WO2024050786A1 - 操控装置及系统、水域可移动设备、方法及存储介质 - Google Patents
操控装置及系统、水域可移动设备、方法及存储介质 Download PDFInfo
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- WO2024050786A1 WO2024050786A1 PCT/CN2022/117942 CN2022117942W WO2024050786A1 WO 2024050786 A1 WO2024050786 A1 WO 2024050786A1 CN 2022117942 W CN2022117942 W CN 2022117942W WO 2024050786 A1 WO2024050786 A1 WO 2024050786A1
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- control device
- installation posture
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- display
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- 238000000034 method Methods 0.000 title claims abstract description 52
- 238000003860 storage Methods 0.000 title claims abstract description 8
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- 230000036544 posture Effects 0.000 claims description 171
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 49
- 230000005484 gravity Effects 0.000 claims description 13
- 230000008859 change Effects 0.000 claims description 9
- 238000005259 measurement Methods 0.000 claims description 6
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- 238000010586 diagram Methods 0.000 description 18
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- 230000009977 dual effect Effects 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- QSHDDOUJBYECFT-UHFFFAOYSA-N mercury Chemical compound [Hg] QSHDDOUJBYECFT-UHFFFAOYSA-N 0.000 description 2
- 229910052753 mercury Inorganic materials 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
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- 230000004913 activation Effects 0.000 description 1
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- 230000026058 directional locomotion Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
Definitions
- the present application relates to the field of equipment control technology, and in particular to a control device, a control system, movable equipment in water areas, a method of controlling a control device, and a storage medium.
- the equipment is usually equipped with a control device through which the user can control the equipment.
- the control device in the related art usually can only provide one display mode, and its applicable scenarios are relatively limited.
- one of the purposes of this application is to provide a control device, a movable equipment in a water area, a method for controlling a control device, and a storage medium.
- a control device is provided.
- the control device is adapted to a variety of installation postures.
- the control device includes a display unit and a control unit.
- the display unit is preset with multiple display modes.
- the control unit is used to control the display unit to execute a display mode adapted to the installation posture of the control device.
- a control system including: a power device; and the control device described in the first aspect, the control device being connected to the power device.
- a movable equipment in water areas including a body and the control device described in the first aspect, and the control device is combined with the body.
- a movable equipment in water areas including a body and the control system described in the third aspect, and the control system is combined with the body.
- a method of controlling a control device is provided.
- the control device is adapted to a variety of installation postures.
- the control device includes a display unit, and the display unit is preset with multiple display modes.
- the method includes: controlling the display unit to execute a display mode adapted to the installation posture of the control device.
- a computer-readable storage medium on which a program is stored.
- the program is executed by a processor, the operations in the method of controlling a control device as described in the fifth aspect are implemented.
- the control device in the embodiment of the present application includes a display unit and a control unit.
- the display unit is preset with multiple display modes.
- the control unit is used to control the display unit to execute a display mode that is adapted to the installation posture of the control device. Therefore, the control device of the embodiment of the present application is adapted to a variety of installation postures, and the same product can not only adapt to the use needs of different devices, but also adapt to the usage habits of different users.
- FIG. 1 is a block diagram of a control device according to an exemplary embodiment of the present application.
- Figure 2 is a schematic diagram of the key function group of the control device in one of the installation postures shown in this application according to an exemplary embodiment
- Figure 3A is a schematic diagram of the conversion relationship between the key function groups of the control device in two different installation postures according to an exemplary embodiment of the present application;
- FIG. 3B is a schematic diagram of a key function group of a control device shown in this application according to the exemplary embodiment of Figure 3A.
- the installation posture of the control device is different from that of Figure 2;
- Figure 4A is a schematic diagram of another conversion relationship of the key function group of the control device under two different installation postures according to another exemplary embodiment of the present application;
- FIG 4B is a schematic diagram of a key function group of another control device shown in this application according to the exemplary embodiment of Figure 4A.
- the installation posture of the control device is different from that of Figure 2;
- Figure 5A is a schematic diagram of another conversion relationship between the key function groups of the control device in two different installation postures according to another exemplary embodiment of the present application;
- FIG. 5B is a schematic diagram of a key function group of a control device according to the exemplary embodiment of Figure 5A.
- the installation posture of the control device is different from that of Figure 2;
- Figure 6A is a schematic diagram of one of the control modes of the control device shown in this application according to an exemplary embodiment
- Figure 6B is a schematic diagram of another control mode of the control device shown in this application according to an exemplary embodiment
- Figure 7 is a schematic diagram of an accelerometer of an inertial measurement unit according to an exemplary embodiment of the present application.
- Figure 8 is a schematic diagram of a control device according to an exemplary embodiment of the present application.
- Figure 9 is a schematic diagram of the installation direction of the accelerometer of the inertial measurement unit in the control device shown in the exemplary embodiment of Figure 8;
- FIG. 10 is a schematic diagram of a control device according to an exemplary embodiment of the present application.
- FIG 11 is a schematic diagram of a control system shown in this application according to an exemplary embodiment
- Figure 12 is a schematic diagram of a water area movable device shown in this application according to an exemplary embodiment
- Figure 13 is a schematic diagram of another water area movable device according to another 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.”
- the equipment is usually equipped with a control device through which the user can control the equipment.
- the control device in the related art usually cannot adapt to multiple installation methods, and provides multiple display modes adaptively, and its applicable scenarios are relatively limited.
- FIG. 1 is a block diagram of a control device 100 according to an exemplary embodiment of the present application.
- the control device 100 includes The control unit 101 and the display unit 102.
- the display unit 102 is preset with multiple display modes.
- the control unit 101 is used to control the display unit 102 to execute a display mode adapted to the installation posture of the control device 100.
- control device 100 may have multiple installation postures.
- the orientation of the control device 100 may be different in different installation postures.
- the display unit 102 displays logo patterns in different display modes. The orientation can be different.
- the orientation of the logo pattern may be the same as the orientation of the control device 100 in the installation posture.
- the function of the logo pattern is to remind the user, so the orientation of the logo pattern should be consistent with the user's orientation to facilitate the user to use the control device 100 according to the logo pattern.
- the orientation of the logo pattern can be changed. Fixed in the same direction as the driver's seat. That is to say, when the orientation of the control device 100 is the same as that of the user, the orientation of the logo pattern may be the same as the orientation of the control device 100 . In other cases, the orientation of the logo pattern may be different from the orientation of the control device 100 . Since the display unit 102 is installed on the control device 100, when the orientation of the control device 100 changes, the logo pattern displayed by the display unit 102 will also change along with the control device 100.
- the installation posture may include a first installation posture and a second installation posture.
- the control device 100 When the control device 100 is in the first installation posture, it faces the first direction; when it is in the second posture, it faces the second direction. , the first direction is opposite to the second direction.
- the display mode may also include a first display mode and a second display mode.
- the logo pattern faces the first direction; in the second display mode, the logo pattern faces the second direction.
- control device 100 in the first and second installation postures in the above embodiments can be distinguished by forward installation and reverse installation, and different display modes can be distinguished by forward display mode and reverse display mode.
- formal installation and reverse installation are relative concepts. If the first direction is considered as the formal installation direction, the control device 100 installed toward the first direction is the formal installation device. At this time, the second direction opposite to the first direction is In the reverse direction, the control device 100 installed in the second direction is a reverse-installed device; vice versa.
- This application should not be limited by identifying any fixed installation direction as the forward or reverse installation direction.
- front display and reverse display are also relative concepts. The display mode that matches the formal display is the front display mode, and the display mode that matches the reverse display is the reverse display mode.
- the first direction is opposite to the second direction, which means that the control device 100 facing the second direction has rotated clockwise or counterclockwise by a predetermined angle relative to the control device 100 facing the first direction, and the predetermined angle
- the value range is [150°, 210°].
- the predetermined angle may be 150°, 172°, 180°, 194.6°, 200°, 210°, etc.
- the control device 100 can also be equipped with a function button group 103.
- the display mode can also be adapted to the functions of the function button group 103.
- the following embodiments illustrate the changes that occur in the control device 100 and the function button group 103 in the forward and backward installation states.
- the first direction in the following embodiments and Figures 2 to 5B is the forward mounting direction, representing the direction from end B to end A; the second direction is the reverse mounting direction, representing the direction from end A to B. end direction.
- Figure 2 exemplarily shows a button function group of the control device 100 in a formal state, including three function buttons: button 1031, Active; button 1032, Hold; button 1033, Power.
- the control device 100 may include one or more buttons, and this application does not limit the number of buttons on the control device. These buttons may be physical buttons or virtual buttons displayed on a display screen or other devices. This application also does not limit the specific form of the buttons.
- each console may include a control device.
- the control device may be the control device 100 disclosed in this application, or it may be two control devices.
- the device 100 is a dual control device spliced together.
- the console can be switched by pressing the Active button, so that the control device 100 or the console to which the dual control devices belong obtains control.
- Hold is the hold button, used for orientation and/or position holding.
- Power is the power button. It can be understood that the above three buttons are only exemplary, and the control device may include one or more of the above three buttons, or may not include any of the above buttons.
- the buttons of the above button function group should not be regarded as limiting the scope of this application. restrictions, accordingly, this application does not limit the functions that can be achieved by the key function group.
- the control unit 101 can change the control device 100 from the formal state shown in Figure 2 to the reverse state by adjusting the control mode and the display mode.
- the control device 100 before and after adjustment can be as shown in Figure 3A .
- the key functions of the control device 100 in the reverse-installation state are shown in Figure 3B.
- the functions of the function button group 103 of the control device 100 remain unchanged. The order changes.
- Figure 3A is a picture of the control device 100 when it is installed properly
- Figure 3B is a picture of the control device 100 when it is reversely installed
- the right picture of Figure 3A is a picture of Figure 3B rotated 180° clockwise. This figure It is used for comparison with the left picture of FIG. 3A to highlight the difference between the two states of the control device 100 when it is installed properly and when it is installed reversely.
- the right pictures in Figure 4A and the right pictures in Figure 5A below have similar functions and will not be described again.
- control device 100 before and after adjustment can also be shown in Figure 4A.
- key functions of the control device 100 in the reverse-installation state are shown in Figure 4B.
- the functions of the function button group 103 of the control device 100 remain unchanged, and the order in the first direction does not change. Change.
- the control device 100 before and after adjustment can also be shown in Figure 5A.
- the key functions of the control device 100 in the reverse-installation state are shown in Figure 5B.
- the functions of the function button group 103 of the control device 100 change (in the figure, the button 1041Active changes to 1044Dock). example).
- FIG. 5A shows that some functions of the function button group 103 of the control device 100 are changed.
- all functions of the function button group 103 of the control device 100 may be changed. .
- Dock is a power-limited button.
- the corresponding power is: In the unlimited power state, the joystick 105 rotates to the maximum angle (that is, the throttle value is 50% of the corresponding power value at the maximum throttle value). It should be noted that 50% is only an example, and the value can also be 20%, 30%, 60%, 85%, etc., without limitation here.
- this application does not limit the respective functions and sequences of the key function groups of the control device 100 in the forward and backward installation states.
- Those skilled in the art can consider how to set the functions of the key function groups according to the actual situation.
- the above-mentioned Active, Hold, Power, Dock and other buttons and corresponding functions cannot be used to limit this application.
- the display unit 102 of the control device 100 can also include an indicator light group 104.
- the indicator light group 104 When the indicator light group 104 is lit, it can form a logo as shown in the dotted box in any of the above-mentioned figures 2-5B.
- the pattern indicates the function of each button to the user.
- multiple indicator light groups can be provided. Each indicator light group is adapted to an installation posture.
- the number of indicator lights in an indicator light group 104 corresponds to the functions in the function button group 103. Corresponds to the number of keys.
- Figures 3A, 4A, and 5A only illustrate the positions of the dotted boxes in different display modes. It can be seen from the figures that the positions between the two indicator light groups can be set differently so that Under different installation postures, the position of the logo pattern relative to the button is different.
- the indicator light group 104A in the forward display mode, can be lit so that the logo pattern is on one side of the button; in the reverse display mode, another set of indicator lights 104B can be lit so that the logo pattern is on one side of the button. The pattern is on the other side of the key.
- This application does not limit the specific positions of the indicator light group 104 in different display modes.
- the positional relationship between the display unit 102 and the function key group 103 may be: the display area of the display unit 102 at least partially overlaps the area where the function key group 103 is located; or it may be: the display unit 102 The display area is spaced apart from the area where the function key group 103 is located. In other words, this application does not limit the relative positional relationship between the indicator light group 104 and the function keys.
- the control device 100 may also include a joystick 105 , and the joystick 105 may be used to control the traveling direction of the movable equipment in water areas.
- the control device usually has only one installation method, so that the joystick also has only one control mode.
- Factors such as selecting different control devices are time-consuming and labor-intensive; for manufacturers of this type of equipment, in order to adapt to the habits of different users, they need to design multiple types of joysticks to meet the needs of different users. This is also a problem for manufacturers. burden.
- the joystick 105 in this application can also be preset with multiple control modes such as formal installation mode and reverse installation mode.
- the control unit 101 can be used to configure the joystick 105 with a control mode that matches the installation posture of the control device 100 .
- the formal installation control device 100 with the joystick 105 can be as shown in FIG. 2 .
- the first control mode adapted to formal wear can be shown in Figure 6A.
- the first control mode when the joystick 105 moves in the first direction in the figure, the movable device in the water area is controlled to drive in the first designated direction and move in the second direction.
- the movable device is controlled to travel in the second specified direction.
- the second control mode adapted to the reverse installation can be as shown in Figure 6B.
- the second control mode when the joystick 105 moves in the first direction, the movable equipment in the water area is controlled to drive in the second specified direction, and in the second specified direction. During directional movement, the movable device in the water area is controlled to travel in the first specified direction.
- controlling the movable equipment in the water area to travel in the first designated direction may be controlling the movable equipment in the water area to move forward
- controlling the movable equipment in the water area to travel in the second designated direction may be controlling the movable equipment in the water area to move backward
- the control device 100 disclosed in this application can adaptively adjust the display mode and control mode based on the current installation posture. Therefore, the control device 100 can adapt to a variety of installation postures, and one product can meet most of the user's needs.
- the control device 100 can also automatically recognize the current installation posture and adjust the display mode and control mode based on the recognition results.
- the display unit 102 of the control device 100 can use a device with human-computer interaction functions such as a touch screen as the display unit or a part of the display unit.
- a device with human-computer interaction functions such as a touch screen as the display unit or a part of the display unit.
- the configuration instructions input by the user can be accepted through the display unit 102 to
- the control unit 101 is caused to control the display unit 102 to execute the corresponding display mode based on the configuration instruction.
- the control device 100 can also be communicatively connected with a display module.
- the display module can be a display module installed on the controlled device.
- the control device 100 can communicate with a display module such as a central control panel on the ship through a bus.
- the user can input configuration instructions to the control device 100 through other equipment on the ship, so that the control unit 101 of the control device 100 can be configured based on the configuration instructions.
- the display unit 102 is controlled to execute the corresponding display mode.
- the control device 100 can also include a function button group 103, and the control unit 101 can also control the display unit 102 to execute a display mode that is adapted to the functions of the function button group 103 and the installation posture of the control device 100.
- the function of the function key group 103 can also be triggered by the user's configuration instruction. Therefore, the configuration instruction can not only indicate which display mode to execute, but also indicate how to set the parameters of the keys of the function key group 103 .
- the control device 100 can also configure corresponding functions for the function button group 103, and control the display unit 102 to execute a display mode that is adapted to the functions of the function button group 103 and the installation posture of the control device 100.
- control unit 101 can also configure a control mode for the joystick 105 that matches the installation posture of the control device 100 based on the configuration instruction.
- control unit 101 can also identify the installation posture of the control device 100 .
- the control device 100 in addition to the control unit 101, the control device 100 also includes an IMU (Inertial Measurement Unit), a tilt switch (such as a mercury tilt switch, a liquid tilt switch, a weight tilt switch) ) and other gravity sensing modules, the control unit 101 can identify the installation posture of the control device 100 based on the output signal of the gravity sensing module.
- IMU Inertial Measurement Unit
- tilt switch such as a mercury tilt switch, a liquid tilt switch, a weight tilt switch
- other gravity sensing modules the control unit 101 can identify the installation posture of the control device 100 based on the output signal of the gravity sensing module.
- the accelerometer in the IMU can detect the size and direction of the Z-axis (gravity axis). For example, when the control device 100 is installed upright, the gravity detected by the IMU is a positive value, and when the control device 100 is installed backwards, the gravity detected by the IMU is a negative value. At this time, the installation posture of the control device 100 can be identified through the output signal of the IMU.
- the accelerometer in the IMU can also detect the value of the X-axis or the Y-axis in the figure, and output a signal according to the value of the X-axis or the Y-axis to identify whether the control device 100 is installed forward or backward.
- the specific value of which axis is used to determine whether the control device 100 is installed upright or backward depends on the installation method of the accelerometer. Furthermore, when the control device 100 is as shown in FIG. 8 , for example, the judgment of forward or reverse installation can be made based on the value of the Z axis. At this time, the installation method of the accelerometer is as shown in FIG. 9 .
- the control device 100 may also include a base 106 and a joystick 105 as shown in Figure 10 .
- the joystick 105 can be positioned relative to the base 106 Turn.
- a plane perpendicular to the bottom surface of the base 106 and passing through the rotation axis of the joystick 105 is used as a mirror plane, and some or all components of the control device 100 are arranged in mirror symmetry with respect to the mirror plane.
- the control device 100 can be configured with multiple interfaces.
- the control unit 101 can identify the installation posture based on the interfaces of the control device 100 .
- the installation posture of the control device 100 can be determined by identifying the connected state of the interface.
- the installation posture of the control device 100 can be determined by detecting parameters such as voltage and current of each interface, or by detecting the sending end or receiving end of the signal. to determine the installation posture of the control device 100.
- each interface may be located on the bottom surface of base 106 .
- Individual interfaces can also be configured mirror-symmetrically about the mirror plane. In terms of location, these interfaces can be located on the bottom surface of the base 106 (take the two interfaces 1071 and 1072 in Figure 10 as an example), or they can be located at both ends of the control device 100 (such as A and B in Figures 2-5B both ends).
- the base 106 is provided with an installation instruction mark to indicate the corresponding relationship between the interface and the installation posture. The user can more conveniently determine the interface corresponding to the current installation posture according to the indicator mark.
- this application has disclosed a control device 100, which is equipped with a display unit 102 and a control unit 101.
- the control unit 101 can execute an adapted display mode based on the orientation of the control device 100, adapt to a variety of installation postures, and also
- the corresponding control mode can be configured and the corresponding functions can be set for the function button group 103, which not only facilitates the purchase and use of the user, but also facilitates the production of the manufacturer.
- this application also provides a control system 200, which includes a power device 201 and the control device 100 shown in the first aspect of this illustrative embodiment.
- the power device 201 is connected to the control device 100.
- the power device 201 and the control device 100 may be connected in a wired or wireless manner.
- the power device 201 and the control device 100 may be connected through a bus.
- the control device 100 can be used to control the power and/or tilting angle of the power device 201.
- the power device 201 may be an outboard motor.
- this application also provides a movable equipment 301 for water areas.
- the movable equipment 301 for water areas includes a body 3011 and the control device 100 in the above embodiments.
- the control device 100 is combined with the body 3011, for example, the control device 100 is installed on the body.
- the body 3011 is the hull.
- the water movable device 302 includes a body 3021 and the control system 200 in the above embodiment.
- the control system 200 is combined with the body 3021.
- the body 3021 is the hull.
- the ship can be a commercial ship, a passenger ship, a yacht, a fishing boat, a sailing ship, a civilian ship and other types of water vehicles, or it can also be a water area inspection equipment, water management equipment, water environment equipment, etc. Monitoring equipment and other equipment that can move in waters.
- This application also provides a method of controlling a control device.
- this method can be executed by the control unit 101 in the control device 100 in the above embodiment, and does not exclude other methods in the control device 100 that have processing capabilities and Device execution of software execution capabilities.
- the method includes the following steps: controlling the display unit to execute a display mode adapted to the installation posture of the control device.
- control device 100 may have multiple installation postures.
- the orientation of the control device 100 may be different in different installation postures.
- the display unit 102 displays logo patterns in different display modes. The orientation can be different.
- the orientation of the logo pattern may be the same as the orientation of the control device 100 in the installation posture.
- the function of the logo pattern is to remind the user, so the orientation of the logo pattern should be consistent with the user's orientation to facilitate the user to use the control device 100 according to the logo pattern.
- the orientation of the logo pattern can be changed. Fixed in the same direction as the driver's seat. That is to say, when the orientation of the control device 100 is the same as that of the user, the orientation of the logo pattern may be the same as the orientation of the control device 100 . In other cases, the orientation of the logo pattern may be different from the orientation of the control device 100 . Since the display unit 102 is installed on the control device 100, when the orientation of the control device 100 changes, the logo pattern displayed by the display unit 102 will also change along with the control device 100.
- the installation posture may include a first installation posture and a second installation posture.
- the control device 100 When the control device 100 is in the first installation posture, it faces the first direction; when it is in the second posture, it faces the second direction. , the first direction is opposite to the second direction.
- the display mode may also include a first display mode and a second display mode.
- the logo pattern faces the first direction; in the second display mode, the logo pattern faces the second direction.
- the first direction is opposite to the second direction, which means that the control device 100 facing the second direction has rotated clockwise or counterclockwise by a predetermined angle relative to the control device 100 facing the first direction, and the predetermined angle
- the value range is [150°, 210°].
- control device 100 can also be equipped with a function button group 103.
- display mode can also be adapted to the functions of the function button group 103.
- the functions of the function button group 103 may remain unchanged; or, when the control device 100 is in different installation postures, at least part of the functions of the function button group 103 may change.
- the display unit 102 of the control device 100 can also include an indicator light group 104.
- the indicator light group 104 When the indicator light group 104 is lit, it can form a logo as shown in the dotted box in any of the above-mentioned figures 2-5B. Patterns that indicate to the user the function of each key.
- multiple indicator light groups can be provided. Each indicator light group is adapted to an installation posture. The number of indicator lights in an indicator light group 104 corresponds to the functions in the function button group 103. Corresponds to the number of keys.
- FIG. 1 the figure only illustrates the position of the dotted frame in different display modes.
- the positions of the two indicator light groups can be set differently, so that the logo pattern is relative to the button in different installation postures. The location is different.
- the positional relationship between the display unit 102 and the function key group 103 may be: the display area of the display unit 102 at least partially overlaps the area where the function key group 103 is located; or it may be: the display unit 102 The display area is spaced apart from the area where the function key group 103 is located. In other words, this application does not limit the relative positional relationship between the indicator light group 104 and the function keys.
- the control device 100 may also include a joystick 105 , and the joystick 105 may be used to control the traveling direction of the movable equipment in water areas.
- the control device usually has only one installation method, so that the joystick also has only one control mode.
- Factors such as selecting different control devices are time-consuming and labor-intensive; for manufacturers of this type of equipment, in order to adapt to the habits of different users, they need to design multiple types of joysticks to meet the needs of different users. This is also a problem for manufacturers. burden.
- the joystick 105 in this application can also be preset with multiple control modes such as formal installation mode and reverse installation mode.
- the control unit 101 can be used to configure the joystick 105 with a control mode that matches the installation posture of the control device 100 .
- the formal installation control device 100 with the joystick 105 can be as shown in FIG. 2 .
- the first and second directions may be as shown in Figure 6A.
- the second control mode adapted to reverse wear the first and second directions may be as shown in Figure 6B.
- the first The details of the second control mode can be found in the device embodiments, which will not be described in detail here, but any embodiment should not be regarded as limiting the present application.
- controlling the movable equipment in the water area to travel in the first designated direction may be controlling the movable equipment in the water area to move forward
- controlling the movable equipment in the water area to travel in the second designated direction may be controlling the movable equipment in the water area to move backward
- this application has disclosed a method of controlling a control device, which can adaptively adjust the display mode and control mode based on the current installation posture. Therefore, the control device 100 can adapt to multiple installation postures, and one product can satisfy the needs of users. most of the needs.
- the control device 100 can adapt to multiple installation postures, and one product can satisfy the needs of users. most of the needs.
- the control device 100 can also automatically recognize the current installation posture and adjust the display mode and control mode based on the recognition results.
- the display unit 102 of the control device 100 may include a touch screen or other device with a human-computer interaction function.
- the configuration instructions input by the user can be accepted through the display unit 102, so that the control unit 101 controls based on the configuration instructions.
- the display unit 102 executes the corresponding display mode.
- the control device 100 can also be communicatively connected with a display module.
- the display module can be a display module installed on the controlled device.
- the control device 100 can communicate with a display module such as a central control screen on the ship through a bus.
- the user can input configuration instructions to the control device 100 through other devices with human-computer interaction functions on the ship to control the control device 100
- the unit 101 controls the display unit 102 to execute the corresponding display mode based on the configuration instructions.
- the control device 100 can also include a function button group 103, and the control unit 101 can also control the display unit 102 to execute a display mode that is adapted to the functions of the function button group 103 and the installation posture of the control device 100.
- the function of the function key group 103 can also be triggered by the user's configuration instruction. Therefore, the configuration instruction can not only indicate which display mode to execute, but also indicate how to set parameters for the keys of the function key group 103 .
- the control device 100 can also configure corresponding functions for the function button group 103, and control the display unit 102 to execute a display mode that is adapted to the functions of the function button group 103 and the installation posture of the control device 100.
- control unit 101 can also configure a control mode for the joystick 105 that matches the installation posture of the control device 100 based on the configuration instruction.
- control unit 101 can also identify the installation posture of the control device 100 .
- the control device 100 in addition to the control unit 101, the control device 100 also includes an IMU (Inertial Measurement Unit), a tilt switch (such as a mercury tilt switch, a liquid tilt switch, a weight tilt switch) ) and other gravity sensing modules, the control unit 101 can identify the installation posture of the control device 100 based on the output signal of the gravity sensing module.
- IMU Inertial Measurement Unit
- tilt switch such as a mercury tilt switch, a liquid tilt switch, a weight tilt switch
- other gravity sensing modules the control unit 101 can identify the installation posture of the control device 100 based on the output signal of the gravity sensing module.
- the accelerometer in the IMU can detect the magnitude and direction of the acceleration value of any one or more of the three axes X, Y, and Z.
- the specific value of which axis is used to determine whether the control device 100 is installed upright or backward depends on the installation method of the accelerometer, which is not limited in this application.
- the control device 100 can be configured with multiple interfaces.
- the control unit 101 can identify the installation posture based on the interface of the control device 100, and each interface can correspond to an installation posture.
- the installation posture of the control device 100 can be determined by identifying the connected state of the interface.
- the installation posture of the control device 100 can be determined by detecting parameters such as voltage and current of each interface, or by detecting the sending end or receiving end of the signal. To determine the installation posture of the control device 100.
- these interfaces can be located on the bottom surface of the base 106 (take the two interfaces 1071 and 1072 in Figure 10 as an example), or they can be located at both ends of the control device 100 (such as A and B in Figures 2-5B both ends).
- the control device 100 may be oriented as shown in FIG. 2 ; correspondingly, in the reverse posture, the control device may be as shown in any of the corresponding embodiments of FIGS. 3A, 4A, and 5A.
- the above drawings and embodiments are only exemplary.
- the formal control device 100 can also be oriented in other directions, and the reversely installed control device 100 can be oriented in the opposite direction accordingly.
- the above embodiments should not be regarded as limiting the scope of this application. limits.
- the base 106 is provided with an installation instruction mark to indicate the corresponding relationship between the interface and the installation posture. The user can more conveniently determine the interface corresponding to the target's installation posture according to the indicator mark.
- this application has disclosed a method of controlling a control device, which can execute an adapted display mode based on the orientation of the control device and adapt to a variety of installation postures. It can also configure corresponding control modes and set corresponding function button groups. Function, not only convenient for users to purchase and use, but also convenient for manufacturers to produce.
- the present application also provides a computer-readable storage medium on which a program is stored.
- the program is executed by a processor, the corresponding operations in any of the above method embodiments for controlling the control device 100 are implemented. .
- water area movable equipment, method, and storage medium embodiments since they basically correspond to the embodiments of the control device, please refer to the partial description of the control device 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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Abstract
一种操控装置、操控系统、水域可移动设备、控制操控装置的方法、存储介质。其中，操控装置（100）包括显示单元（102）和控制单元（101），显示单元（102）预设有多种显示模式，控制单元（101）用于控制显示单元（102）执行与操控装置（100）的安装姿态适配的显示模式。
Description
本申请涉及设备控制技术领域，尤其涉及一种操控装置、操控系统、水域可移动设备、控制操控装置的方法及存储介质。
设备通常配备有操控装置，用户可以通过操控装置对设备进行控制。相关技术中的操控装置通常只能提供一种显示模式，适用场景较为有限。
发明内容
有鉴于此，本申请的目的之一是提供一种操控装置、水域可移动设备、控制操控装置的方法及存储介质。
根据本申请实施例的第一方面，提供一种操控装置，所述操控装置适配于多种安装姿态，所述操控装置包括显示单元和控制单元，所述显示单元预设有多种显示模式，所述控制单元用于控制所述显示单元执行与所述操控装置的安装姿态适配的显示模式。
根据本申请实施例的第二方面，提供一种操控系统，包括：动力装置；及第一方面所述的操控装置，所述操控装置与所述动力装置连接。
根据本申请实施例的第三方面，提供一种水域可移动设备，包括本体及第一方面所述的操控装置，所述操控装置与所述本体结合。
根据本申请实施例的第四方面，提供一种水域可移动设备，包括本体及第三方面所述的操控系统，所述操控系统与所述本体结合。
根据本申请实施例的第五方面，提供一种控制操控装置的方法，所述操控装置适配于多种安装姿态，所述操控装置包括显示单元，所述显示单元预设有多种显示模式，所述方法包括：控制所述显示单元执行与所述操控装置的安装姿态适配的显示模式。
根据本申请实施例的第六方面，提供一种计算机可读存储介质，其上存储有程序，该程序被处理器执行时实现如第五方面所述的控制操控装置的方法中的操作。
本申请的实施例提供的技术方案可以包括以下有益效果：
本申请实施例中的操控装置包括显示单元和控制单元，显示单元预设有多种显示模式，控制单元用于控制显示单元执行与操控装置的安装姿态适配的显示模式。因此本申请实施例的操控装置适配于多种安装姿态，同一款产品既可以适应不同设备的使用需求，又可以适应不同用户的使用习惯。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本申请。
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本申请根据一示例性实施例示出的一种操控装置的框图；
图2是本申请根据一示例性实施例示出的其中一种安装姿态下的操控装置的按键功能组的示意图；
图3A是本申请根据一示例性实施例示出的两种不同的安装姿态下，操控装置的按键功能组的一种转换关系示意图；
图3B是本申请根据图3A的示例性实施例示出的一种操控装置的按键功能组的示意图，该操控装置的安装姿态与图2不同；
图4A是本申请根据另一示例性实施例示出的两种不同的安装姿态下，操控装置的按键功能组的另一种转换关系示意图；
图4B是本申请根据图4A的示例性实施例示出的另一种操控装置的按键功能组的示意图，该操控装置的安装姿态与图2不同；
图5A是本申请根据又一示例性实施例示出的两种不同的安装姿态下，操控装置的按键功能组的又一种转换关系示意图；
图5B是本申请根据图5A的示例性实施例示出的有一种操控装置的按键功能组的示意图，该操控装置的安装姿态与图2不同；
图6A是本申请根据一示例性实施例示出的操控装置的其中一种操控模式的示意图；
图6B是本申请根据一示例性实施例示出的操控装置的另一种操控模式的示意图；
图7是本申请根据一示例性实施例示出一种惯性测量单元的加速度计的示意图；
图8是本申请根据一示例性实施例示出的一种操控装置的示意图；
图9是本申请根据图8的示例性实施例示出的操控装置中，惯性测量单元的加速计的安装方向的示意图；
图10是本申请根据一示例性实施例示出的一种操控装置的示意图；
图11是本申请根据一示例性实施例示出的一种操控系统的示意图；
图12是本申请根据一示例性实施例示出的一种水域可移动设备的示意图；
图13是本申请根据另一示例性实施例示出的另一种水域可移动设备的示意图。
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施 例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
在本申请使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本申请。在本申请和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。
应当理解，尽管在本申请可能采用术语第一、第二、第三等来描述各种信息，但这些信息不应限于这些术语。这些术语仅用来将同一类型的信息彼此区分开。例如，在不脱离本申请范围的情况下，第一信息也可以被称为第二信息，类似地，第二信息也可以被称为第一信息。取决于语境，如在此所使用的词语“如果”可以被解释成为“在……时”或“当……时”或“响应于确定”。
接下来对本申请实施例进行详细说明。
设备通常配备有操控装置，用户可以通过操控装置对设备进行控制。相关技术中的操控装置通常不能适应多种安装方式，并适应性提供多种显示模式，适用场景较为有限。
基于此，本申请提供一种适配多种安装姿态的操控装置100，如图1所示，图1是本申请根据一示例性实施例示出的一种操控装置100的框图，操控装置100包括控制单元101和显示单元102，显示单元102预设有多种显示模式，控制单元101用于控制显示单元102执行与操控装置100的安装姿态适配的显示模式。
在一些场景下，操控装置100可以具备多种安装姿态，不同的安装姿态下操控装置100的朝向可以不同，为了适配不同的安装姿态，在不同的显示模式下，显示单元102显示的标识图案的朝向可以不同。另外，作为例子，标识图案的朝向可以与操控装置100在所处安装姿态下的朝向相同。
可以理解，标识图案的作用是提示用户，因此标识图案的朝向应与用户的朝向保持一致，以方便用户根据标识图案使用操控装置100，例如，当设备存在驾驶位置时，可以将标识图案的朝向固定为与驾驶位的朝向相同的方向。也就是说，当操控装置100的朝向与用户的朝向相同时，标识图案的朝向可以与操控装置100的朝向相同，其他情况下，标识图案的朝向也可以与操控装置100的朝向不同。由于显示单元102被安装在操控装置100上，当操控装置100的朝向改变时，显示单元102显示的标识图案也会随着操控装置100改变。
根据本申请公开的一个实施例，安装姿态可以包括第一安装姿态和第二安装姿态，操控装置100处于第一安装姿态下时，朝向第一方向；处于第二姿态下时，朝向第二方向，第一方向与第二方向相反。
与安装姿态相对应，显示模式也可以包括第一显示模式及第二显示模式，第一显示模式下，标识图案朝向第一方向；第二显示模式下，标识图案朝向第二方向。
为方便描述，可以用正装、反装来区分上述实施例中的第一、第二安装姿态的操控装置100，以正显示模式、反显示模式来区分不同的显示模式。
可以理解，正装、反装是一个相对的概念，若认为第一方向为正装方向，朝向第一方向安装的操控装置100即为正装的装置，此时，与第一方向相反的第二方向为反装方向，按第二方向安装的操控装置100则为反装的装置；反之亦然。不应将任何一种固定的安装方向确定为正装方向或反装方向来限制本申请。相应地，正显示、反显示也是一个相对的概念，与正装适配的显示模式即为正显示模式，与反装适配的显示模式即为反显示模 式。
需要说明的是，第一方向与第二方向相反可以理解为朝向为第二方向的操控装置100相对于朝向为第一方向的操控装置100顺时针或逆时针旋转了预定角度，该预定角度的取值范围为[150°，210°]，示例性地，预定角度可以为150°、172°、180°、194.6°、200°、210°等。
为了方便对设备进行操控，操控装置100上还可以带有功能按键组103，进一步，显示模式也可以与功能按键组103的功能适配。下述几个实施例示出了正、反装状态下，操控装置100和功能按键组103发生的变化。为了方便描述，下述几个实施例及附图2-图5B的第一方向均为正装方向，代表从B端到A端的方向；第二方向均为反装方向，代表从A端到B端的方向。图2示例性地示出了一种正装状态下的操控装置100的按键功能组，包括三个功能按键：按键1031，Active；按键1032，Hold；按键1033，Power。可以理解，操控装置100上可以包括一个或多个按键，本申请并不限制操控装置上按键的个数。这些按键可以是实体按键，也可以是通过显示屏等装置显示的虚拟按键，本申请同样不限制按键的具体形态。
在上述实施例中，Active是激活按键，在设备上有多个控制台时，每个控制台可以包括一个操控装置，该操控装置可以是本申请公开的操控装置100，也可以是两个操控装置100拼接而成的双操控装置。可以通过按下该Active按键切换控制台，使该操控装置100或双操控装置所属的控制台取得控制权。Hold是保持按键，用于方向和/或位置保持。Power是电源键。可以理解，上述三个按键仅是示例性的，操控装置可以包含上述三个按键中的一个或多个，也可以不包含上述任意一个按键，不应将上述按键功能组的按键视为对本申请的限制，相应地，本申请也不限制按键功能组所能实现的功能。
根据本申请的一个实施例，控制单元101可以通过调整操控模式和显示模式将图2所示的正装状态下的操控装置100变为反装状态，调整前后的操控装置100可以如图3A所示。此时，反装状态下操控装置100的按键功能如图3B所示，正、反装两种安装姿态下，操控装置100的功能按键组103的功能不变，按键组在第一方向上的顺序改变。
需要说明的是，图3A的左图为操控装置100正装时的图，图3B为操控装置100反装时的图，图3A的右图为图3B顺时针旋转180°得到的图，该图用于与图3A的左图作对照，以便突出操控装置100在正装和反装两种状态下的差异。下文中的图4A的右图、图5A的右图作用类似，不再赘述。
根据本申请的另一个实施例，调整前后的操控装置100也可以如图4A所示。此时，反装状态下操控装置100的按键功能如图4B所示，正、反装两种安装姿态下，操控装置100的功能按键组103的功能不变，在第一方向上的顺序不变。
根据本申请的又一个实施例，调整前后的操控装置100还可以如图5A所示。此时，反装状态下操控装置100的按键功能如图5B所示，正、反装两种安装姿态下，操控装置100的功能按键组103的功能改变(图中以按键1041Active变为1044Dock为例)。图5A所示为操控装置100的功能按键组103的部分功能发生改变，在其他实施例中，操控装置100的安装姿态变化后，还可以是操控装置100的功能按键组103的全部功能发生改变。其中，Dock是限功率按键。按下该按键后，操纵杆105转动到最大角度(也即油门值为最大油门值)时，其对应的功率为：未限功率状态下，操纵杆105转动到最大角度(也即油门值为最大油门值)时对应的功率值的50％。需要说明的是，50％ 仅为一个示例，该值还可以是20％、30％、60％、85％等，此处不作限制。
基于上述三个实施例可见，本申请并不限制正、反装状态下操控装置100按键功能组各自的功能和顺序，本领域技术人员可以根据实际情况考虑如何对按键功能组的功能进行设置，上述Active、Hold、Power、Dock等按键及相应的功能不能用于限制本申请。
为了进一步方便用户的使用，操控装置100的显示单元102还可以包括指示灯组104，指示灯组104被点亮后可以形成如上述图2-图5B任意一个附图的虚线框所示的标识图案(图中以按键1031-1034对应的指示灯组1041-1044为例)，为用户指示每个按键的功能。为了适应操控装置100的不同安装姿态，可以设置多个指示灯组，每一个指示灯组都与一种安装姿态适配，一个指示灯组104中指示灯的数量与功能按键组103中的功能按键的数量对应。
可以理解的是，图3A、4A、5A中仅是示例性示出了不同显示模式下虚线框的位置，从图中可见，可以将两个指示灯组之间的位置设置得不同，以使不同安装姿态下，标识图案相对于按键的位置不同。例如，对于“Active”这个按键来说，正显示模式下，可以亮起指示灯组104A，使得标识图案在按键的一侧，反显示模式下，可以亮起另一组指示灯104B，使得标识图案在按键的另一侧。本申请并不限制不同显示模式下指示灯组104的具体位置。
进一步，根据本申请的一个实施例，显示单元102和功能按键组103的位置关系可以是：显示单元102的显示区与功能按键组103所处区域至少部分重叠；也可以是：显示单元102的显示区与功能按键组103所处区域间隔开。也就是说，本申请对指示灯组104和功能按键的相对位置关系也不作限制。
在操控装置100的受控设备是船舶等水域可移动设备时，操控装置100还可以包括操纵杆105，操纵杆105可以用来控制水域可移动设备的行驶方向。相关技术中操控装置通常仅具有一种安装方式，使得操纵杆也仅具有一种操控模式，这对于拥有多台同类型设备的同一个用户来说，需要根据自身习惯和每台设备的构造等因素挑选不同的操控装置，费时费力；对于该类设备的生产厂家来说，为了适应不同用户的习惯，需要设计多种型号的操纵杆以满足不同用户的需求，这对生产厂家来说也是一个负担。
与相关技术中不同，作为一个实施例，与正装、反装等不同的安装姿态对应，本申请中的操纵杆105也可以预设有正装模式和反装模式等多种操控模式，实际使用时，可以通过控制单元101为操纵杆105配置与操控装置100的安装姿态匹配的操控模式。
示例性地，以B端到A端的方向为正装方向时，正装的带有操纵杆105的操控装置100可以如图2所示。与正装适配的第一操控模式可以如图6A所示，第一操控模式下：操纵杆105朝图中第一方向运动时控制水域可移动设备向第一指定方向行驶，朝第二方向运动时控制水域可移动设备向第二指定方向行驶。
相应地，与反装适配的第二操控模式可以如图6B所示，第二操控模式下：操纵杆105朝第一方向运动时控制水域可移动设备向第二指定方向行驶，朝第二方向运动时控制水域可移动设备向第一指定方向行驶。
作为示例，控制水域可移动设备向第一指定方向行驶可以是控制水域可移动设备前进，控制水域可移动设备向第二指定方向行驶可以为控制水域可移动设备后退。
至此，本申请公开的操控装置100可以基于当前的安装姿态适应性调整显示模式和操控模式，因此，该操控装置100能够适配多种安装姿态，一款产品即可满足用户的大部分需求。为方便用户个性化设置，将操控装置100安装好之后，在调整显示模式和操控模式之前，用户可以手动输入配置指令，以使操控装置100按照用户的配置指令调整显示模式、操控模式；操控装置100也可以自动识别当前的安装姿态，基于识别结果调整显示模式、操控模式。
根据本申请的一个实施例，操控装置100的显示单元102可以使用触摸屏等具有人机交互功能的装置作为显示单元或显示单元的一部分，这样，可以通过显示单元102接受用户输入的配置指令，以使控制单元101基于配置指令控制显示单元102执行相应的显示模式。
根据本申请的另一个实施例，操控装置100还可以与一显示模块通信连接，例如，显示模块可以是安装在受控设备上的显示模块。以船舶为例，操控装置100可以通过总线与船舶上的中控屏等显示模块通信，用户可以通过船上的其他设备向操控装置100输入配置指令，以使操控装置100的控制单元101基于配置指令控制显示单元102执行相应的显示模式。
由前文的实施例可见，操控装置100还可以包括功能按键组103，控制单元101还可以控制显示单元102执行与功能按键组103的功能及操控装置100的安装姿态均适配的显示模式。同样，功能按键组103的功能也可以由用户的配置指令触发，因此，配置指令不仅可以指示执行何种显示模式，也可以指示如何对功能按键组103的按键进行设置的参数。操控装置100在接收到配置指令之后，还可以为功能按键组103配置对应的功能，并控制显示单元102执行与功能按键组103的功能及操控装置100的安装姿态均适配的显示模式。
在操控装置100上有操纵杆105时，如果操纵杆105具有多个操控模式，控制单元101还可以基于配置指令为操纵杆105配置与操控装置100的安装姿态匹配的操控模式。
作为例子，对于具有不同安装姿态的操控装置100，控制单元101还可以识别操控装置100的安装姿态。
根据本申请公开的一实施例，操控装置100上除了有控制单元101，还包括了IMU(Inertial Measurement Unit，惯性测量单元)、侧倾开关(例如水银倾侧开关、液体倾侧开关、重锤倾侧开关)等重力感应模块，控制单元101可以基于上述重力感应模块的输出信号识别操控装置100的安装姿态。
以IMU为例，如图7所示，IMU中的加速度计可以检测Z轴(重力轴)的大小和方向。示例性的，当操控装置100正装时，IMU检测到的重力为正值，当操控装置100反装时，IMU检测到的重力为负值。此时即可通过IMU的输出信号识别操控装置100的安装姿态。另外，IMU中的加速度计也可以检测图中X轴或Y轴的值，并根据X轴的值或Y轴的值输出信号，以识别操控装置100的正、反装。具体用哪个轴的数值来进行操控装置100正、反装的判定，取决于加速度计的安装方式。进一步，当操控装置100如图8所示时，示例性地，可以基于Z轴的值来进行正、反装的判定，此时加速度计的安装方式如图9所示。
根据本申请的一个实施例，为了使得操纵装置能够更好地适配多种安装姿态，操控装置100还可以包括如图10所示的底座106和操纵杆105，操纵杆105能够相对于底座106转动。以垂直于底座106的底面，经过操纵杆105的转动轴心的平面作为镜像面，操 控装置100的部分组件或者全部组件关于该镜像面镜像对称设置。
为了使得操控装置100能够具备多种安装姿态，作为例子，可以为操控装置100配置多个接口，控制单元101此时可以基于操控装置100的接口识别安装姿态。例如，可以通过识别接口的接通状态确定操控装置100的安装姿态，具体地，可以通过检测各个接口的电压、电流等参数来确定操控装置100的安装姿态，或者通过检测信号的发出端或接收端来确定操控装置100的安装姿态。
作为例子，各个接口可以位于底座106的底面。各个接口也可以关于该镜像面镜像对称设置。在位置上，这些接口可以均位于底座106的底面(图10中以1071、1072两个接口为例)，也可以设置在操控装置100的两端(如位于图2-图5B的A、B两端)。
上述通过接口识别安装姿态的实施例中，底座106带有安装指示标识，指示接口与安装姿态的对应关系。用户能够根据指示标识更加方便地确定当前安装姿态所对应的接口。
至此，本申请公开了一种操控装置100，其上附带有显示单元102和控制单元101，控制单元101可以基于操控装置100的朝向执行适配的显示模式，适配于多种安装姿态，还可以配置相应的操控模式、为功能按键组103设置相应的功能，既方便用户的购买和使用，也方便了生产厂家的生产。
如图11所示，本申请还提供了一种操控系统200，包括动力装置201及本说明实施例第一方面示出的操控装置100，动力装置201与操控装置100连接。动力装置201与操控装置100之间可以通过有线方式或无线方式连接。作为一个示例，动力装201与操控装置100可以通过总线连接。操控装置100可以用于控制动力装置201的动力和/或起翘角度。其中，当水域可移动设备为船舶时，动力装置201可以是船外机。
如图12所示，本申请还提供了一种水域可移动设备301，水域可移动设备301包括本体3011及上文各实施例中的操控装置100。操控装置100与本体3011结合，例如，操控装置100安装在本体上。其中，当水域可移动设备为船舶时，本体3011即为船体。
本申请提供的另一种水域可移动设备302如图13所示，水域可移动设备302包括本体3021及上文实施例中的操控系统200。操控系统200与本体3021结合。其中，当水域可移动设备为船舶时，本体3021即为船体。
需要说明的是，当水域可移动设备为船舶时，船舶可以是商用船、客船、游艇、渔船、帆船、民船等各类水域交通工具，还可以是水域巡检设备、水域治理设备、水域环境监测设备等能够在水域移动的设备。
本申请还提供了一种控制操控装置的方法，作为例子，该方法可以由上文实施例中的操控装置100中的控制单元101执行，也并不排除通过操控装置100中其他具有处理能力以及软件执行能力的器件执行。该方法包括以下步骤：控制显示单元执行与操控装置的安装姿态适配的显示模式。
在一些场景下，操控装置100可以具备多种安装姿态，不同的安装姿态下操控装置100的朝向可以不同，为了适配不同的安装姿态，在不同的显示模式下，显示单元102显示的标识图案的朝向可以不同。另外，作为例子，标识图案的朝向可以与操控装置100在所处安装姿态下的朝向相同。
可以理解，标识图案的作用是提示用户，因此标识图案的朝向应与用户的朝向保持一致，以方便用户根据标识图案使用操控装置100，例如，当设备存在驾驶位置时，可 以将标识图案的朝向固定为与驾驶位的朝向相同的方向。也就是说，当操控装置100朝向与用户的朝向相同时，标识图案的朝向可以与操控装置100的朝向相同，其他情况下，标识图案的朝向也可以与操控装置100的朝向不同。由于显示单元102被安装在操控装置100上，当操控装置100的朝向改变时，显示单元102显示的标识图案也会随着操控装置100改变。
根据本申请公开的一个实施例，安装姿态可以包括第一安装姿态和第二安装姿态，操控装置100处于第一安装姿态下时，朝向第一方向；处于第二姿态下时，朝向第二方向，第一方向与第二方向相反。
与安装姿态相对应，显示模式也可以包括第一显示模式及第二显示模式，第一显示模式下，标识图案朝向第一方向；第二显示模式下，标识图案朝向第二方向。
需要说明的是，第一方向与第二方向相反可以理解为朝向为第二方向的操控装置100相对于朝向为第一方向的操控装置100顺时针或逆时针旋转了预定角度，该预定角度的取值范围为[150°，210°]。
为了方便对设备进行操控，操控装置100上还可以带有功能按键组103，进一步，显示模式也可以与功能按键组103的功能适配。其中，操控装置100处于不同的安装姿态下时，功能按键组103的功能可以不变；或者，操控装置100处于不同的安装姿态下时，功能按键组103的至少部分功能发生改变。
基于图2-图5B的实施例可见，本申请并不限制正、反装状态下操控装置100按键功能组各自的功能和顺序，本领域技术人员可以根据实际情况考虑如何对按键功能组的功能进行设置，上述附图中的Active、Hold、Power、Dock等按键及相应的功能不能用于限制本申请。
为了进一步方便用户的使用，操控装置100的显示单元102还可以包括指示灯组104，指示灯组104被点亮后可以形成如上述图2-图5B任意一个附图的虚线框所示的标识图案，为用户指示每个按键的功能。为了适应操控装置100的不同安装姿态，可以设置多个指示灯组，每一个指示灯组都与一种安装姿态适配，一个指示灯组104中指示灯的数量与功能按键组103中的功能按键的数量对应。
可以理解的是，图中仅是示例性示出了不同显示模式下虚线框的位置，可以将两个指示灯组之间的位置设置得不同，以使不同安装姿态下，标识图案相对于按键的位置不同。
进一步，根据本申请的一个实施例，显示单元102和功能按键组103的位置关系可以是：显示单元102的显示区与功能按键组103所处区域至少部分重叠；也可以是：显示单元102的显示区与功能按键组103所处区域间隔开。也就是说，本申请对指示灯组104和功能按键的相对位置关系也不作限制。
在操控装置100的受控设备是船舶等水域可移动设备时，操控装置100还可以包括操纵杆105，操纵杆105可以用来控制水域可移动设备的行驶方向。相关技术中操控装置通常仅具有一种安装方式，使得操纵杆也仅具有一种操控模式，这对于拥有多台同类型设备的同一个用户来说，需要根据自身习惯和每台设备的构造等因素挑选不同的操控装置，费时费力；对于该类设备的生产厂家来说，为了适应不同用户的习惯，需要设计多种型号的操纵杆以满足不同用户的需求，这对生产厂家来说也是一个负担。
与相关技术中不同，作为一个实施例，与正装、反装等不同的安装姿态对应， 本申请中的操纵杆105也可以预设有正装模式和反装模式等多种操控模式，实际使用时，可以通过控制单元101为操纵杆105配置与操控装置100的安装姿态匹配的操控模式。
示例性地，以B端到A端的方向为正装方向时，正装的带有操纵杆105的操控装置100可以如图2所示。与正装适配的第一操控模式下第一、第二方向可以如图6A所示，与反装适配的第二操控模式下，第一、第二方向可以如图6B所示，第一、第二操控模式的具体可以参见装置实施例，此处不再赘述，但不应将任一实施例视为对本申请的限制。
作为示例，控制水域可移动设备向第一指定方向行驶可以是控制水域可移动设备前进，控制水域可移动设备向第二指定方向行驶可以为控制水域可移动设备后退。
至此，本申请公开了一种控制操控装置的方法，可以基于当前的安装姿态适应性调整显示模式和操控模式，因此，该操控装置100能够适配多种安装姿态，一款产品即可满足用户的大部分需求。为方便用户个性化设置，将操控装置100安装好之后，在调整显示模式和操控模式之前，用户可以手动输入配置指令，以使操控装置100按照用户的配置指令调整显示模式、操控模式；操控装置100也可以自动识别当前的安装姿态，基于识别结果调整显示模式、操控模式。
根据本申请的一个实施例，操控装置100的显示单元102可以包括触摸屏等具有人机交互功能的装置，这样，可以通过显示单元102接受用户输入的配置指令，以使控制单元101基于配置指令控制显示单元102执行相应的显示模式。
根据本申请的另一个实施例，操控装置100还可以与一显示模块通信连接，例如，显示模块可以是安装在受控设备上的显示模块。以船舶为例，操控装置100可以通过总线与船舶上的中控屏等显示模块通信，用户可以通过船上其他具有人机交互功能的装置向操控装置100输入配置指令，以使操控装置100的控制单元101基于配置指令控制显示单元102执行相应的显示模式。
由前文的实施例可见，操控装置100还可以包括功能按键组103，控制单元101还可以控制显示单元102执行与功能按键组103的功能及操控装置100的安装姿态均适配的显示模式。同样，功能按键组103的功能也可以由用户的配置指令触发，因此，配置指令不仅可以指示执行何种显示模式，也可以指示如果对功能按键组103的按键进行设置的参数。操控装置100在接收到配置指令之后，还可以为功能按键组103配置对应的功能，并控制显示单元102执行与功能按键组103的功能及操控装置100的安装姿态均适配的显示模式。
在操控装置100上有操纵杆105时，如果操纵杆105具有多个操控模式，控制单元101还可以基于配置指令为操纵杆105配置与操控装置100的安装姿态匹配的操控模式。
作为例子，对于具有不同安装姿态的操控装置100，还可以通过控制单元101识别操控装置100的安装姿态。
根据本申请公开的一实施例，操控装置100上除了有控制单元101，还包括了IMU(Inertial Measurement Unit，惯性测量单元)、侧倾开关(例如水银倾侧开关、液体倾侧开关、重锤倾侧开关)等重力感应模块，控制单元101可以基于上述重力感应模块的输出信号识别操控装置100的安装姿态。
参照图7示出的实施例，IMU中的加速度计可以检测X、Y、Z三个轴中任意 一个或多个轴的加速度值的大小和方向。具体用哪个轴的数值来进行操控装置100正、反装的判定，取决于加速度计的安装方式，本申请对此不作限定。
在某些实施例中，可以为操控装置100配置多个接口，控制单元101此时可以基于操控装置100的接口识别安装姿态，每一个接口可以与一个安装姿态对应。例如，可以通过识别接口的接通状态确定操控装置100的安装姿态，具体地，可以通过检测各个接口的电压、电流等参数来确定操控装置100的安装姿态，或者通过检测信号的发出端或接收端来确定操控装置100的安装姿态。
在位置上，这些接口可以均位于底座106的底面(图10中以1071、1072两个接口为例)，也可以设置在操控装置100的两端(如位于图2-图5B的A、B两端)。正装姿态下，操控装置100的朝向可以如图2所示；相应地，反装姿态下，操控装置可以如图3A、4A、5A对应的任一实施例所示。当然，上述附图及实施例仅是示例性的，正装的操控装置100还可以朝向别的方向，反装的操控装置100可以相应地朝向相反的方向，不应将上述实施例视为对本申请的限制。
上述通过接口识别安装姿态的实施例中，底座106带有安装指示标识，指示接口与安装姿态的对应关系。用户能够根据指示标识更加方便地确定目标的装姿态所对应的接口。
至此，本申请公开了一种控制操控装置的方法，可以基于操控装置的朝向执行适配的显示模式，适配于多种安装姿态，还可以配置相应的操控模式、为功能按键组设置相应的功能，既方便用户的购买和使用，也方便了生产厂家的生产。
与前述方法的实施例相对应，本申请还提供一种计算机可读存储介质，其上存储有程序，该程序被处理器执行时实现上述任一控制操控装置100的方法实施例中的对应操作。
对于操控系统、水域可移动设备、方法、存储介质实施例而言，由于其基本对应于操控装置的实施例，所以相关之处参见操控装置实施例的部分说明即可。以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的模块可以是或者也可以不是物理上分开的，作为模块显示的部件可以是或者也可以不是物理模块，即可以位于一个地方，或者也可以分布到多个网络模块上。可以根据实际的需要选择其中的部分或者全部模块来实现本申请方案的目的。本领域普通技术人员在不付出创造性劳动的情况下，即可以理解并实施。
上述对本申请特定实施例进行了描述。其它实施例在所附权利要求书的范围内。在一些情况下，在权利要求书中记载的动作或步骤可以按照不同于实施例中的顺序来执行并且仍然可以实现期望的结果。另外，在附图中描绘的过程不一定要求示出的特定顺序或者连续顺序才能实现期望的结果。在某些实施方式中，多任务处理和并行处理也是可以的或者可能是有利的。
以上所述仅为本申请的较佳实施例而已，并不用以限制本申请，凡在本申请的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本申请保护的范围之内。
以上对本申请实施例所提供的方法和装置进行了详细介绍，本文中应用了具体个例对本申请的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想；同时，对于本领域的一般技术人员，依据本申请的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本申请的限制。
Claims (48)
- 一种操控装置，其特征在于，所述操控装置适配于多种安装姿态，所述操控装置包括显示单元和控制单元，所述显示单元预设有多种显示模式，所述控制单元用于控制所述显示单元执行与所述操控装置的安装姿态适配的显示模式。
- 根据权利要求1所述的操控装置，其特征在于，不同的安装姿态下，所述操控装置的朝向不同；所述显示单元用于显示标识图案，不同的所述显示模式下，所述标识图案的朝向不同。
- 根据权利要求2所述的操控装置，其特征在于，所述标识图案的朝向与所述操控装置在所处安装姿态下的朝向相同。
- 根据权利要求3所述的操控装置，其特征在于，所述安装姿态包括第一安装姿态和第二安装姿态，所述操控装置处于所述第一安装姿态下时，所述操控装置朝向第一方向，所述操控装置处于所述第二安装姿态下时，所述操控装置朝向第二方向，所述第一方向与所述第二方向相反；所述显示模式包括第一显示模式及第二显示模式，所述第一显示模式下，所述标识图案朝向所述第一方向，所述第二显示模式下，所述标识图案朝向所述第二方向。
- 根据权利要求1-4任意一项所述的操控装置，其特征在于，所述操控装置还包括功能按键组，所述功能按键组包括至少一个功能按键，所述显示模式还与所述功能按键组的功能适配。
- 根据权利要求5所述的操控装置，其特征在于，所述操控装置处于不同的所述安装姿态下时，所述功能按键组的功能不变；或所述操控装置处于不同的所述安装姿态下时，所述功能按键组的至少部分功能发生改变，所述控制单元还用于为所述功能按键组配置与所述操控装置的安装姿态适配的功能。
- 根据权利要求5所述的操控装置，其特征在于，所述显示单元的显示区与所述功能按键组所处区域至少部分重叠；或所述显示单元的显示区与所述功能按键组所处区域间隔开。
- 根据权利要求5所述的操控装置，其特征在于，所述显示单元包括指示灯组，所述指示灯组包括数量与所述功能按键组中的所述功能按键的数量对应的指示灯，所述指示灯组被点亮后形成所述显示单元显示的标识图案，所述指示灯组的数量包括多组，每组所述指示灯组与所述操控装置的一个所述安装姿态相适配。
- 根据权利要求1-4任一项所述的操控装置，其特征在于，所述操控装置还包括操纵杆，所述操纵杆用于控制水域可移动设备的行驶方向，所述操纵杆具有多个操控模式，所述控制单元还用于为所述操纵杆配置与所述操控装置的安装姿态匹配的操控模式。
- 根据权利要求9所述的操控装置，其特征在于，所述安装姿态包括第一安装姿态和第二安装姿态，所述操控模式包括第一操控模式及第二操控模式；所述操控装置处于所述第一安装姿态下时，所述操控装置朝向第一方向，所述操控装置处于所述第二安装姿态下时，所述操控装置朝向第二方向，所述第一方向与所述第二方向相反；所述第一操控模式包括：所述操纵杆朝所述第一方向运动时控制所述水域可移动设备向第一指定方向行驶，朝所述第二方向运动时控制所述水域可移动设备向第二指定方向行驶，所述第一指定方向与所述第二指定方向相反；所述第二操控模式包括：所述操纵杆朝所述第一方向运动时控制所述水域可移动设备向所述第二指定方向行驶，朝所述第二方向运动时控制所述水域可移动设备向所述第一指定方向行驶。
- 根据权利要求1所述的操控装置，其特征在于，所述显示单元还用于接收用户的配置指令，所述控制单元用于基于所述配置指令控制所述显示单元执行与所述操控装置的安装姿态适配的显示模式。
- 根据权利要求1所述的操控装置，其特征在于，所述操控装置与一显示模块通信连接，所述显示模块用于接收用户的配置指令，所述控制单元用于接收所述显示模块发送的所述配置指令，并基于所述配置指令控制所述显示单元执行与所述操控装置的安装姿态适配的显示模式。
- 根据权利要求11或12所述的操控装置，其特征在于，所述操控装置还包括功能按键组，所述控制单元还用于控制所述显示单元执行与所述功能按键组的功能及所述操控装置的安装姿态均适配的显示模式。
- 根据权利要求13所述的操控装置，其特征在于，所述控制单元还用于基于所述配置指令为所述功能按键组配置与所述操控装置的安装姿态适配的功能。
- 根据权利要求11或12所述的操控装置，其特征在于，所述操控装置还包括操纵杆，所述操纵杆用于控制水域可移动设备的行驶方向，所述操纵杆具有多个操控模式，所述控制单元还用于基于所述配置指令为所述操纵杆配置与所述操控装置的安装姿态匹配的操控模式。
- 根据权利要求1所述的操控装置，其特征在于，所述控制单元还用于识别所述操控装置的安装姿态。
- 根据权利要求16所述的操控装置，其特征在于，所述操控装置包括多个接口，所述多个接口对应所述多种安装姿态；所述控制单元通过识别处于接通状态的所述接口来确定所述操控装置的安装姿态。
- 根据权利要求17所述的操控装置，其特征在于，所述安装姿态包括第一安装姿态和第二安装姿态，所述操控装置处于所述第一安装姿态下时，所述操控装置朝向第一方向，所述操控装置处于所述第二安装姿态下时，所述操控装置朝向第二方向，所述第一方向与所述第二方向相反；所述接口包括第一接口和第二接口；所述控制单元检测到所述第一接口处于所述接通状态时，确定所述操控装置处于所述第一安装姿态下；所述控制单元检测到所述第二接口处于所述接通状态时，确定所述操控装置处于所述第二安装姿态下。
- 根据权利要求16所述的操控装置，其特征在于，所述操控装置还包括重力感应模块，所述控制单元基于所述重力感应模块的输出信号识别所述操控装置的安装姿态。
- 根据权利要求19所述的操控装置，其特征在于，所述重力感应模块包括惯性测量单元或倾侧开关。
- 根据权利要求1所述的操控装置，其特征在于，所述操控装置包括底座和操纵杆，所述操纵杆能够相对于所述底座转动，所述操控装置的至少部分组件关于镜像面镜像对称设置，所述镜像面垂直于所述底座的底面，并且所述操纵杆的转动轴心位于所述镜像面上。
- 根据权利要求21所述的操控装置，其特征在于，所述操控装置还包括：至少两个接口，所述控制单元基于所述接口的接通状态识别所述操控装置的安装姿态，所述至少两个接口关于所述镜像面镜像对称设置。
- 根据权利要求22所述的操控装置，其特征在于，所述至少两个接口均位于所述底座的底面。
- 根据权利要求23所述的操控装置，其特征在于，所述底座带有安装指示标识，所述安装指示标识用于指示所述接口与所述安装姿态的对应关系。
- 一种操控系统，其特征在于，包括：动力装置；及权利要求1-24任一项所述的操控装置，所述操控装置与所述动力装置连接。
- 一种水域可移动设备，其特征在于，包括：本体；及权利要求1-24任一项所述的操控装置，所述操控装置与所述本体结合。
- 一种水域可移动设备，其特征在于，包括：本体；及权利要求25所述的操控系统，所述操控系统与所述本体结合。
- 一种控制操控装置的方法，其特征在于，所述操控装置适配于多种安装姿态，所述操控装置包括显示单元，所述显示单元预设有多种显示模式，所述方法包括：控制所述显示单元执行与所述操控装置的安装姿态适配的显示模式。
- 根据权利要求28所述的方法，其特征在于，不同的安装姿态下，所述操控装置的朝向不同；不同的所述显示模式下，所述显示单元显示的标识图案的朝向不同。
- 根据权利要求29所述的方法，其特征在于，所述标识图案的朝向与所述操控装置在当前安装姿态下的朝向相同。
- 根据权利要求30所述的方法，其特征在于，所述安装姿态包括第一安装姿态和第二安装姿态，所述操控装置处于所述第一安装姿态下时，所述操控装置朝向第一方向，所述操控装置处于所述第二安装姿态下时，所述操控装置朝向第二方向，所述第一方向与所述第二方向相反；所述显示模式包括第一显示模式及第二显示模式，所述第一显示模式下，所述标识图案朝向所述第一方向，所述第二显示模式下，所述标识图案朝向所述第二方向。
- 根据权利要求28-31任意一项所述的方法，其特征在于，所述操控装置还包括功能按键组，所述功能按键组包括至少一个功能按键，所述显示模式还与所述功能按键组的功能适配。
- 根据权利要求32所述的方法，其特征在于，所述操控装置处于不同的所述安装姿态下时，所述功能按键组的功能不变；或所述操控装置处于不同的所述安装姿态下时，所述功能按键组的至少部分功能发生改变。
- 根据权利要求32所述的方法，其特征在于，所述显示单元的显示区与所述功能按键组所处区域至少部分重叠；或所述显示单元的显示区与所述功能按键组所处区域间隔开。
- 根据权利要求32所述的方法，其特征在于，所述显示单元包括指示灯组，所述指示灯组包括数量与所述功能按键组中的所述功能按键的数量对应的指示灯，所述指示灯组被点亮后形成所述显示单元显示的标识图案，所述指示灯组的数量包括多组，每组所述指示灯组与所述操控装置的一个所述安装姿态相适配。
- 根据权利要求28-31任一项所述的方法，其特征在于，所述操控装置还包括操纵杆，所述操纵杆用于控制水域可移动设备的行驶方向，所述操纵杆具有多个操控模式，所述方法还包括：基于所述安装姿态为所述操纵杆配置与所述安装姿态适配的操控模式。
- 根据权利要求36所述的方法，其特征在于，所述安装姿态包括第一安装姿态和第二安装姿态，所述操控模式包括第一操控模式及第二操控模式；所述操控装置处于所述第一安装姿态下时，所述操控装置朝向第一方向，所述操控装置处于所述第二安装姿态下时，所述操控装置朝向第二方向，所述第一方向与所述第二方向相反；所述第一操控模式包括：所述操纵杆朝所述第一方向运动时控制所述水域可移动设备向第一指定方向行驶，朝所述第二方向运动时控制所述水域可移动设备向第二指定方向行驶，所述第一指定方向与所述第二指定方向相反；所述第二操控模式包括：所述操纵杆朝所述第一方向运动时控制所述水域可移动设备向所述第二指定方向行驶，朝所述第二方向运动时控制所述水域可移动设备向所述第一指定方向行驶。
- 根据权利要求28所述的方法，其特征在于，所述显示单元还用于接收用户的配置指令，所述控制所述显示单元执行与所述操控装置的安装姿态适配的显示模式，包括：基于所述配置指令控制所述显示单元执行与所述操控装置的安装姿态适配的显示模式。
- 根据权利要求28所述的方法，其特征在于，所述操控装置能够与显示模块连接，并接收所述显示模块发送的由用户输入的配置指令，所述控制所述显示单元执行与所述操控装置的安装姿态适配的显示模式，包括：基于所述配置指令控制所述显示单元执行与所述操控装置的安装姿态适配的显示模式。
- 根据权利要求38或39所述的方法，其特征在于，所述操控装置还包括功能按键组，所述显示模式还与所述功能按键组的功能相适配。
- 根据权利要求40所述的方法，其特征在于，所述方法还包括：基于所述配置指令为所述功能按键组配置与所述操控装置的安装姿态适配的功能。
- 根据权利要求38或39所述的方法，其特征在于，所述操控装置还包括操纵杆，所述操纵杆用于控制水域可移动设备的行驶方向，所述操纵杆具有多个操控模式，所述方法还包括：基于所述配置指令为所述操纵杆配置与所述操控装置的安装姿态匹配的操控模式。
- 根据权利要求28所述的方法，其特征在于，所述方法还包括：识别所述操控装置的安装姿态。
- 根据权利要求43所述的方法，其特征在于，所述操控装置包括多个接口，每一个所述接口分别与一种安装姿态对应，所述识别所述操控装置的安装姿态，包括：识别处于接通状态的所述接口来确定所述操控装置的安装姿态。
- 根据权利要求44所述的方法，其特征在于，所述安装姿态包括第一安装姿态和第二安装姿态，所述操控装置处于所述第一安装姿态下时，所述操控装置朝向第一方向，所述操控装置处于所述第二安装姿态下时，所述操控装置朝向第二方向，所述第一方向与所述第二方向相反；所述接口包括第一接口和第二接口；所述识别处于接通状态的所述接口来确定所述操控装置的安装姿态，包括：检测到所述第一接口处于所述接通状态时，确定所述操控装置处于所述第一安装姿态下；检测到所述第二接口处于所述接通状态时，确定所述操控装置处于所述第二安装姿态下。
- 根据权利要求43所述的方法，其特征在于，所述操控装置还包括重力感应模块，所述识别所述操控装置的安装姿态，包括：基于所述重力感应模块的输出信号识别所述操控装置的安装姿态。
- 根据权利要求46所述的方法，其特征在于，所述重力感应模块包括惯性测量单元或倾侧开关。
- 一种计算机可读存储介质，其上存储有程序，其特征在于，该程序被处理器执行时实现如权利要求28-47中任一项所述的控制操控装置的方法中的操作。
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