WO2024050788A1

WO2024050788A1 - Control method, single/dual control apparatus, waterborne mobile equipment and control system

Info

Publication number: WO2024050788A1
Application number: PCT/CN2022/117944
Authority: WO
Inventors: 刘岳峰; 温振钊; 陶师正; 万小康
Original assignee: 广东逸动科技有限公司
Priority date: 2022-09-08
Filing date: 2022-09-08
Publication date: 2024-03-14
Also published as: CN116438111A; CN116438111B

Abstract

Provided are a control method, a single/dual control apparatus (110, 111, 112, 401, 520, 610/402, 530, 620), waterborne mobile equipment (601, 602, 603, 604), and a control system (501, 502). The control method is used for a single control apparatus (110, 111, 112, 401, 520, 610), the single control apparatus (110, 111, 112, 401, 520, 610) being able to access the same communication system as a power apparatus (510, 630) of the waterborne mobile equipment (601, 602, 603, 604); the single control apparatus (110, 111, 112, 401, 520, 610) can be combined with another single control apparatus (110, 111, 112, 401, 520, 610) to jointly form a dual control apparatus (402, 530, 620), a mounting direction of one single control apparatus (110, 111, 112, 401, 520, 610) being opposite to the mounting direction of the other single control apparatus (110, 111, 112, 401, 520, 610). The control method comprises: when a single control apparatus (110, 111, 112, 401, 520, 610) and another single control apparatus (110, 111, 112, 401, 520, 610) are connected to a communication system together, acquiring an operation instruction for the single control apparatus (110, 111, 112, 401, 520, 610) (101); generating a control signal corresponding to the operation instruction (102); sending the control signal to the power apparatus (510, 630), so that the power apparatus (510, 630) acts on the basis of the control signal (103).

Description

Control method, single/double control device, water area movable equipment and control system

Technical field

This application relates to the field of ship technology, and in particular to a control method, single/double control devices, movable equipment in water areas, and control systems.

Background technique

Movable equipment in water areas, such as ships, are usually equipped with various consoles such as steering wheels, control devices, tillers, etc., so that the driver can operate the console to control its navigation. Among them, the control device is generally equipped with a joystick and buttons. The joystick can be used to control the forward and backward movement of the ship, and the buttons can be used to activate predetermined functions, such as starting the power device of movable equipment in the water area.

In response to the different needs of users for control devices, there are two different control devices in the related technology, single-machine form and dual-machine form. The applicable scenarios for the same control device are limited, so users need to purchase both single-machine and dual-machine control devices at the same time to meet their different needs.

Contents of the invention

In order to overcome the problems existing in related technologies, this application provides a control method, a single control device, a dual control device, a water area movable equipment, a control system and a computer-readable storage medium.

According to the first aspect of the embodiment of the present application, a control method is provided for a single control device. The single control device can be connected to the same communication system as the power device of the movable equipment in the water area; the single control device can be connected to another control device. A single control device is spliced to form a double control device, and the installation direction of the single control device is opposite to the installation direction of the other single control device; the control method includes:

When the single control device and the other single control device are connected to the communication system, obtain the operation instruction for the single control device;

Generate control signals corresponding to the operation instructions;

The control signal is sent to the power device, so that the power device operates based on the control signal.

According to a second aspect of the embodiment of the present application, a control method is provided for a single control device, the single control device can access the same communication system as the power device of the movable equipment in the water area, and is used to control the power device ; The single control device can be spliced with another single control device to form a dual control device, and the single control device and the other single control device work in different functional modes; the control method includes:

Generate a control signal corresponding to both the operation instruction and the functional mode of the single control device;

According to a third aspect of the embodiment of the present application, a control device is provided for a single control device. The single control device can be connected to the same communication system as the power device of the movable equipment in the water area; the single control device can be connected to another control device. A single control device is spliced to form a double control device, and the installation direction of the single control device is opposite to the installation direction of the other single control device; the control device includes:

An acquisition module, configured to obtain an operation instruction for the single control device when the single control device and the other single control device are connected to the communication system;

A generation module used to generate control signals corresponding to the operation instructions;

A sending module, configured to send the control signal to the power device, so that the power device acts based on the control signal.

According to a fourth aspect of the embodiment of the present application, a control device is provided for a single control device, which can access the same communication system as the power device of the movable equipment in the water area, and is used to control the power device. ; The single control device can be spliced with another single control device to form a dual control device, and the single control device and the other single control device work in different functional modes; the control device includes:

An acquisition module, configured to obtain the operating instructions for the single control device when the single control device and the other single control device are connected to the communication system;

According to the fifth aspect of the embodiment of the present application, a single control device is provided. The single control device can be connected to the same communication system as the power device of the movable equipment in the water area; the single control device can be spliced with another single control device. A dual control device is formed, and the installation direction of the single control device is opposite to the installation direction of the other single control device; the single control device includes a control unit, and the control unit is used to perform the aforementioned first aspect. method.

According to the sixth aspect of the embodiment of the present application, a single control device is provided. The single control device can be connected to the same communication system as the power device of the movable equipment in the water area; the single control device can be spliced with another single control device. A dual control device is formed, and the single control device and the other single control device work in different functional modes; the single control device includes a control unit, and the control unit is used to perform the aforementioned second aspect. method.

According to a seventh aspect of the embodiment of the present application, a dual control device is provided, including the single control device described in any one of the fifth or sixth aspects, and the number of the single control devices includes two.

According to an eighth aspect of the embodiment of the present application, a control system is provided, including: a power device and a single control device as described in any one of the fifth or sixth aspects, and the single control device communicates with the power device ; Or, the power device and the dual control device described in the seventh aspect, the dual control device communicates with the power device.

According to the ninth aspect of the embodiment of the present application, there is provided a movable equipment in water areas, including: the single control device described in any one of the foregoing fifth aspect or sixth aspect, the single control device is installed on the movable body ; Or, the dual control device described in the seventh aspect, the dual control device is installed on the movable body.

According to a tenth aspect of the embodiment of the present application, a movable equipment in water areas is provided, including: a power device and a single control device as described in any one of the foregoing fifth or sixth aspects, the single control device is installed on the Mobile equipment in water areas; or, a power device and the dual control device described in the seventh aspect, the dual control device is installed on the movable body.

According to an eleventh aspect of the embodiments of the present application, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program. The computer program is used to instruct related hardware to complete the aforementioned first aspect or The control method described in any one of the second aspects.

The technical solutions provided by the embodiments of this application may include the following beneficial effects:

The single control device used in the control method proposed in this application can, on the one hand, be connected to the same communication system as the power device of the water area controllable equipment, and send control signals to the power device based on the communication system to control the power device; on the other hand, On the one hand, it can be spliced with another single control device to form a dual control device, and the power device can still be controlled when the other single control device is also connected to the communication system. It can be seen from this that the present application can be applied to both scenarios that require the use of a single-machine control device and scenarios that require the use of a dual-machine control device, broadening the scope of application and meeting the different needs of users.

It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and do not limit the present application.

Description of the drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.

FIG. 1A is a flow chart of a control method according to an exemplary embodiment of the present application.

1B is a schematic diagram of the formal installation of a single control device according to an exemplary embodiment of the present application.

FIG. 1C is a reverse installation diagram of a single control device according to an exemplary embodiment of the present application.

FIG. 1D is a schematic diagram of the rotation direction of the joystick when a single control device is being installed according to an exemplary embodiment of the present application.

1E is a schematic diagram of the rotation direction of the joystick when a single control device is reversely installed according to an exemplary embodiment of the present application.

FIG. 1F is a schematic diagram of indication information display of a dual control device according to an exemplary embodiment of the present application.

1G is a schematic diagram showing indication information when a single control device is reversely installed according to an exemplary embodiment of the present application.

FIG. 1H is a schematic diagram of the relative position between a function display unit and function keys according to an exemplary embodiment of the present application.

FIG. 1I is a schematic diagram of a single operating device spliced into a double operating device according to an exemplary embodiment of the present application.

Figure 1J is a schematic diagram of another single control device spliced into a double control device according to an exemplary embodiment of the present application.

FIG. 1K is a flow chart of another control method according to an exemplary embodiment of the present application.

FIG. 2A is a block diagram of a control device according to an exemplary embodiment of the present application.

FIG. 2B is a block diagram of another control device according to an exemplary embodiment of the present application.

FIG. 3 is a hardware structure diagram of an electronic device in which a control device is located according to an exemplary embodiment of the present application.

FIG. 4A is a schematic structural diagram of a single control device according to an exemplary embodiment of the present application.

FIG. 4B is a schematic structural diagram of a dual control device according to an exemplary embodiment of the present application.

FIG. 5A is a schematic diagram of a control system according to an exemplary embodiment of the present application.

FIG. 5B is a schematic diagram of another control system according to an exemplary embodiment of the present application.

FIG. 6A is a schematic diagram of a movable device in a water area according to an exemplary embodiment of the present application.

FIG. 6B is a schematic diagram of another movable device in water areas according to an exemplary embodiment of the present application.

Figure 6C is a schematic diagram of yet another movable device in water areas shown in this application according to an exemplary embodiment.

FIG. 6D is a schematic diagram of another water area movable device according to another exemplary embodiment of the present application.

Detailed ways

Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with this application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the appended claims.

The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a," "the" and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It will also be understood that the term "and/or" as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

It should be understood that although the terms first, second, third, etc. may be used 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. For example, without departing from the scope of the present application, the first information may also be called second information, and similarly, the second information may also be called first information. Depending on the context, the word "if" as used herein may be interpreted as "when" or "when" or "in response to determining."

In order to overcome the problem of limited application scenarios of control devices in related technologies, this application proposes a control method for a single control device. The single control device can be connected to the same communication system as the power device of the movable equipment connected to the water area. Control the power device, and the single control device can also be spliced with another single control device to form a dual control device. When both single control devices are connected to the communication system, any single control device can operate on it The instructions generate control signals for controlling the power plant. This can be applied to both scenarios that require the use of a single-machine control device and scenarios that require the use of a dual-machine control device, broadening the scope of application and meeting the different needs of users. In addition, only one installation position for installing dual control devices is needed in the movable equipment in the water area, which can be suitable for the installation of both single and dual control devices at the same time, without the need to set up separate installations for single and dual control devices. Bit.

Next, the embodiments of the present application will be described in detail.

As shown in Figure 1A, Figure 1A is a flow chart of a control method shown in this application according to an exemplary embodiment. It is used for a single control device. The single control device can access the same communication system as the power device of the movable equipment in the water area. ; A single control device can be spliced with another single control device to form a dual control device, and the installation direction of the single control device is opposite to the installation direction of the other single control device; both the single control device and the other single control device are connected to the communication system In this case, the control method includes the following steps:

Step 101: Obtain operating instructions for a single control device;

Step 102, generate a control signal corresponding to the operation instruction;

Step 103: Send the control signal to the power device so that the power device operates based on the control signal.

It can be understood that when only a single control device is used to control the movable equipment in the water area, the control process of the power device by the single control device is consistent with the above steps 101 to 103, and the operation instructions for the single control device are obtained and generated. The corresponding control signal is sent to the power device to control the action of the power device. The installation direction can include forward installation direction and reverse installation direction. The front and back of the installation direction can be customized by the user. The difference between formal and reverse installation lies in the difference in installation angle. The reverse installation direction rotates a certain angle compared to the forward installation direction. The rotation angle can be between 150 degrees and 210 degrees. For example, the rotation angle can be 150 degrees, 164 degrees, 180 degrees, 198.2 degrees, 210 degrees, etc. A single control device is usually provided with a joystick. Figure 1B is a schematic diagram of the formal installation of a single control device according to an exemplary embodiment of the present application. The joystick 120 is on the right side of the single control device 110, facing the ship. The installation is in the direction of the head; as shown in Figure 1C, a reverse installation diagram of a single control device shown in this application according to an exemplary embodiment is installed with the joystick 120 on the left side of the single control device 110 facing the stern of the ship. For reverse installation.

The power unit may include a propulsion engine installed on movable equipment in the water area, such as an outboard motor, an inboard motor, etc. The control of the power unit may include adjusting the power of the power unit (such as power, speed, etc.) and the rotation direction of the propeller of the power unit. , the lifting angle of the power device, etc.

The single control device can be connected to the communication system through wired connection or wireless connection. In the case where a single control device and another single control device are both connected to the communication system, the two single control devices can access the communication system in the same or different ways. For example, the two single control devices can both access the communication system through wireless connection. Communication system, or a single control device uses a wireless connection to connect to the communication system, and another single control device uses a wired connection to connect to the communication system.

When a single control device is connected to the communication system through a wired connection, the communication system can be a bus system. For example, the bus system can be a CAN bus system, an RS485 bus system, etc., and is not limited here.

In order to expand the functions that can be achieved by the control device, a single control device can correspond to multiple functional modes and send different control signals to the power device in different functional modes. When a single control device is used to control the power unit, the single control device is used to execute one functional mode, such as the first functional mode. When a single control device is spliced with another single control device to form a dual control device, and the dual control devices are used to control the power device, the functional mode of each single control device is determined based on its installation direction. The functional modes are different.

In an embodiment of the present application, the control method further includes identifying the installation direction of the single control device, and determining the functional mode of the single control device based on the installation direction of the single control device. If the installation direction of the single control device is the first installation direction, the functional mode of the single control device is the first functional mode; if the installation direction of the single control device is the second installation direction, the functional mode of the single control device is different from the second installation direction. A second functional mode of a functional mode; wherein the first installation direction is opposite to the second installation direction. Wherein, the first installation direction can be set as the forward installation direction, such as the aforementioned direction facing the bow of the ship; the second installation direction can be set as the reverse installation direction, such as the aforementioned direction facing the ship's stern. The corresponding relationship between the installation direction and the functional mode is customized by the user. For example, the installation direction of a single control device is (single control device formal installation). The control device is used to execute the second function mode when the control device is installed backward), or the single control device is used to execute the first function mode when the installation direction is reverse, and the single control device is used to execute the second function mode when the installation direction is forward. This application does not limit this.

When a single control device includes multiple functional modes, different functional modes can correspond to different control signals. Among them, the control signal may include one or more of the following: a control signal for controlling the power on and off of the dual control devices; a control signal for enabling the dual control devices to control the movable equipment in the water area; a control signal for controlling the movable equipment in the water area. Control signals for the heading and/or position of the equipment; control signals for adjusting the power of the power unit; control signals for allowing a single control device to replace another single control device to control movable equipment in water areas. In addition, it can also be other control signals, which can be set by the user. It should be noted that the same control signal may be included in different functional modes. For example, the control signal corresponding to the first functional mode and the control signal corresponding to the second functional mode both include a control signal for replacing the single control device. Another single control device controls the control signal of the movable equipment in the water area, but there is at least one different control signal among the control signals corresponding to the first functional mode and the second functional mode. In an embodiment of the present application, the control signal corresponding to the first functional mode includes a control signal for controlling the power on and off of the dual control devices, a control signal for enabling the dual control devices to control the movable equipment in the water area, and a control signal for controlling the movable equipment in the water area. Control signals for controlling the heading and/or position of movable equipment in water areas; the control signals corresponding to the second functional mode include control signals for adjusting the power of the power device, and for controlling a single control device instead of another single control device Control signals for movable equipment in waters.

The single control device is provided with function buttons, and the function mode of the single control device includes the function mode corresponding to the function button. In different function modes, corresponding control signals can be generated by triggering function buttons.

The joystick on the single control device is used to control the movement direction of the movable equipment in the water area. The functional mode of the single control device includes the functional mode of the joystick. When the single control device is installed in different directions, the joystick is rotated in the same direction. Used to control movable equipment in water areas to move in different directions. In an embodiment of the present application, when the installation direction of the single control device is the first installation direction, the functional mode of the joystick is: the rotation operation of the joystick along the first direction is used to control the advancement of the movable equipment in the water area. The rotation operation of the joystick in two directions is used to control the retreat of the movable equipment in the water area; when the installation direction of the single control device is the second installation direction, the functional mode of the joystick is: the rotation operation of the joystick along the second direction is used to The movable equipment in the water area is controlled to move forward, and the rotation operation of the joystick along the first direction is used to control the movable equipment in the water area to move backward. The first direction for rotating the joystick may be clockwise or counterclockwise, and the second direction is opposite to the first direction.

The joystick can also be used to control the power of the power unit. When the joystick is turned to different angles, the power of the corresponding power unit is different. For example, when the installation direction of the single control device is the first installation direction, the joystick is pushed 30 degrees along the first direction, the power of the power device is adjusted to the first power, and the speed of the movable equipment in the water area is adjusted to the first speed; Push the first direction 60 degrees, the power of the power unit is adjusted to the second power, and the speed of the movable equipment in the water area is adjusted to the second speed; push the joystick 90 degrees in the first direction, the power of the power unit is adjusted to the third power, and the water area The speed of the movable device is adjusted to the third speed, the first power, the second power and the third power show an increasing trend, and the first speed, the second speed and the third speed show an increasing trend.

As shown in Figure 1D, it is a schematic diagram of the rotation direction of the joystick when the single control device is being installed according to an exemplary embodiment of the present application. When the joystick 120 is rotated in the first direction, the movable equipment in the water area advances, and the movable equipment in the water area moves forward in the second direction. The water movable device retreats when turned. As shown in FIG. 1E , it is a schematic diagram of the rotation direction of the joystick when the single control device is reversely installed according to an exemplary embodiment of the present application. When the joystick 120 is rotated in the second direction, the movable equipment in the water area advances along the first direction. When the direction is turned, the water area movable device retreats.

The single control device includes a function display unit for displaying indication information indicating the function mode. It can be understood that the indication information displayed by the function display unit is also different in different functional modes, and the functional mode of a single control device is determined based on the installation direction, and the indication information displayed by the function display unit can also be determined based on the installation direction. In an embodiment of the present application, the control method further includes identifying the installation direction of the single control device, and determining the indication information to be displayed by the functional display unit based on the installation direction of the single control device; wherein different installation directions correspond to different indication information. When the installation direction is the first installation direction, it is determined that the function display unit is used to display the first indication information for indicating the first function mode, and when the installation direction is the second installation direction, it is determined that the function display unit is used to display the first indication information for indicating the first function mode. Second indication information indicating the second functional mode. In addition, since the installation directions of the two single control devices spliced into the dual control device are opposite, in order to facilitate the user's viewing, the first indication information and the second indication information are displayed in opposite directions. It should be noted that the display orientation is relative to the single control device itself. Taking the single control device as a reference, the display orientation of the indication information can be consistent with the installation direction of the single control device. 1F is a schematic diagram of indication information display of a dual control device according to an exemplary embodiment of the present application. The single control device 111 is installed, and the display direction of the first indication information displayed by the function display unit 131 on it is consistent with the display direction of the first indication information. The forward installation direction is the same; the single control device 112 is installed backwards, and the display direction of the second instruction information displayed on the function display unit 132 is consistent with the reverse installation direction, and 120 is a joystick. In order to more clearly demonstrate the opposite display direction between the second indication information and the first indication information, the single control device 112 in FIG. 1G is rotated to the forward direction, and the second indication information displayed on the functional display unit 132 is displayed upside down. , 120 is the joystick.

The area where the function display unit is located and the area where the function buttons are located on the single control device can be spaced apart. For example, the function display unit can be located on either side of the upper, lower, left, or right sides of the function buttons. As shown in Figure 1F, the function display in the single control device 111 Unit 131 is located to the left of function key 140 . Alternatively, the area where the function display unit is located and the area where the function buttons are located at least partially overlap. As shown in FIG. 1H , the area where the function display unit 131 is located in the single control device 111 partially overlaps with the area where the function buttons 140 are located. In different function modes, the relative positions between the area where the function display unit is located and the area where the function keys are located may be the same or different.

The functional display unit can be a display screen such as LED, OLED, LCD, etc., or an indicator light, which is not limited in this application. When the function display unit is an indicator light, in one embodiment of the present application, the relative position of the function display unit and the function button in the first function mode is different from the relative position of the function display unit and the function button in the second function mode. Location. For example, in the first function mode, the function display unit is located on the left side of the function button, and in the second function mode, the function display unit is located on the right side of the function button. This application does not limit this.

In addition, the function display unit can also be used to display one or more of the parameters of the single control device, the parameters of the power device, and the parameters of the movable equipment in the water area, such as displaying the gear position of the joystick of the single control device (forward gear or Reverse gear), display the rotation angle of the joystick of the single control device, the power of the power device, the speed of movable equipment in the water area, etc. When the installation direction of the single control device is different, the display orientation of these parameter-related indication information is also different. In one embodiment of the present application, the display direction of the parameter-related indication information is the same as the installation direction of the single control device.

When two single control devices are spliced into a double control device, there are the following two splicing methods.

method one

Each single control device includes a first connection port and a second connection port. One single control device directly connects to the communication system through the first connection port, and is connected to another single control device through the second connection port to enable the other single control device. The control device is indirectly connected to the communication system, and the communication system includes a bus system. FIG. 1I is a schematic diagram of a single control device spliced into a double control device according to an exemplary embodiment of the present application. The single control device 111 is installed, connected to the bus system through the first wiring port 151, and connected to the bus system through the second connection port 151. The connection port 152 is connected to the reverse-mounted single control device 112, and the first connection port 151 of the single control device 112 is suspended.

In the first mode, the single control device directly connected to the communication system is the main single control device and directly sends the control signal generated by it to the power device; the other single control device indirectly connected to the communication system is the secondary single control device and sends its generated control signal to the power device. The generated control signal is sent to the main unit control device. The main single control device also needs to receive the control signal sent by the other single control device (auxiliary single control device), and forward the control signal sent by the other single control device to the power unit.

In addition, in the first mode, the installation direction of the single control device is identified by determining whether the first connection port of the single control device is connected to the communication system. If the first wiring port is connected to the communication system, the installation direction is the first installation direction; if the first wiring port is not connected to the communication system, the installation direction is the second installation direction.

Method 2

Each single control device is provided with a communication port for accessing the communication system. There can be one or more communication ports. Both single control devices are directly connected to the communication system through the communication ports on them. The communication system includes a bus. system. Figure 1J is a schematic diagram of another single control device spliced into a double control device according to an exemplary embodiment of the present application. The single control device 111 is installed and connected to the bus system through the first wiring port 151. The single control device 112 is installed backwards and is also connected to the bus system through the first wiring port 151. It should be noted that any of the foregoing schematic diagrams are examples and are not intended to limit the present application.

The single control device is equipped with a gravity sensing device. In the second method, the installation direction of the single control device is identified based on the output signal of the gravity sensing device. The gravity sensing device at least includes an inertial measurement unit or a tilt switch, and the tilt switch may include a mercury switch. When the gravity device is an inertial measurement unit, two parameter ranges can be preset. When the output signal is within the first parameter range, the installation direction of the single control device is determined to be the first installation direction. When the output signal is within the second parameter range, the installation direction is determined to be the first installation direction. The installation direction of the single control device is determined to be the second installation direction. In the case where the gravity device is a tilt switch, the installation direction is determined based on the on and off of the tilt switch. If the output signal indicates that the tilt switch is on, the installation direction of the single control device is determined to be the first installation direction. When the output signal indicates that the tilt switch is off, Then the installation direction of the single control device is determined to be the second installation direction; or, in the case where the gravity device is a tilt switch, the installation direction is determined based on the on and off of the tilt switch. If the output signal indicates that the tilt switch is turned on, the installation direction of the single control device is determined. The installation direction is the second installation direction. When the output signal indicates that the tilt switch is turned off, the installation direction of the single control device is determined to be the first installation direction. It can be understood that, depending on the type of gravity sensing device used, the installation position and angle of the control device can be adjusted adaptively. For example, the working principle of the mercury switch is that the mercury switch tilts to make the mercury flow to realize the on and off of the switch. If the mercury switch is used as a gravity sensing device, the installation plane of the single control device needs to be aligned with the horizontal plane (the surface of the movable equipment in the water area). There is a certain inclination angle between the plane where the deck is located).

As shown in Figure 1K, Figure 1K is a flow chart of another control method shown in this application according to an exemplary embodiment, which is used for a single control device. The single control device can access the same communication with the power device of the movable equipment in the water area. system, and is used to control the power device; a single control device can be spliced with another single control device to form a dual control device, and the single control device and the other single control device work in different functional modes; when a single control device and another single control device When all single control devices are connected to the communication system, the control method includes the following steps:

Step 105: Obtain operating instructions for a single control device;

Step 106: Generate a control signal corresponding to both the operation instruction and the functional mode of the single control device;

Step 107: Send the control signal to the power device so that the power device acts based on the control signal.

It can be understood that when only a single control device is used to control the movable equipment in the water area, the control process of the power device by the single control device is consistent with the above-mentioned steps 105 to 107, and the operation instructions for the single control device are obtained and generated. A control signal corresponding to both the operation command and the functional mode of the single control device is sent to the power device to control the action of the power device. The power unit may include a propulsion engine installed on movable equipment in the water area, such as an outboard motor, an inboard motor, etc. The control of the power unit may include adjusting the power of the power unit (such as power, speed), the rotation direction of the propeller of the power unit, The lifting angle of the power unit, etc.

Splicing two single control devices with different functional modes into a dual control device can broaden the functions that the dual control devices can perform. Different functional modes can correspond to different control signals, where the control signal can include one or more of the following: a control signal for controlling the power on and off of the dual control devices; a control signal for enabling the dual control devices to control movable equipment in the water area. Control signals for control; control signals used to control the heading and/or position of movable equipment in water areas; control signals used to adjust the power of power devices; used to make a single control device replace another single control device to control movable equipment in water areas control signal. In addition, it can also be other control signals, which can be set by the user.

It should be noted that the same control signal may be included in different functional modes. For example, the functional modes of two single control devices are the first functional mode and the second functional mode respectively. The control signal corresponding to the first functional mode and the corresponding The control signals in the second functional mode may all include control signals for adjusting the power of the power device, but there is at least one different control signal among the control signals corresponding to the first functional mode and the second functional mode. In an embodiment of the present application, the control signal corresponding to the first functional mode includes a control signal for controlling the power on and off of the dual control devices, a control signal for enabling the dual control devices to control the movable equipment in the water area, and a control signal for controlling the movable equipment in the water area. Control signals for controlling the heading and/or position of movable equipment in water areas; the control signals corresponding to the first functional mode include control signals for adjusting the power of the power device, and for controlling a single control device instead of another single control device Control signals for movable equipment in waters.

In order to remind the user of the function mode type of the single control device, the single control device includes a function display unit for displaying indication information. The control method further includes: determining the indication information to be displayed by the function display unit, and the indication information corresponds to the function mode of the function button. If the function mode of the single control device is the first function mode, the function display unit is used to display the first indication information for indicating the first function mode; if the function mode of the single control device is the second function mode, the function display unit Used to display second indication information indicating a second functional mode, where the first functional mode is different from the second functional mode.

The area where the function display unit is located and the area where the function buttons are located on the single control device can be spaced apart. For example, the function display unit can be located on either side of the upper, lower, left, or right sides of the function buttons, as shown in Figure 1F. The function display unit in the single control device 111 131 is located on the left side of function button 140. Alternatively, the area where the function display unit is located and the area where the function buttons are located at least partially overlap. As shown in FIG. 1H , the area where the function display unit 131 is located in the single control device 111 partially overlaps with the area where the function buttons 140 are located. In different function modes, the relative positions between the area where the function display unit is located and the area where the function keys are located may be the same or different.

The installation directions of two single control devices with different functional modes can be the same or different. In the case where the installation directions of the two are opposite, before generating a control signal corresponding to the operation command and the functional mode of the single control device, the control The method also includes: identifying the installation direction of the single control device, and determining the functional mode of the single control device based on the installation direction of the single control device. The installation direction can include forward installation direction and reverse installation direction. The front and back of the installation direction can be customized by the user. The difference between formal and reverse installation lies in the difference in installation angle. The reverse installation direction rotates a certain angle compared to the forward installation direction. The rotation angle can be between 150 degrees and 210 degrees. For example, the rotation angle can be 150 degrees, 164 degrees, 180 degrees, 198.2 degrees, 210 degrees, etc.

A single control device is usually provided with a joystick. Figure 1B is a schematic diagram of the formal installation of a single control device according to an exemplary embodiment of the present application. The joystick 120 is on the right side of the single control device 110, facing the ship. The direction of the head is installed as a formal installation; as shown in Figure 1C is a reverse installation diagram of a single control device shown in this application according to an exemplary embodiment, with the joystick 120 on the left side of the single control device 110, facing the direction of the stern. Installation is reverse installation.

The joystick on the single control device is used to control the movement direction of the movable equipment in the water area. The functional mode of the single control device includes the functional mode of the joystick. When the single control device is installed in different directions, the joystick is rotated in the same direction. Used to control movable equipment in water areas to move in different directions. In an embodiment of the present application, when the installation direction of the single control device is the first installation direction, the functional mode of the joystick is: the rotation operation of the joystick along the first direction is used to control the advancement of the movable equipment in the water area. The rotation operation of the joystick in two directions is used to control the retreat of the movable equipment in the water area; when the installation direction of the single control device is the second installation direction, the functional mode of the joystick is: the rotation operation of the joystick along the second direction is used to The movable equipment in the water area is controlled to move forward, and the rotation operation of the joystick along the first direction is used to control the movable equipment in the water area to move backward. The first direction for rotating the joystick may be clockwise or counterclockwise, and the second direction is opposite to the first direction. Wherein, the first installation direction can be set as the forward installation direction, such as the aforementioned direction facing the bow of the ship; the second installation direction can be set as the reverse installation direction, such as the aforementioned direction facing the ship's stern.

The joystick can also be used to control the power of the power device. When the joystick is rotated to different angles, the power of the corresponding power device is different. For example, when the installation direction of a single control device is the first installation direction, the joystick moves along the first installation direction. Push the direction 30 degrees, the power of the power unit is adjusted to the first power, and the speed of the movable equipment in the water area is adjusted to the first speed; push the joystick 60 degrees in the first direction, the power of the power unit is adjusted to the second power, and the water area is movable. The speed of the equipment is adjusted to the second speed; the joystick is pushed 90 degrees in the first direction, the power of the power unit is adjusted to the third power, the speed of the movable equipment in the water area is adjusted to the third speed, the first power, the second power and the third speed are adjusted. The magnitudes of the three powers show an increasing trend, and the magnitudes of the first speed, second speed and third speed show an increasing trend.

In the case where the two single control devices are installed in opposite directions, in order to facilitate the user's viewing, the control method also includes determining the display direction of the indication information based on the installation direction of the single control device. The display direction of the indication information is the same as the installation direction, that is, for indication The first indication information for the first functional mode and the second indication information for indicating the second functional mode are displayed in opposite directions. 1F is a schematic diagram of indication information display of a dual control device according to an exemplary embodiment of the present application. The single control device 111 is installed, and the display direction of the first indication information displayed by the function display unit 131 on it is consistent with the display direction of the first indication information. The forward installation direction is the same; the single control device 112 is installed backwards, and the display direction of the second instruction information displayed on the function display unit 132 is consistent with the reverse installation direction, and 120 is a joystick. In order to more clearly demonstrate the opposite display direction between the second indication information and the first indication information, the single control device 112 in FIG. 1G is rotated to the forward direction, and the second indication information displayed on the functional display unit 132 is displayed upside down. , 120 is the joystick.

There are the following two splicing methods for splicing two single control devices into a double control device.

method one

In addition, in the first mode, the installation direction of the single control device is identified by determining whether the first port of the single control device is connected to the communication system. If the first wiring port is connected to the communication system, the installation direction is the first installation direction; if the first wiring port is not connected to the communication system, the installation direction is the second installation direction.

Method 2

Each single control device is provided with a communication port for accessing the communication system. There can be one or more communication ports. Both single control devices are directly connected to the communication system through the communication ports on them. The communication system includes a bus. system. Figure 1J is a schematic diagram of another single control device spliced into a double control device according to an exemplary embodiment of the present application. The single control device 111 is installed and connected to the bus system through the first wiring port 151. The single control device 112 is installed backwards and is also connected to the bus system through the first wiring port 151.

The single control device is equipped with a gravity sensing device. In the second method, the installation direction of the single control device is identified based on the output signal of the gravity sensing device. The gravity sensing device at least includes an inertial measurement unit or a tilt switch, and the tilt switch may include a mercury switch. When the gravity device is an inertial measurement unit, two parameter ranges can be preset. When the output signal is within the first parameter range, the installation direction of the single control device is determined to be the first installation direction. When the output signal is within the second parameter range, the installation direction is determined to be the first installation direction. The installation direction of the single control device is determined to be the second installation direction. In the case where the gravity device is a tilt switch, the installation direction is determined based on the on and off of the tilt switch. If the output signal indicates that the tilt switch is on, the installation direction of the single control device is determined to be the first installation direction. When the output signal indicates that the tilt switch is off, Then the installation direction of the single control device is determined to be the second installation direction; or, in the case where the gravity device is a tilt switch, the installation direction is determined based on the on and off of the tilt switch. If the output signal indicates that the tilt switch is turned on, the installation direction of the single control device is determined. The installation direction is the second installation direction. When the output signal indicates that the tilt switch is turned off, the installation direction of the single control device is determined to be the first installation direction. It can be understood that, depending on the type of gravity sensing device used, the installation position and angle of the control device can be adjusted adaptively. For example, the working principle of the mercury switch is that the mercury switch tilts to cause the mercury to flow to realize the on and off of the switch. If the mercury switch is used as a gravity sensing device, the installation plane of the two single control devices needs to be in line with the horizontal plane (the water area can be moved There is a certain inclination angle between the plane where the equipment deck is located).

Corresponding to the foregoing embodiments of the control method, this application also provides a control device, as shown in Figure 2A. Figure 2A is a block diagram of a control device 200 shown in this application according to an exemplary embodiment, for single Control device, the single control device can be connected to the same communication system as the power device of the movable equipment in the water area; the single control device can be spliced with another single control device to form a double control device, and the installation direction of the single control device is consistent with that of the other single control device The installation direction is opposite; the control device includes: a first acquisition module 210, used to obtain the operating instructions for the single control device when the single control device and another single control device are connected to the communication system; the first The generation module 220 is used to generate a control signal corresponding to the operation instruction; the first sending module 230 is used to send the control signal to the power device, so that the power device acts based on the control signal.

Optionally, in some control device embodiments of the present application, the control device also includes: a first identification module, used to identify the installation direction of a single control device; a first determination module, used to determine a single control device based on the installation direction of a single control device. Control the functional mode of the device; where different functional modes correspond to different control signals.

Optionally, in some control device embodiments of the present application, if the installation direction of the single control device is the first installation direction, the functional mode of the single control device is determined to be the first functional mode; if the installation direction of the single control device is the second installation direction, the functional mode of the single control device is determined to be the first functional mode. The installation direction determines that the functional mode of the single control device is a second functional mode different from the first functional mode.

Optionally, in some control device embodiments of this application, the single control device includes function keys, and the function mode includes the function mode of the function key.

Optionally, in some control device embodiments of the present application, the control signal corresponding to the function mode of the function button includes at least one of the following: a control signal for controlling the power on and off of the dual control device; a control signal for enabling the dual control device. Control signals for controlling movable equipment in water areas; control signals used to control the heading and/or position of movable equipment in water areas; control signals used to adjust the power of power devices; used to replace a single control device with another control device The device controls control signals of movable equipment in water areas.

Optionally, in some control device embodiments of this application, the single control device includes a joystick. The joystick is used to control the movement direction of the movable equipment in the water area. The functional mode includes the functional mode of the joystick; when the installation direction of the single control device At different times, the rotation operation of the joystick in the same direction is used to control the movable equipment in the water area to move toward different moving directions.

Optionally, in some control device embodiments of the present application, when the installation direction of the single control device is the first installation direction, the functional mode of the joystick is: rotating the joystick along the first direction is used to control the water area. The mobile device moves forward, and the rotation operation of the joystick along the second direction is used to control the retreat of the movable device in the water area; when the installation direction of the single control device is the second installation direction, the functional mode of the joystick is: control the joystick along the second direction. The rotation operation of the lever is used to control the movable equipment in the water area to move forward, and the rotation operation of the joystick along the first direction is used to control the movable equipment in the water area to move backward.

Optionally, in some control device embodiments of this application, the single control device includes a function display unit, and the first identification module of the control device is also used to identify the installation direction of the single control device; the first determination module of the control device is also used to The indication information to be displayed by the function display unit is determined based on the installation direction of the single control device; different installation directions correspond to different indication information.

Optionally, in some control device embodiments of the present application, when the installation direction is the first installation direction, it is determined that the function display unit is used to display the first indication information for indicating the first function mode, and when the installation direction is the third In the second installation direction, it is determined that the function display unit is used to display second indication information for indicating the second functional mode, and the first functional mode is different from the second functional mode.

Optionally, in some control device embodiments of the present application, the display directions of the first indication information and the second indication information are opposite.

Optionally, in some control device embodiments of the present application, the display direction of the indication information is the same as the corresponding installation direction.

Optionally, in some control device embodiments of the present application, the single control device also includes a function button, and the area where the function display unit is located is separated from the area where the function button is located; or, the area where the function display unit is located is separated from the area where the function button is located. areas at least partially overlap.

Optionally, in some control device embodiments of the present application, the single control device also includes a function button. The relative position of the function display unit and the function button in the first functional mode is different from that of the function display unit and the function button in the second functional mode. The relative position of the keys.

Optionally, in some control device embodiments of this application, the single control device includes a first connection port and a second connection port. The single control device is directly connected to the communication system through the first connection port, and communicates with another connection port through the second connection port. A single control device is connected to allow another single control device to indirectly access the communication system, and the communication system includes a bus system.

Optionally, in some control device embodiments of the present application, a single control device is directly connected to the communication system through a first connection port, and is connected to another single control device through a second connection port so that the other single control device is indirectly connected. When the communication system is connected, if the first wiring port is connected to the communication system, the installation direction is the first installation direction; if the first wiring port is not connected to the communication system, the installation direction is the second installation direction.

Optionally, in some control device embodiments of the present application, a single control device is directly connected to the communication system through a first connection port, and is connected to another single control device through a second connection port so that the other single control device is indirectly connected. When accessing the communication system, the control device also includes: a first receiving module for receiving a control signal sent by another single control device; a first forwarding module for forwarding a control signal sent by another single control device to powerplant.

Optionally, in some control device embodiments of this application, both the single control device and the other single control device are directly connected to the communication system, and the communication system includes a bus system.

Optionally, in some control device embodiments of this application, when both a single control device and another single control device are directly connected to the communication system, the single control device is configured with a gravity sensing device to identify the installation of the single control device. Direction, including: identifying the installation direction of the single control device based on the output signal of the gravity sensing device.

Optionally, in some control device embodiments of this application, the gravity sensing device at least includes: an inertial measurement unit or a tilt switch.

Optionally, in some control device embodiments of this application, a single control device accesses the communication system through a wired connection or a wireless connection.

As shown in Figure 2B, Figure 2B is a block diagram of another control device 201 shown in this application according to an exemplary embodiment. It is used for a single control device. The single control device can access the same communication with the power device of the movable equipment in the water area. The system is used to control the power device; a single control device can be spliced with another single control device to form a dual control device, and the single control device and the other single control device work in different functional modes; the control device includes: a second acquisition The module 240 is used to obtain the operation instructions for the single control device when the single control device and another single control device are connected to the communication system; the second generation module 250 is used to generate the operation instructions and the operation instructions with the single control device. Control signals corresponding to each functional mode; the second sending module 260 is used to send the control signal to the power device, so that the power device acts based on the control signal.

Optionally, in some control device embodiments of this application, the single control device includes a function display unit, and the control device also includes: a second determination module for determining the indication information to be displayed by the function display unit, and the relationship between the indication information and the function button. Function mode correspondence.

Optionally, in some control device embodiments of the present application, if the functional mode of the single control device is the first functional mode, the function display unit is used to display the first indication information indicating the first functional mode; if the single control device The function mode is the second function mode, and the function display unit is used to display second indication information indicating the second function mode.

Optionally, in some control embodiments of the present application, the area where the function display unit is located is spaced apart from the area where the function keys are located; or, the area where the function display unit is located and the area where the function keys are located at least partially overlap.

Optionally, in some control device embodiments of the present application, the relative position of the function display unit and the function button in the first functional mode is different from the relative position of the function display unit and the function button in the second functional mode.

Optionally, in some control device embodiments of this application, the installation direction of a single control device is opposite to that of another single control device. The control device further includes: a second identification module for generating and operating instructions in the second generation module. Before receiving control signals corresponding to the functional modes of the single control device, the installation direction of the single control device is identified; the second determination module of the control device is also used to determine the functional mode of the single control device based on the installation direction of the single control device.

Optionally, in some control device embodiments of the present application, when the installation direction of a single control device is opposite to that of another single control device, the single control device includes a joystick, and the joystick is used to control the movement of movable equipment in the water area. Direction, the functional mode includes the functional mode of the joystick; when the installation directions of the single control devices are different, the rotation operation of the joystick in the same direction is used to control the movable equipment in the water area to move in different moving directions.

Optionally, in some control device embodiments of the present application, the single control device includes a function display unit. The function display unit is used to display indication information corresponding to the function mode. When the single control device is installed in the opposite direction to the other single control device, In the case of the control device, the second determination module of the control device is also used to determine the display orientation of the indication information based on the installation direction of the single control device, and the display orientation of the indication information is the same as the installation direction.

Optionally, in some control device embodiments of the present application, when the installation direction of a single control device and another single control device are opposite, the single control device includes a first wiring port and a second wiring port, and the single control device passes The first connection port is directly connected to the communication system, and is connected to another single control device through the second connection port so that the other single control device is indirectly connected to the communication system. The communication system includes a bus system.

Optionally, in some control device embodiments of the present application, a single control device is directly connected to the communication system through a first connection port, and is connected to another single control device through a second connection port so that the other single control device is indirectly connected. When accessing the communication system, the control device also includes: a second receiving module for receiving a control signal sent by another single control device; a second forwarding module for forwarding a control signal sent by another single control device to powerplant.

Optionally, in some control device embodiments of this application, when the installation directions of a single control device and another single control device are opposite, both the single control device and the other single control device are directly connected to the communication system, and the communication system Including bus system.

The specific implementation process of the functions and effects of each module in the above device can be found in the implementation process of the corresponding steps in the above method, and will not be described again here. As for the device embodiment, since it basically corresponds to the method embodiment, please refer to the partial description of the method embodiment for relevant details. The device embodiments described above are only illustrative. The modules described as separate components may or may not be physically separated. The components shown as modules may or may not be physical modules, that is, they may be located in one place. , or it can be distributed to multiple network modules. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this application. Persons of ordinary skill in the art can understand and implement the method without any creative effort.

The embodiments of the control device in this application document can be installed on electronic equipment. The device embodiments may be implemented by software, or may be implemented by hardware or a combination of software and hardware. Taking software implementation as an example, as a logical device, it is formed by the processor reading the corresponding computer program instructions in the non-volatile memory into the memory and running them. From the hardware level, as shown in Figure 3, it is a hardware structure diagram of the electronic device 300 where the control device 331 is located in the embodiment of the present application. In addition to the processor 310, memory 330, network interface 320 and In addition to the non-volatile memory 340, the electronic equipment where the control device 331 is located in the embodiment may also include other hardware based on the actual functions of the electronic equipment, which will not be described again.

Correspondingly, this application also provides a single control device, which can be connected to the same communication system as the power device of the movable equipment in the water area; the single control device can be spliced with another single control device to form a dual control device, And the installation direction of the single control device is opposite to the installation direction of the other single control device; the single control device includes a control unit, the control unit is used to execute the installation direction of the aforementioned single control device opposite to the installation direction of the other single control device. In this case, the control method described in any method embodiment.

Optionally, in some single control device embodiments of this application, the single control device also includes a base and a joystick that can rotate relative to the base. The single control device is provided with a first wiring port and a second wiring port. The first wiring port The second wiring port is mirror symmetrical with respect to the mirror surface, the mirror surface is perpendicular to the bottom surface of the base, and the rotation axis of the joystick is located on the mirror surface.

Optionally, in some single control device embodiments of this application, the single control device also includes a base, and a splicing portion is provided on the base, and the splicing portion can be spliced with the splicing portion of another single control device.

Optionally, in some single control device embodiments of the present application, the splicing part is provided with a limiting slot, and the limiting slot is used to detachably adapt to a part of the splicing bracket, and the other part of the splicing bracket is connected to the limit of another single control device. The slot is removable for adaptation.

Optionally, in some single control device embodiments of the present application, the base, wiring port, joystick, and splicing part are all mirror symmetrical with respect to the mirror surface. In this setting, after two single control devices are spliced to form a dual control device, there will be no problem of asymmetry between the two components of the dual control device, which will avoid affecting the user's operation and perception, and the user's operating experience and perception. better.

This application also provides another single control device. The single control device can be connected to the same communication system as the power device of the movable equipment in the water area; the single control device can be spliced with another single control device to form a dual control device, and the single control device and another single control device working in different functional modes; the single control device includes a control unit, and the control unit is used to execute any method when the aforementioned single control device and another single control device work in different functional modes. The control method described in the embodiment.

4A is a schematic diagram of a single control device 401 according to an exemplary embodiment of the present application. The base 420 of the single control device is provided with a first connection port 411 and a second connection port 412, and the first connection port 411 and the second wiring port 412 use the bottom surface perpendicular to the base 420 as a mirror surface, are mirror symmetrical about the mirror surface, and the rotation axis of the joystick 430 that rotates relative to the base 420 is located on the mirror surface. A limiting slot 440 is also provided on the base for splicing with the splicing plate in the splicing part of another single control device.

In addition, this application also proposes a dual control device, including any one of the aforementioned single control devices, and the number of single control devices includes two.

Optionally, in some dual control device embodiments of this application, the dual control device also includes a splicing bracket, and the splicing parts of the two single control devices are spliced through the splicing bracket.

Figure 4B is a schematic diagram of a dual control device 402 according to an exemplary embodiment of the present application. Both single control devices 401 have the structure shown in Figure 4A. The splicing bracket 450 can be accommodated in two single control devices. In the large limiting groove formed by the combination of the limiting grooves of the splicing parts of the control device, the screws pass through the splicing bracket 450 and then penetrate into the bottom surface of the single control device to realize the splicing and fixation of the two single control devices.

Optionally, in the spliced dual control device, there is a gap between the two joysticks to prevent one joystick from interfering with the other joystick.

This application also proposes a control system. Figure 5A is a schematic diagram of a control system 501 shown in this application according to an exemplary embodiment. The control system 501 includes: a power device 510 and any of the aforementioned embodiments. A single control device 520 communicates with the power device 510 .

FIG. 5B is a schematic diagram of a control system 502 according to an exemplary embodiment of the present application. The control system 502 includes: a power device 510 and the dual control devices 530 described in any of the previous embodiments. The dual control devices 530 Communicates with power plant 510.

This application also proposes a movable equipment in water areas. Figure 6A is a schematic diagram of a movable equipment 601 in water areas shown in this application according to an exemplary embodiment. The movable equipment 601 in water areas includes: a movable body 6011 and the aforementioned The single control device 610 described in any one of the above is installed on the movable body 6011.

This application also proposes a movable equipment in water areas. Figure 6B is a schematic diagram of another movable equipment 602 in water areas according to an exemplary embodiment of this application. The movable equipment 602 in water areas includes: a movable body 6021 and The dual control device 620 described in any of the preceding items is installed on the movable body 6021.

This application also proposes another water area movable device. Figure 6C is a schematic diagram of another water area movable device 603 according to an exemplary embodiment of the application. The water area movable device 603 includes: a movable body 6031 , the power device 630 and the single control device 610 described in any of the above, the single control device 610 is installed on the movable body 6031, and the single control device 610 communicates with the power device 630.

This application also proposes another water area movable device. Figure 6D is a schematic diagram of a water area movable device 604 according to another exemplary embodiment of the application. The water area movable device 604 includes: a movable body 6041 , the power device 630 and the dual control device 620 described in any one of the above, the dual control device 620 is installed on the movable body 6041, and the dual control device 620 communicates with the power device 630.

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.

Correspondingly, this application also provides a computer-readable storage medium that stores a computer program. The computer program is used to instruct related hardware to complete the control described in any of the foregoing method embodiments. method.

The above has described specific embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desired results. Additionally, the processes depicted in the figures do not necessarily require the specific order shown, or sequential order, to achieve desirable results. Multitasking and parallel processing are also possible or may be advantageous in certain implementations.

Other embodiments of the present application will be readily apparent to those skilled in the art from consideration of the specification and practice of the invention claimed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary technical means in the technical field that are not applied in this application. . It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

It is to be understood that the present application is not limited to the precise structures described above and illustrated in the accompanying drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims. The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the present application. within the scope of protection.

Claims

A control method for a single control device, characterized in that the single control device can be connected to the same communication system as the power device of the movable equipment in the water area; the single control device can be spliced with another single control device to form a double control device. Control device, and the installation direction of the single control device is opposite to the installation direction of the other single control device; the control method includes:

When the single control device and the other single control device are connected to the communication system, obtain the operation instruction for the single control device;

Generate control signals corresponding to the operation instructions;

The control signal is sent to the power device, so that the power device operates based on the control signal.
The control method according to claim 1, characterized in that the control method further includes:

Identify the installation direction of the single control device;

The functional mode of the single control device is determined based on the installation direction of the single control device; wherein different functional modes correspond to different control signals.
The control method according to claim 2, wherein determining the functional mode of the single control device based on the installation direction of the single control device includes:

If the installation direction of the single control device is the first installation direction, determine the functional mode of the single control device to be the first functional mode;

If the installation direction of the single control device is the second installation direction, it is determined that the functional mode of the single control device is a second functional mode different from the first functional mode.
The control method according to claim 2, wherein the single control device includes a function button, and the function mode includes a function mode of the function button.
The control method according to claim 4, characterized in that the control signal corresponding to the function mode of the function key includes at least one of the following:

A control signal used to control the power on and off of the dual control device;

A control signal used to enable the dual control device to control the movable equipment in the water area;

Control signals used to control the heading and/or position of movable equipment in the water area;

a control signal for adjusting the power of the power plant;

A control signal for causing the single control device to control the movable equipment in the water area instead of the other single control device.
The control method according to claim 2, characterized in that the single control device includes a joystick, the joystick is used to control the moving direction of the movable equipment in the water area, and the functional mode includes a functional mode;

When the installation directions of the single control devices are different, the rotation operation of the joystick in the same direction is used to control the movable equipment in the water area to move in different moving directions.
The control method according to claim 6, characterized in that when the installation direction of the single control device is the first installation direction, the functional mode of the joystick is: rotating the joystick along the first direction. The operation is used to control the movable equipment in the water area to move forward, and the rotation operation of the joystick in the second direction is used to control the movable equipment in the water area to retreat;

When the installation direction of the single control device is the second installation direction, the functional mode of the joystick is: the rotation operation of the joystick along the second direction is used to control the advancement of the movable equipment in the water area, The rotation operation of the joystick along the first direction is used to control the retreat of the movable equipment in the water area.
The control method according to claim 1, characterized in that the single control device includes a function display unit, and the control method further includes:

Identify the installation direction of the single control device;

The indication information to be displayed by the function display unit is determined based on the installation direction of the single control device; wherein, different installation directions correspond to different indication information.
The control method according to claim 8, characterized in that when the installation direction is the first installation direction, it is determined that the function display unit is used to display the first indication information for indicating the first function mode, and in When the installation direction is the second installation direction, it is determined that the function display unit is used to display second indication information for indicating a second functional mode, and the first functional mode is different from the second functional mode.
The control method according to claim 9, wherein the first indication information and the second indication information are displayed in opposite directions.
The control method according to any one of claims 8 to 10, characterized in that the display direction of the indication information is the same as the corresponding installation direction.
The control method according to any one of claims 8-10, wherein the single control device further includes a function button, and the area where the function display unit is located is spaced apart from the area where the function button is located;

Or, the area where the function display unit is located and the area where the function button is located at least partially overlap.
The control method according to claim 9 or 10, characterized in that the single control device further includes a function button, and the relative position of the function display unit and the function button in the first functional mode is different from that in the first functional mode. The relative position of the function display unit and the function button in the second function mode.
A control method for a single control device, characterized in that the single control device can access the same communication system as the power device of the movable equipment in the water area, and is used to control the power device; the single control device can Spliced with another single control device to form a dual control device, and the single control device and the other single control device work in different functional modes; the control method includes:

When the single control device and the other single control device are connected to the communication system, obtain the operation instruction for the single control device;

Generate a control signal corresponding to both the operation instruction and the functional mode of the single control device;

The control signal is sent to the power device, so that the power device operates based on the control signal.
The control method according to claim 14, wherein the single control device includes a function button, and the function mode includes a function mode of the function button.
The control method according to claim 15, characterized in that the control signal corresponding to the function mode of the function button includes at least one of the following:

A control signal used to control the power on and off of the dual control device,

a control signal used to enable the dual control device to control the movable equipment in the water area,

Control signals used to control the heading and/or position of movable equipment in the water area;

a control signal for adjusting the power of the power plant;

A control signal for causing the single control device to control the movable equipment in the water area instead of the other single control device.
The control method according to claim 15, characterized in that the single control device includes a function display unit, and the control method further includes:

Determine the indication information to be displayed by the function display unit, and the indication information corresponds to the function mode of the function key.
The control method according to claim 17, characterized in that if the functional mode of the single control device is a first functional mode, the function display unit is used to display a first indication indicating the first functional mode. information;

If the function mode of the single control device is the second function mode, the function display unit is used to display second indication information for indicating the second function mode. The first function mode and the second function The pattern is different.
The control method according to claim 17 or 18, characterized in that the area where the function display unit is located is spaced apart from the area where the function button is located;

Or, the area where the function display unit is located and the area where the function button is located at least partially overlap.
The control method according to claim 18, characterized in that the relative position of the function display unit and the function button in the first function mode is different from that of the function display unit in the second function mode. relative position to the function keys.
The control method according to claim 14, characterized in that the installation directions of the single control device and the other single control device are opposite, and the control method generates the operation instructions and communicates with the single control device. The function modes all correspond to the control signals, including:

Identify the installation direction of the single control device;

The functional mode of the single control device is determined based on the installation direction of the single control device.
The control method according to claim 21, characterized in that the single control device includes a joystick for controlling the movement direction of the movable equipment in the water area, and the functional mode includes the functional mode of the joystick;

When the installation directions of the single control devices are different, the rotation operation of the joystick in the same direction is used to control the movable equipment in the water area to move in different moving directions.
The control method according to claim 22, characterized in that when the installation direction of the single control device is the first installation direction, the functional mode of the joystick is: rotating the joystick along the first direction. The operation is used to control the movable equipment in the water area to move forward, and the rotation operation of the joystick in the second direction is used to control the movable equipment in the water area to retreat;

When the installation direction of the single control device is the second installation direction, the functional mode of the joystick is: the rotation operation of the joystick along the second direction is used to control the movable equipment in the water area. To move forward, the rotation operation of the joystick along the first direction is used to control the movable equipment in the water area to move backward.
The control method according to claim 21, characterized in that the single control device includes a function display unit, the function display unit is used to display indication information corresponding to the function mode, the control method further includes:

The display orientation of the indication information is determined based on the installation direction of the single control device, and the display orientation of the indication information is the same as the installation direction.
The control method according to any one of claims 2, 8, and 21, characterized in that the single control device includes a first connection port and a second connection port, and the single control device directly passes through the first connection port. Access the communication system, and connect with the other single control device through the second wiring port so that the other single control device indirectly accesses the communication system, and the communication system includes a bus system.
The control method according to claim 25, characterized in that identifying the installation direction of the single control device includes:

If the first wiring port is connected to the communication system, the installation direction is the first installation direction;

If the first connection port is not connected to the communication system, the installation direction is the second installation direction.
The control method according to claim 25, characterized in that the control method further includes:

Receive a control signal sent by the other single control device;

The control signal sent by the other single control device is forwarded to the power device.
The control method according to any one of claims 2, 8, and 21, characterized in that both the single control device and the other single control device are directly connected to the communication system, and the communication system includes a bus system. .
The control method according to claim 28, characterized in that the single control device is equipped with a gravity sensing device, and the identifying the installation direction of the single control device includes:

The installation direction of the single control device is identified based on the output signal of the gravity sensing device.
The control method according to claim 29, characterized in that the gravity sensing device at least includes: an inertial measurement unit or a tilt switch.
The control method according to claim 1 or 14, characterized in that the single control device accesses the communication system through a wired connection or a wireless connection.
A control device for a single control device, characterized in that the single control device can be connected to the same communication system as the power device of the movable equipment in the water area; the single control device can be spliced with another single control device to form a double control device. Control device, and the installation direction of the single control device is opposite to the installation direction of the other single control device; the control device includes:

An acquisition module, configured to obtain an operation instruction for the single control device when the single control device and the other single control device are connected to the communication system;

A generation module used to generate control signals corresponding to the operation instructions;

A sending module, configured to send the control signal to the power device, so that the power device acts based on the control signal.
A control device for a single control device, characterized in that the single control device can access the same communication system as the power device of the movable equipment in the water area, and is used to control the power device; the single control device can It is spliced with another single control device to form a dual control device, and the single control device and the other single control device work in different functional modes; the control device includes:

An acquisition module, configured to obtain an operation instruction for the single control device when the single control device and the other single control device are connected to the communication system;

A generation module, configured to generate a control signal corresponding to the operation instruction and the functional mode of the single control device;

A sending module, configured to send the control signal to the power device, so that the power device acts based on the control signal.
A single control device, characterized in that the single control device can be connected to the same communication system as the power device of the movable equipment in the water area; the single control device can be spliced with another single control device to form a dual control device, and the The installation direction of the single control device is opposite to the installation direction of the other single control device; the single control device includes a control unit, and the control unit is used to execute any one of claims 1-13 and 25-31. the control method described above.
A single control device, characterized in that the single control device can be connected to the same communication system as the power device of the movable equipment in the water area; the single control device can be spliced with another single control device to form a dual control device, and the The single control device and the other single control device work in different functional modes; the single control device includes a control unit, and the control unit is used to execute any one of claims 14 to 31. Control Method.
The single control device according to claim 34 or 35, characterized in that the single control device further includes a base and a joystick that can rotate relative to the base, and the single control device is provided with a first wiring port and a third Two wiring ports, the first wiring port and the second wiring port are mirror symmetrical about a mirror surface, the mirror surface is perpendicular to the bottom surface of the base, and the rotation axis of the joystick is located on the mirror surface .
The single control device according to claim 34 or 35, characterized in that the single control device further includes a base, a splicing portion is provided on the base, and the splicing portion can be spliced with the other single control device. Partial splicing.
The single control device according to claim 37, characterized in that the splicing part is provided with a limiting slot, the limiting slot is used to detachably adapt to a part of the splicing bracket, and the other part of the splicing bracket is connected to the splicing bracket. The limiting groove of the other single control device can be detachably adapted.
A dual control device, characterized in that it includes the single control device according to any one of claims 34 to 38, and the number of the single control devices includes two.
The dual control device according to claim 39, characterized in that the dual control device further includes a splicing bracket, and the splicing parts of the two single control devices are spliced through the splicing bracket.
A control system, characterized in that the control system includes:

A power plant and a single control device according to any one of claims 34 to 38, the single control device communicating with the power plant; or

Power device and the dual control device according to claim 39 or 40, the dual control device communicates with the power device.
A kind of water area movable equipment, characterized in that, the water area movable equipment includes:

A movable body and a single control device according to any one of claims 34 to 38, the single control device being installed on the movable body; or

The movable body and the dual control device according to claim 39 or 40 are installed on the movable body.
A kind of water area movable equipment, characterized in that, the water area movable equipment includes:

A movable body, a power device and a single control device according to any one of claims 34 to 38, the single control device is installed on the movable body, and the single control device communicates with the power device; or

The movable body, the power device and the dual control device according to claim 39 or 40, the dual control device is installed on the movable body, and the dual control device communicates with the power device.
A computer-readable storage medium stores a computer program, and the computer program is used to instruct related hardware to complete the control method described in any one of claims 1 to 31.