map with the model information of the corresponding position on the actual ship. outboard motor to match.
  • the ship system includes three outboard motors, with models 1, 2, and 3 respectively, then the topology diagram of the related technology, as shown in Figure 9, can only show the number of outboard motors, but cannot show multiple outboard motors. The relative position between them.
  • the outboard motor can be marked on the topology diagram.
  • the outboard motor can be marked on the topology diagram. It is formed from the top view of the ship, so that the topology map can show the relative positions of multiple outboard motors on the ship based on the direction from the stern to the bow of the ship.
  • this application also provides a device for identifying the installation locations of multiple outboard motors.
  • Figure 11 is a schematic structural diagram of a device 1100 for identifying the installation locations of multiple outboard motors according to an exemplary embodiment of the present application.
  • the multiple outboard motors include a master machine and a slave machine.
  • Device 1100 includes the following modules:
  • the first acquisition module 1110 is configured to acquire the host positioning data and host orientation data of the host, and acquire the slave positioning data of the slave;
  • the first determination module 1120 is configured to determine the relative positional relationship of the multiple outboard motors on the ship based on the host positioning data, the slave positioning data and the host orientation data;
  • the relative position relationship is used to display the multiple outboard motors in the topological diagram of the ship system; the relative positions between the multiple outboard motors displayed in the topological diagram are consistent with the multiple outboard motors.
  • the relative position on said ship is the same.
  • the host is the outboard motor that first accesses the communication bus; or, the device identification information of the outboard motor includes a device identification code, and the host is all of the multiple outboard motors.
  • the host orientation data includes acceleration data of the host
  • the first determination module 1120 is further configured to determine the orientation of the main machine based on the acceleration data of the main machine; determine the orientation from the stern to the bow of the ship based on the orientation of the main machine; and determine the orientation of the ship based on the positioning data of the main machine.
  • the positioning data of the slave machine and the orientation from the stern to the bow of the ship are used to determine the relative positional relationship of the multiple outboard motors on the ship.
  • the first determination module 1120 is further configured to obtain the host acceleration data collected by the host acceleration detection unit of the host, and determine the orientation of the host based on the host acceleration data.
  • the first determination module 1120 is further configured to: when the host acceleration data is available, determine the orientation of the host based on the host acceleration data; when the host acceleration data is unavailable, obtain all The slave machine acceleration data collected by the slave machine acceleration detection unit of the slave machine is used to determine the orientation of the host machine based on the slave machine acceleration data.
  • the first determination module 1120 is further configured to use the slave acceleration data collected by the slave acceleration detection unit of the slave machine and sent to the host as the acceleration data of the host, according to the host's acceleration data. Acceleration data determines the orientation of the host machine.
  • the topology diagram of the ship system is used to represent the connection relationship of each device in the ship system and the relative position of the multiple outboard motors on the ship from a top view of the ship. Location.
  • FIG. 12 it is a schematic structural diagram of another device 1100 for generating a topology diagram of a ship system according to an exemplary embodiment. Based on the previous embodiment, this embodiment also includes the following modules:
  • the second acquisition module 1130 is configured to acquire model information of the plurality of outboard motors.
  • the model information is used to display the models of the multiple outboard motors in the topology diagram of the ship system.
  • the topology diagram of the marine system is also used to display models of the multiple outboard motors.
  • this application also provides an outboard motor.
  • This application illustrates an outboard motor 1200 according to an exemplary embodiment.
  • the outboard motor 1200 includes: a propeller 1210, a motor 1220 for driving the propeller 1210 to rotate, and a motor 1220 connected to the motor 1220.
  • the connected processor 1230 and the implementation process of the functions and effects of the processor 1230 are detailed in the implementation process of the corresponding steps in the above method, which will not be described again here.
  • this application also provides a ship.
  • This application illustrates a ship 1300 according to an exemplary embodiment. As shown in FIG. 14 , the ship 1300 includes a hull 1310 , and the hull 1310 is loaded with the outboard motor 1200 described in the above embodiment of this application.
  • the implementation process of the functions and functions of the processor 1230 in the outboard motor is detailed in the implementation process of the corresponding steps in the above method, and will not be described again here.
  • the present application also provides a computer-readable storage medium on which a computer program is stored.
  • the program is executed by a processor, the method for identifying the installation locations of multiple outboard motors described in any of the foregoing embodiments is implemented.
  • Computer-readable media includes both persistent and non-volatile, removable and non-removable media that can be implemented by any method or technology for storage of information.
  • Information may be computer-readable instructions, data structures, modules of programs, or other data.
  • Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), and read-only memory.
  • PRAM phase change memory
  • SRAM static random access memory
  • DRAM dynamic random access memory
  • RAM random access memory
  • read-only memory read-only memory
  • ROM read-only memory
  • EEPROM electrically erasable programmable read-only memory
  • flash memory or other memory technology
  • compact disc read-only memory CD-ROM
  • DVD digital versatile disc
  • Magnetic tape cassettes tape magnetic disk storage or other magnetic storage devices or any other non-transmission medium can be used to store information that can be accessed by a computing device.
  • computer-readable media does not include transitory media, such as modulated data signals and carrier waves.
  • the device embodiment since it basically corresponds to the method embodiment, please refer to the partial description of the method embodiment for relevant details.
  • the device embodiments described above are only illustrative.
  • the modules described as separate components may or may not be physically separated.
  • the components shown as modules may or may not be physical modules, that is, they may be located in One place, or it can be distributed to multiple network modules. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this application. Persons of ordinary skill in the art can understand and implement the method without any creative effort.

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
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Abstract

L'invention concerne un procédé et un appareil pour identifier des positions d'installation d'une pluralité de moteurs hors-bord, un moteur hors-bord, un navire et un support de stockage. La pluralité de moteurs hors-bord comprennent un moteur maître et un moteur esclave. Le procédé consiste à : acquérir des données de position de moteur maître et des données d'orientation de moteur maître du moteur maître (S101) ; acquérir des données de position de moteur esclave du moteur esclave (S102) ; et, sur la base des données de position de moteur maître, des données de position de moteur esclave et des données d'orientation de moteur maître, déterminer une relation de position relative de la pluralité de moteurs hors-bord sur un navire (S103), la relation de position relative étant utilisée pour afficher dans un graphe topologique d'un système de navire la pluralité de moteurs hors-bord. Le procédé peut permettre à un utilisateur de connaître, au moyen d'un graphe topologique, des positions d'installation d'une pluralité de moteurs hors-bord sur un navire.
PCT/CN2022/117641 2022-09-07 2022-09-07 Procédé d'identification de positions d'installation d'une pluralité de moteurs hors-bord, et appareil associé WO2024050733A1 (fr)

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PCT/CN2022/117641 WO2024050733A1 (fr) 2022-09-07 2022-09-07 Procédé d'identification de positions d'installation d'une pluralité de moteurs hors-bord, et appareil associé
CN202280005948.9A CN117999220A (zh) 2022-09-07 2022-09-07 一种识别多台船外机安装位置的方法以及相关装置

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PCT/CN2022/117641 WO2024050733A1 (fr) 2022-09-07 2022-09-07 Procédé d'identification de positions d'installation d'une pluralité de moteurs hors-bord, et appareil associé

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