WO2024050785A1 - Dispositif, système et procédé de commande, dispositif mobile pour étendue d'eau, et support de stockage - Google Patents

Dispositif, système et procédé de commande, dispositif mobile pour étendue d'eau, et support de stockage Download PDF

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Publication number
WO2024050785A1
WO2024050785A1 PCT/CN2022/117941 CN2022117941W WO2024050785A1 WO 2024050785 A1 WO2024050785 A1 WO 2024050785A1 CN 2022117941 W CN2022117941 W CN 2022117941W WO 2024050785 A1 WO2024050785 A1 WO 2024050785A1
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WO
WIPO (PCT)
Prior art keywords
control
control device
started
controlled device
controlled
Prior art date
Application number
PCT/CN2022/117941
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English (en)
Chinese (zh)
Inventor
温振钊
刘岳峰
陶师正
万小康
Original Assignee
广东逸动科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 广东逸动科技有限公司 filed Critical 广东逸动科技有限公司
Priority to PCT/CN2022/117941 priority Critical patent/WO2024050785A1/fr
Priority to CN202280005950.6A priority patent/CN116171409B/zh
Publication of WO2024050785A1 publication Critical patent/WO2024050785A1/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
    • B63H20/08—Means enabling movement of the position of the propulsion element, e.g. for trim, tilt or steering; Control of trim or tilt
    • B63H20/10—Means enabling trim or tilt, or lifting of the propulsion element when an obstruction is hit; Control of trim or tilt
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B9/00—Safety arrangements
    • G05B9/02—Safety arrangements electric

Definitions

  • the present application relates to the field of control, and in particular, to a control device, system, method, movable device in water area, and storage medium.
  • a safety switch When the ship is sailing, in order to ensure the safety of navigation, a safety switch will be installed on the ship. Only when the safety switch is activated can the ship's power system be started. If the safety switch is not activated, the ship's power system cannot be started.
  • each safety switch needs to be activated to start the ship's power system, which is less convenient to operate. If you want to emergency shut down the ship's power system, you need to make each safety switch inactive. Low security.
  • this application provides a control device, system, method, water area movable device and storage medium.
  • the technical solution is as follows:
  • a control device includes at least one control device, each of the control devices includes a processing unit and at least one safety switch, the number of the safety switches in the control device is At least two;
  • the processing unit is configured to: when detecting that at least one of the safety switches is in an activated state when the controlled device is not started, notify the controlled device to allow it to be started; when the controlled device has been When it is detected that the status of any of the safety switches in the activated state changes to the inactivated state during startup, the controlled device is notified to turn off the specified function.
  • a control system including:
  • control device described in the first aspect; the control device is connected to the controlled device.
  • a water movable device including:
  • control device described in the first aspect is loaded on the body.
  • a water movable device including:
  • control system described in the first aspect is loaded on the body.
  • a control method for controlling equipment, the control equipment includes at least one control device, each of the control devices includes at least one safety switch, and the safety switch in the control device The number is at least two, and the control method includes:
  • the controlled device When the controlled device is not started, if it is detected that at least one of the safety switches is activated, notify the controlled device to allow it to be started;
  • the controlled device When the controlled device is in the started state, if it is detected that the state of at least one of the safety switches in the activated state changes to the inactivated state, the controlled device is notified to turn off the specified function.
  • a computer-readable storage medium on which a computer program is stored.
  • the control method described in the fifth aspect is implemented.
  • FIG. 1 is a schematic diagram of an embodiment of the control device of the present application.
  • FIG. 2 is a schematic diagram of another embodiment of the control device of the present application.
  • FIG. 3 is a schematic diagram of another embodiment of the control device of the present application.
  • FIG. 4 is a schematic structural diagram of the control device of the present application.
  • FIG. 5 is another structural schematic diagram of the control device of the present application.
  • FIG. 6 is another structural schematic diagram of the control device of the present application.
  • FIG. 7 is a schematic structural diagram of the control system of the present application.
  • Figure 8 is a structural schematic diagram of the water area movable equipment of the present application.
  • Figure 9 is another structural schematic diagram of the water area movable equipment of the present application.
  • Figure 10 is a schematic diagram of a specific application scenario of the control device of the present application.
  • a safety switch will be set on the movable equipment in the water area. Only when the safety switch is activated can the power system of the movable equipment in the water area be started. , the safety switch is not activated, and the power system of the movable equipment in the water area cannot be started.
  • each safety switch needs to be activated to start the power system of the movable equipment in the water area.
  • the operation convenience is low. If you want to emergency shut down the power system of the movable equipment in the water area, you need to activate each safety switch. This can only be achieved if the safety switch is inactive, and the safety is low.
  • control equipment of this application can not only be applied to movable equipment in water areas, but also to aircraft in airspace (such as drones, etc.), and movable equipment in land areas (such as cars, etc.).
  • aircraft in airspace such as drones, etc.
  • movable equipment in land areas such as cars, etc.
  • Specific application fields are not limited.
  • the control device includes at least one control device.
  • Each control device includes a processing unit and at least one safety switch.
  • the number of safety switches in the control device is at least It is two, that is, the sum of the number of safety switches of all control devices is at least two;
  • the processing unit is used to: when detecting that at least one safety switch is activated when the controlled device is not started, notify the controlled device to allow it to be started; detecting that any one of the safety switches is activated when the controlled device has been started. When the status of the status safety switch becomes inactive, the controlled device is notified to turn off the specified function.
  • control device can be a single remote control box, dual remote control boxes, tiller, remote control, etc., and there are no restrictions here.
  • control device in the control device may be one or multiple, when the number of control devices in the control device is one, the number of safety switches on the control device is at least two; Please refer to Figure 1.
  • Figure 1 shows a situation where there is one control device and two safety switches.
  • the control device 100 in Figure 1 includes one control device 101, two safety switches. Examples of switches (safety switch 1012, safety switch 1013):
  • the processing unit 1011 of the control device 101 detects that at least one safety switch is activated when the controlled device 102 is not started, it notifies the controlled device 102 to allow it to be started;
  • the processing unit 1011 of the control device 101 detects that the status of any activated safety switch changes to an inactive state when the controlled device 102 is started, it notifies the controlled device to turn off the specified function.
  • the number of control devices in the control equipment can be multiple, and the number of safety switches on each control device is at least one; one of the multiple control devices can serve as the host, and the remaining control devices can
  • the device can be used as a slave; please refer to Figure 2.
  • Figure 2 shows a situation where there are two control devices and each control device has a safety switch.
  • the control device in Figure 2 200 includes two control devices (control device 201, control device 202) and two safety switches (safety switch 2012, safety switch 2022), for example, where the control device 201 serves as the host and the control device 202 serves as the slave.
  • the control process is as follows:
  • processing unit 2011 of the host detects that at least one safety switch in any control device is activated when the controlled device is not started, it notifies the controlled device to allow it to be started;
  • processing unit 2011 of the host detects that the status of any activated safety switch in any control device changes to the inactivated state when the controlled equipment is started, it notifies the controlled equipment to turn off the specified function.
  • the control of the controlled equipment is performed by the host, and the host can sense the status of the safety switches of other slave machines and control the controlled equipment accordingly.
  • the slave machine is responsible for transmitting the status of its own safety switch to the host machine.
  • the host directly accesses the bus connected to the controlled device, and the slave accesses the bus indirectly through the host.
  • the bus connected by the host and the bus connected by the slave are the same bus.
  • the connection method between the device and the controlled equipment does not exclude situations other than bus connection, and is not limited here.
  • the number of control devices is two.
  • Each control device includes a first interface and a second interface.
  • the first interface of the host is connected to the bus, and the second interface of the slave is connected to the second interface of the host. It is worth It should be noted that the number of interfaces and interface connection methods of the control device can be flexibly combined according to the designer's needs, and there are no specific restrictions here.
  • the number of control devices in the control equipment may be multiple, and the number of safety switches on each control device is at least one; the processing unit of each control device in the multiple control devices may process this
  • the control task of the machine please refer to Figure 3.
  • Figure 3 shows a situation where there are two control devices, and each control device has a safety switch.
  • the control device 300 in Figure 3 is used Including two control devices (control device 301, control device 302) and two safety switches (safety switch 3012, safety switch 3022) for example.
  • the control device 201 and the control device 202 can control the local machine without distinguishing between master and slave control. , the control process is as follows:
  • each control device When the processing unit of each control device detects that any safety switch in the machine is activated when the controlled equipment is not started, it notifies the controlled equipment to allow it to be started;
  • each control device When the processing unit of each control device detects that the status of any activated safety switch of the machine becomes inactive when the controlled equipment is started, it notifies the controlled equipment to turn off the specified function.
  • control devices are directly connected to the bus connected to the controlled equipment.
  • the bus to which each control device is connected may be the same bus or may not be the same main line.
  • the connection method between the control device and the controlled equipment does not exclude situations other than bus connection, and is not specifically limited here.
  • the designated function may be to limit the opening of the controlled device, or it may be to reduce the operating power of the controlled device to a preset power.
  • the specific method of turning off the designated function here Not limited.
  • the safety switch includes a sensing part and a triggering part
  • the safety switch When the trigger is located within the sensing range of the sensing component, the safety switch is in an activated state; when the triggering component is outside the sensing range of the sensing component, the safety switch is in an inactive state. It is worth noting that the structure of the safety switch does not exclude other structures in addition to the sensing part and the triggering part, and the structure of the safety switch is not limited here.
  • sensing components and triggering components there are the following examples:
  • the sensing part is a Hall sensor
  • the triggering part is a magnet. Its working principle is: when the magnet moves close to the Hall sensor, the Hall element causes the Hall effect to change the internal circuit state of the Hall sensor, thereby identifying nearby objects. The magnet is present, which in turn is converted into a switching signal.
  • the sensing part is an inductive sensor
  • the triggering part is a metal object. Its working principle is: when the metal object approaches the inductive sensor and reaches the sensing distance, eddy currents are generated in the metal object, causing the oscillation to attenuate and even stop, and the oscillator The changes in oscillation and oscillation are processed by the post-stage amplifier circuit and converted into switching signals.
  • the sensing element is a capacitive sensor, and the triggering element is any object. Its working principle is: when an object moves toward the capacitive sensor, the dielectric constant between the two plates of the capacitor will change, thereby causing the capacitance of the capacitor to change. The state of the circuit connected to the measuring head also changes accordingly, which can be converted into a switching signal.
  • the sensing part is a photoelectric sensor
  • the triggering part is a reflective object. Its working principle is: when a reflective object approaches the photoelectric sensor, the photoelectric device receives the reflected light and outputs a signal, so that it can "perceive" that an object is approaching. thus converted into a switching signal.
  • the sensing element is a pyroelectric sensor
  • the triggering element is an object with a preset temperature. Its working principle is: the pyroelectric sensor can sense temperature changes. When an object with a preset temperature approaches, the pyroelectric sensor The output signal will change.
  • the sensing part is a linear proximity sensor and the triggering part is a metal object; its working principle is: there is an alternating magnetic field on the sensing surface of the linear proximity sensor.
  • eddy currents will be generated in the metal and absorb the energy of the oscillator. energy, causing the oscillator output amplitude to linearly attenuate.
  • the specific implementation of the sensing element and the triggering element may also have other components in practical applications, and this is not limited.
  • Figures 4, 5 and 6 are exemplary illustrations of the structure of the control device of the present application.
  • the control device also includes a base 402, a safety switch It includes a sensing element and a triggering element.
  • the sensing element is placed in the base 402.
  • An installation position 504 for installing the triggering element is formed on the outer surface of the base 402.
  • the triggering element is located within the sensing range of the sensing element.
  • the surface of the base 402 is recessed inward to form a mounting position 504 .
  • the control device when the control device includes the first interface 404 and the second interface 405, one of the first interface 404 and the second interface 405 can be connected to the bus interface, so that the control device can access the bus.
  • the first interface 404 and the second interface 405 are provided on the bottom surface of the base 402 .
  • the way in which the interface is arranged on the bottom surface facilitates wiring on the one hand, and on the other hand, it can prevent the interface or the cable connected to the interface from being disconnected when the joystick of the control device is rotated. Interference occurs with the rotation of the joystick 401.
  • the control device also includes a joystick 401 that can rotate relative to the base.
  • a joystick 401 that can rotate relative to the base.
  • the number of safety switches includes multiple, there are multiple installation positions (such as installation positions) corresponding to the multiple safety switches.
  • Position 504, installation position 601) are mirror symmetrical about the mirror surface 403, the mirror surface 403 is perpendicular to the bottom surface of the base 402, and the rotation axis of the joystick 401 is located on the mirror surface 403.
  • the trigger is usually connected to one end of the rope, and the other end of the rope is tied to the user's wrist or clothes. When the user has an accident, such as falling into the water, the trigger will be taken away from the installation position by the user.
  • the corresponding The status of the safety switch changes from activated to inactive and the power unit is shut down.
  • the user can choose a suitable installation position to place the trigger according to the relative position between himself and the control device, thus avoiding the possibility of the installation position being in contact with the user.
  • the position is not suitable, which may lead to user accidents, such as when falling into the water, the trigger of the safety switch has not yet detached from the installation position, which is beneficial to improving safety.
  • the base 402 also includes a top surface 406 and a plurality of side surfaces 407 surrounding the top surface, and the mounting positions 504 and 601 are formed on the top surface 406 and/or the side surfaces 407.
  • the plurality of sides include two sides arranged on opposite sides of the rotation axis of the joystick 401, the two sides are inclined relative to the top surface, and the mounting position is formed on at least one of the two sides.
  • control device is also provided with a display panel 501 and a manipulation button 502.
  • the manipulation button 502 is located on the display panel 501.
  • the display panel 501 is used to display at least one of the indication function and/or indication status of the manipulation button 502. It is worth noting that the attributes of the control buttons 502 displayed on the display panel 501 do not exclude attributes other than indicating functions and indicating states, and there are no limitations on the attributes specifically displayed on the display panel.
  • control device also includes a tilting button 503.
  • the tilting button 503 is provided on the joystick and is used to control the tilting angle of the controlled equipment. It is worth noting that the location of the cocking button is not limited to the joystick. It can also be on the base or other locations. The location of the cocking button is not limited.
  • control system 700 which includes:
  • control device 702 described in any of the above embodiments; the control device 702 is connected to the controlled device 701.
  • the controlled equipment 701 is a power device of the movable equipment in the water area, and the control equipment is installed on the movable equipment in the water area.
  • this application also provides a water area movable device 800, including:
  • control device 801 described in any of the above embodiments is loaded on the body 802 .
  • this application also provides a water area movable device 900, including:
  • the control system 901 described above is loaded on the body 902 .
  • the power device when the movable equipment in the water area is a ship, the power device can be an outboard motor or an inboard motor, and the body can be a hull.
  • Movable equipment in water areas can be various types of water vehicles such as commercial ships, passenger ships, yachts, fishing boats, sailing boats, and civilian ships. They can also be equipment that can move in water areas such as water area inspection equipment, water area management equipment, and water area environment monitoring equipment. It can be an electric surfboard, an electric paddle board and other equipment, which is not limited in this application.
  • the control device includes at least one control device, and each control device includes at least one safety device. Switches, the number of safety switches in the control equipment is at least two, and the control methods include:
  • the controlled device When the controlled device is in an inactive state, if it is detected that at least one safety switch is in an inactivated state, notify the controlled device to allow it to be started;
  • the controlled device When the controlled device is in the started state, if it is detected that the status of at least one activated safety switch changes to the inactive state, the controlled device is notified to turn off the specified function.
  • the number of control devices in the control device is one, and the number of safety switches on the control device is at least two.
  • the control device includes a processing unit. When the controlled device is not started, if it is detected that When at least one of the safety switches is activated, notify the controlled device to allow it to be started, including:
  • the processing unit of the control device detects that at least one safety switch is activated when the controlled equipment is not started, it notifies the controlled equipment to allow it to be started;
  • notifying the controlled device to turn off the specified function includes:
  • the processing unit of the control device detects that the status of any activated safety switch changes to an inactive state when the controlled equipment is started, it notifies the controlled equipment to turn off the specified function.
  • the number of control devices in the control device is at least two, the number of safety switches on each control device is at least one, and each control device includes a processing unit; one of the plurality of control devices.
  • the control device serves as the host, and the other control devices serve as slaves; when the controlled equipment is not started, if at least one safety switch is detected to be activated, the controlled equipment is notified to be started, including:
  • the processing unit of the host detects that at least one safety switch in any control device is activated when the controlled equipment is not started, it notifies the controlled equipment to allow it to be started;
  • the processing unit of the host detects that the status of any activated safety switch in any control device becomes inactive when the controlled equipment is started, it notifies the controlled equipment to turn off the specified function.
  • the host is directly connected to the bus connected to the controlled device, and the slave is indirectly connected to the bus through the host.
  • control devices is two, each control device includes a first interface and a second interface, the first interface of the host is connected to the bus, and the second interface of the slave is connected to the second interface of the host.
  • the number of control devices in the control device is at least two, and the number of safety switches on each control device is at least one; each control device includes a processing unit; when the controlled device is not started, If it is detected that at least one safety switch is activated, the controlled equipment operation is notified to be started, including:
  • each control device When the processing unit of each control device detects that any safety switch in the machine is activated when the controlled equipment is not started, it notifies the controlled equipment to allow it to be started;
  • each control device When the processing unit of each control device detects that the status of any activated safety switch of the machine becomes inactive when the controlled equipment is started, it notifies the controlled equipment to turn off the specified function.
  • control devices are directly connected to the bus connected to the controlled equipment.
  • turning off specified functions includes restricting the opening of controlled devices.
  • the safety switch includes a sensing part and a triggering part
  • the safety switch When the trigger is located within the sensing range of the sensing component, the safety switch is in an activated state; when the triggering component is outside the sensing range of the sensing component, the safety switch is in an inactive state.
  • the sensing component is a Hall sensor and the triggering component is a magnet.
  • the safety switch includes a sensing part and a triggering part.
  • the sensing part is placed in the base.
  • the outer surface of the base is formed with an installation position for installing the triggering part.
  • the triggering part is located within the sensing range of the sensing part. .
  • control device also includes a joystick that can rotate relative to the base.
  • the number of safety switches includes multiple safety switches
  • the multiple installation positions corresponding to the multiple safety switches are mirror symmetrical with respect to the mirror surface, and the mirror surface is perpendicular to the bottom surface of the base.
  • the rotation axis of the joystick is located on the mirror plane.
  • the base also includes a top surface and multiple side surfaces surrounding the top surface, and the mounting locations are formed on the top surface and/or side surfaces.
  • the plurality of side surfaces includes two side surfaces located on opposite sides of the rotation axis of the joystick, the two side surfaces are inclined relative to the top surface, and the mounting position is formed on at least one of the two side surfaces.
  • control device is also provided with a display panel and control buttons.
  • the control buttons are located on the display panel.
  • the display panel is used to display at least one of the indication function and/or the indication status of the control buttons.
  • control device also includes a tilting button, which is provided on the joystick and used to control the tilting angle of the controlled equipment.
  • This application also provides a computer-readable storage medium V on which a computer program is stored.
  • the program is executed by a processor, the control method described in any of the above embodiments is implemented.
  • the control device A can be installed on the hull C of the ship and connected to the controlled device B.
  • the controlled device B can It is the power device of the ship, such as an outboard motor, and the number of controlled equipment B is not limited.
  • On control equipment A there may be one control device or multiple control devices, and there are at least two safety switches.
  • there are 4 safety switches (safety switch A1, safety switch A2, safety switch A3, safety mechanism A4)
  • the safety switch includes a Hall sensor and a magnet. The Hall sensor is located inside the control device. The magnet is held by the driver or passenger. Put the magnet into the installation position of the safety switch.
  • the controlled device B can be started. If there is an activated safety switch among the safety switches, once the number of activated safety switches is reduced, then The controlled equipment is controlled to an emergency stop. If the control device is equipped with a tilting button, the tilting angle of the outboard motor can also be adjusted through the tilting button.
  • the driver can choose to activate one, two, three or four safety switches among the safety switches A1-A4 to start controlled equipment B.
  • the driver can choose to maintain the currently activated number of safety switches, or continue to activate the inactive safety switches to increase the number of activated safety switches.
  • the number of activated safety switches is N, and N is an integer.
  • the processing unit in control equipment A monitors the number of activated safety switches in real time. If the number of activated safety switches increases, the value of N will increase accordingly; if the number of activated safety switches does not increase, the value of N will not increase.
  • control device A uses the real-time updated N as the judgment criterion. If it detects that N decreases (that is, it detects that the state of the safety switch changes from the activated state to the inactive state), it notifies the controlled device B Turn off the specified function.

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

Abstract

La présente invention concerne un dispositif, un système et un procédé de commande, un dispositif mobile pour étendue d'eau, et un support de stockage. Un dispositif de commande (300) comprend au moins un appareil de commande (301, 302), chaque appareil de commande (301, 302) comprend une unité de traitement (3011, 3021) et au moins un commutateur de sécurité (3012, 3022), et le nombre de commutateurs de sécurité (3012, 3022) dans le dispositif de commande (300) est d'au moins deux. L'unité de traitement (3011, 3021) est utilisée pour : lorsqu'il est détecté que ledit commutateur de sécurité (3012, 3022) se trouve dans un état activé lorsqu'un dispositif commandé se trouve dans un état non démarré, notifier au dispositif commandé qu'il est autorisé à démarrer ; et lorsqu'il est détecté que l'état de l'un quelconque des commutateurs de sécurité (3012, 3022) dans l'état activé passe à un état non activé lorsque le dispositif commandé est démarré, notifier au dispositif commandé de désactiver une fonction spécifiée.
PCT/CN2022/117941 2022-09-08 2022-09-08 Dispositif, système et procédé de commande, dispositif mobile pour étendue d'eau, et support de stockage WO2024050785A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2022/117941 WO2024050785A1 (fr) 2022-09-08 2022-09-08 Dispositif, système et procédé de commande, dispositif mobile pour étendue d'eau, et support de stockage
CN202280005950.6A CN116171409B (zh) 2022-09-08 2022-09-08 控制设备、系统、方法、水域可移动设备及存储介质

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PCT/CN2022/117941 WO2024050785A1 (fr) 2022-09-08 2022-09-08 Dispositif, système et procédé de commande, dispositif mobile pour étendue d'eau, et support de stockage

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