WO2024082305A1

WO2024082305A1 - Water area movable device and propeller and control method therefor, and storage medium

Info

Publication number: WO2024082305A1
Application number: PCT/CN2022/126833
Authority: WO
Inventors: 王海洋; 陶师正; 屈晓峰; 万小康; 谭浩
Original assignee: 广东逸动科技有限公司
Priority date: 2022-10-21
Filing date: 2022-10-21
Publication date: 2024-04-25
Also published as: CN117355460A

Abstract

A water area movable device (100) and a propeller (300) and control method therefor, and a storage medium, relating to the field of water area movable devices. The propeller (300) for the water area movable device (100) comprises an output shaft (11), a propeller (12), a transmission assembly (13), and a plurality of motors (14). The output shaft (11) has a first axis (15). The propeller (12) is mounted on the output shaft (11) and can rotate around the first axis (15). The motors (14) are respectively transmittingly connected to the output shaft (11) by means of the transmission assembly (13); the plurality of motors (14) are respectively staggered relative to the first axis (15) within a first surface (16), wherein the first surface (16) is a surface perpendicular to the first axis (15). The water area movable device (100) has a small upstream surface, high driving efficiency, and high use safety.

Description

Mobile device for water area, propeller and control method thereof, and storage medium

Technical Field

The present application relates to the field of mobile equipment in water areas, and in particular, to mobile equipment in water areas, its propeller and control method, and storage medium.

Background technique

The propeller of a mobile device in water area is used to propel the mobile device in water area to move. In the known technology, in order to obtain a larger driving force, a power machine with a larger power is often selected. A power machine with a larger driving force often has a larger volume, and its water-facing surface has a larger shielding to the propeller of the propeller, resulting in lower driving efficiency and waste of thrust energy.

Summary of the invention

The present application provides a mobile device for water areas with high driving efficiency, a propeller and a control method thereof, and a computer-readable storage medium.

The present application provides a propeller for a movable device in waters, comprising:

An output shaft having a first axis;

a propeller, mounted on the output shaft and capable of rotating around the first axis;

Transmission components;

A plurality of motors are respectively connected to the output shaft through the transmission assembly; the plurality of motors are respectively staggered relative to the first axis in a first plane, wherein the first plane is a plane perpendicular to the first axis.

The present application adopts a method in which multiple motors drive propellers through transmission components respectively. When necessary, multiple motors can be turned on at the same time to obtain superimposed driving force, so that the maximum driving force of the propeller for the movable device in water area is large enough, and when the movable device in water area is in a low-speed operation state, only some motors can be turned off. In addition, the use of multiple motors to replace a single high-power motor can also reduce the total volume of the motor. For example, when the motor is a motor, under the condition that the maximum power that can be provided is the same, the volume or water-facing cross-section of a single motor is larger than the total water-facing cross-section when multiple smaller motors are used. And the method of using multiple smaller motors is conducive to the arrangement of motors and the full use of structural space, which is conducive to reducing the total volume or water-facing cross-section of the propeller for the movable device in water area. In addition, the method of using multiple motors is implemented, so that even if some motors fail, other motors can provide a certain propulsion force, which improves the safety of the movable device in water area.

The present application also provides a mobile device for use in water areas, which includes:

A movable body; and

a propulsion device, the propulsion device being mounted on the movable body;

Wherein, the propulsion device includes the aforementioned propeller for movable equipment in water areas.

The present application also provides a method for controlling a mobile device in water area, which is based on the aforementioned propeller for a mobile device in water area, and the method for controlling a mobile device in water area includes:

The total power and rotation speed output to the output shaft are controlled by controlling the output power of each motor and/or the transmission efficiency of the transmission assembly.

The present application also provides a computer-readable storage medium, wherein the computer-readable storage medium includes a stored program, and the program executes the aforementioned method for controlling a movable device in water area.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

FIG1 is a schematic diagram of the structure of a mobile device for use in water areas according to an embodiment of the present application;

FIG2 is a schematic structural diagram of an implementation of a propeller for a mobile device in water areas according to an embodiment of the present application;

FIG3 is a schematic structural diagram of another embodiment of a propeller for a movable device in water areas according to an embodiment of the present application;

FIG4 is a schematic structural diagram of another embodiment of a propeller for a movable device in water areas according to an embodiment of the present application;

FIG5 is a schematic structural diagram of another embodiment of a propeller for a movable device in water areas according to an embodiment of the present application;

FIG6 is a schematic structural diagram of another implementation of a propeller for a movable device in water areas according to an embodiment of the present application.

Description of main component symbols:

Water movable equipment 100

Movable body 110

Rack 111

Propulsion 120

Thruster 300

Output shaft 11

Propeller 12

Transmission components 13

Motor 14

First Axis 15

Side 16

Input shaft 17

Second Axis 18

First Motor 19

Second motor 20

First gear 21

Second gear 22

Mounting frame 23

First bearing 241

Second bearing member 242

Tapered roller bearings 25

Angular contact ball bearings 26

Thrust spherical bearings 27

Storage space 28

Cover 29

Shell 30

First through hole 31

First groove 32

Second through hole 33

Second groove 34

First sealing ring 35

Second sealing ring 36

Belt drive mechanism 37

Driving pulley 38

Driven pulley 39

Transmission belt 40

Driving sprocket 41

Driven sprocket 42

Drive chain 43

Static seal ring 44

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may also be a centered element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may also be a centered element. When an element is considered to be "set on" another element, it may be directly set on the other element or there may also be a centered element. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present application. The terms used herein in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. The term "or/and" used herein includes any and all combinations of one or more related listed items.

Some embodiments of the present application are described in detail. In the absence of conflict, the following embodiments and features of the embodiments can be combined with each other.

The present embodiment provides a propeller for a movable device in waters, comprising an output shaft, a propeller, a transmission assembly, and a plurality of motors. The output shaft has a first axis. The propeller is mounted on the output shaft and can rotate around the first axis. The motors are respectively connected to the output shaft through the transmission assembly; the plurality of motors are respectively staggered relative to the first axis in a first plane, wherein the first plane is a plane perpendicular to the first axis.

This embodiment adopts a method in which multiple motors drive propellers through transmission components respectively. When necessary, multiple motors can be turned on at the same time to obtain superimposed driving force, so that the maximum driving force of the propeller used for the movable device in water area is large enough. When the movable device in water area is in a low-speed operation state, only some motors can be turned off. In addition, the use of multiple motors to replace a single high-power motor can also reduce the total volume of the motor. Under the condition that the maximum power that can be provided is the same, the volume or water-facing cross-section of a single motor is larger than the total water-facing cross-section when multiple smaller motors are used. And the method of using multiple smaller motors is conducive to the arrangement of motors and the full use of structural space, which is conducive to reducing the total volume or water-facing cross-section of the propeller used for the movable device in water area. In addition, the method of using multiple motors is implemented, so that even if some motors fail, other motors can provide a certain propulsion force, which improves the safety of the movable device in water area.

The following is an explanation with reference to Figures 1 to 6.

Referring to FIG. 1 , this embodiment provides a movable device 100 in waters, including a movable body 110 and a propulsion device 120, wherein the propulsion device 120 is installed on the movable body 110 and is used to drive the movable body 110 to move in waters. The propulsion device 120 can be an outboard motor or an inboard motor. In this embodiment, the propulsion device 120 includes a propeller 300. Optionally, the movable body 110 includes a frame 111 for installing the propeller 300.

FIG. 2 shows an implementation of a propeller 300 in an embodiment of the present application.

Referring to FIG. 2 , the propeller 300 includes an output shaft 11, a propeller 12, a transmission assembly 13, and a plurality of motors 14. The motor 14 is mounted on a frame 111 (see FIG. 1 ). The output shaft 11 has a first axis 15. The propeller 12 is fixed to the output shaft 11 and can rotate around the first axis 15. The motors 14 are respectively connected to the output shaft 11 through the transmission assembly 13. The plurality of motors 14 are staggered relative to the first axis 15 in the first surface 16, wherein the first surface 16 is a surface perpendicular to the first axis 15. The staggered arrangement in this embodiment refers to the mutual offset of the motor 14 and the first axis 15 in the first surface 16 to reduce the overlapping area of the projections of the two in the first surface 16, thereby reducing the blocking effect of the motor 14 on the propeller 12. For example, the motor 14 can be offset in the first surface 16 to be completely offset from the propeller 12 without a directly facing portion, or the motor 14 can be only offset to reduce the directly facing area of the two, which is not limited here.

Through the above structure, a plurality of motors 14 are used to drive the propeller 12 through the transmission assembly 13, that is, a plurality of motors 14 are connected to the propeller 12 in parallel, and a plurality of motors 14 can be turned on at the same time when needed to obtain a superimposed driving force, so that the maximum driving force of the propeller 300 is large enough, and when the movable device 100 in the water area is in a low-speed operation state, only part of the motors 14 can be turned off. In addition, the use of a plurality of motors 14 to replace a single high-power motor 14 can also reduce the total volume of the motor 14. Under the same maximum power that can be provided, the volume or water-facing surface of a single motor 14 is greater than the total water-facing surface when a plurality of smaller motors 14 are used. And the use of a plurality of smaller motors 14 is conducive to the arrangement of the motors 14 and the full use of the structural space, which is conducive to reducing the total volume or water-facing surface of the propeller 300 used for the movable device 100 in the water area. In addition, the use of a plurality of motors 14 makes it possible for the other motors 14 to provide a certain propulsion force even if some motors 14 fail, thereby improving the safety of the movable device 100 in the water area.

However, the known technology of increasing the power by increasing the diameter or length of a single motor 14 has the following problems: increasing the radius of the motor 14 easily leads to large water resistance and reduces the driving efficiency; while increasing the length of the motor 14 leads to high manufacturing costs and increased manufacturing difficulty.

The motor 14 can be any type of motor such as a brushed motor, a brushless motor, a permanent magnet motor, a synchronous motor, an asynchronous motor, etc. When powered on, the rotor and the motor shaft of the motor 14 rotate to output torque. The motor shaft serves as an input shaft 17 to input torque to the transmission assembly 13. The input shaft 17 has a second axis 18 and can be driven to rotate around the second axis 18 to output torque. The input shaft 17 is connected to the output shaft 11 through the transmission assembly 13.

In this embodiment, the input shaft 17 is parallel and spaced from the output shaft 11, so that the first axis 15 is parallel to the second axis 18. In other embodiments, the input shaft 17 and the output shaft 11 may also be arranged at a set angle.

In this embodiment, the plurality of input shafts 17 are symmetrically distributed around the first axis 15. For example, as shown in FIG. 2 , there are two motors 14, namely the first motor 19 and the second motor 20. The first motor 19 and the second motor 20 are distributed around the first axis 15 of the central axis of the output shaft 11. In other embodiments, the number of motors 14 can also be other numbers, such as three, four, etc.

In this embodiment, the transmission assembly 13 includes a first gear 21 and a plurality of second gears 22. The first gear 21 is connected to the output shaft 11, and the plurality of second gears 22 are correspondingly connected to the plurality of input shafts 17. The connection between the first gear 21 and the output shaft 11 may be a key connection, an interference fit connection or other connection methods, and it is only necessary to achieve the torsion transmission between the two; the connection between the second gear 22 and the input shaft 17 may also be a key connection, an interference fit connection or other connection methods, and it is only necessary to achieve the torsion transmission between the two. In this way, the rotation output by each input shaft 17 can drive the first gear 21 to rotate through the second gear 22 connected to each of them, and then drive the output shaft 11 and the propeller 12 to rotate. The plurality of second gears 22 are respectively meshed with the first gear 21. For the aforementioned implementation in which the plurality of input shafts 17 are symmetrically distributed with the first axis 15 as the center, the plurality of second gears 22 are symmetrically distributed with the first gear 21 as the center. In this way, each motor 14 can be started at the same time, so as to drive the first gear 21 to rotate through the corresponding second gear 22 and then drive the propeller 12 to rotate, so as to achieve the superposition of output power and obtain a larger total output power; some motors 14 can also be turned off as needed, and only some motors 14 can be used to drive the propeller 12, so as to obtain a smaller total output power.

The distance from the second axis 18 to the first axis 15 shown in the figure of this embodiment is smaller than the radius of the propeller 12 , but is away from the center of the propeller 12 .

In some other implementations of this embodiment, the distance from the second axis 18 to the first axis 15 is greater than the radius of the propeller 12, and less than the sum of the radius of the propeller 12 and the radius of the motor 14. The radius of the propeller 12 is the radius of the circle where the trajectory of the rotating blade tip of the propeller 12 is located when the propeller 12 is not moving forward, and the radius of the motor 14 is the radius of the circle where the outer cylindrical surface of the cylindrical shell of the motor 14 is located. In this way, the shielding surface of the motor 14 on the propeller 12 can be reduced while preventing the overall size of the propeller 300 from being too large.

In some other implementations of this embodiment, the distance from the second axis 18 to the first axis 15 can also be set to be greater than or equal to the sum of the radius of the propeller 12 and the radius of the motor 14. In this way, the motor 14 can completely not block the propeller 12, thereby maximizing the reduction of the water-facing cross-section and ensuring the driving efficiency.

In this embodiment, the propeller 300 also includes a mounting frame 23, and the transmission assembly 13 is mounted on the mounting frame 23. The output shaft 11 is rotatably mounted on the mounting frame 23 through the first bearing member 241, and the first gear 21 is mounted on the output shaft 11 and can rotate with the output shaft 11 through key transmission or the like. Each input shaft 17 is rotatably mounted on the mounting frame 23 through the second bearing member 242, and the second gear 22 is mounted on the corresponding input shaft 17 and can rotate with the input shaft 17 through key transmission or the like. The first bearing member 241 and the second bearing member 242 can both be tapered roller bearings, angular contact ball bearings, or thrust self-aligning bearings. In other embodiments, the first bearing member 241/the second bearing member 242 can also be eliminated or other rotational matching structures can be adopted.

In this embodiment, the mounting frame 23 is provided with a receiving space 28, and the input shaft 17 and the output shaft 11 extend into the receiving space 28 respectively. The first gear 21 is mounted on the portion of the output shaft 11 extending into the receiving space 28, and is accommodated in the receiving space 28. The second gear 22 is mounted on the portion of the input shaft 17 extending into the receiving space 28, and is accommodated in the receiving space 28. Optionally, the mounting frame 23 includes a detachably connected cover 29 and a shell 30, and the cover 29 and the shell 30 together enclose the receiving space 28. Optionally, a static sealing ring 44 is provided at the mating surface of the cover 29 and the shell 30 to improve the contact sealing of the two. One end of the input shaft 17 passes through the shell 30 and is loosely matched with the cover 29, and the output shaft 11 passes through the cover 29 and is loosely matched with the shell 30. In this way, the propeller 12 and the motor 14 are respectively located on both sides of the mounting frame 23.

In this embodiment, optionally, a first through hole 31 is formed on the cover 29, and a first groove 32 corresponding to the first through hole 31 is formed on the housing 30. A first bearing member 241 is installed at the first through hole 31 and the first groove 32, respectively. The output shaft 11 passes through the first through hole 31 and then extends into the first groove 32, and the bearing member 24 is rotatably installed at the first through hole 31 and the first groove 32. During installation, the first bearing member 241 can be installed on the output shaft 11 first, and then the output shaft 11 equipped with the first bearing member 241 is rotatably supported at the first groove 32 and the first through hole 31 of the mounting frame 23. Similarly, a plurality of second through holes 33 are formed on the housing 30, and a second groove 34 corresponding to the second through holes 33 is formed on the cover 29; a second bearing member 242 is installed at the second through hole 33 and the second groove 34, respectively. The input shaft 17 passes through the second through hole 33 and then extends into the second groove 34, and the second bearing member 242 is rotatably installed at the second through hole 33 and the second groove 34. During installation, the second bearing member 242 may be first installed on the input shaft 17 , and then the input shaft 17 with the second bearing member 242 may be rotatably supported at the second groove 34 and the second through hole 33 of the mounting frame 23 .

In this embodiment, the first bearing member 241 for rotatable installation of the output shaft 11 can be the tapered roller bearing 25 shown in Figure 2, or it can also use the angular contact ball bearing 26 shown in Figure 3 or the thrust self-aligning bearing 27 shown in Figure 4 on the premise of ensuring the axial load-bearing capacity of the first bearing member 241, or a combination of the above-mentioned bearings can be used.

Optionally, the propeller 300 in this embodiment further includes a first sealing ring 35 sealed between the mounting frame 23 and the output shaft 11. As shown in the figure, the inner side of the first sealing ring 35 is attached to the outer peripheral surface of the output shaft 11, and the outer side is attached to the end surface near the first through hole 31 of the mounting frame 23 or the end surface of the outer ring installed on the first bearing member 241. The propeller 300 further includes a second sealing ring 36 sealed between the mounting frame 23 and the input shaft 17. The outer ring of the second sealing ring 36 is attached to the inner surface of the second through hole 33, and the inner ring is attached to the peripheral surface of the input shaft 17. The sealing effect of the first sealing ring 35 and the second sealing ring 36 can make the accommodating space 28 a closed space. The accommodating space 28 of the mounting frame 23 can be filled with cooling lubricating liquid to lubricate and cool the first gear 21 and the second gear 22. The first sealing ring 35 and the second sealing ring 36 can prevent the leakage of lubricating oil or prevent external liquid (such as water) from entering the accommodating space 28.

In addition to the aforementioned gear transmission form, the transmission assembly 13 in this embodiment can also adopt a belt transmission mechanism 37 (as shown in FIG. 5 ), a chain transmission mechanism (as shown in FIG. 6 ) or other known structures that can be used for transmission.

5 , the belt drive mechanism 37 may be configured to include a driving pulley 38 , a driven pulley 39 and a transmission belt 40 , wherein the transmission belt 40 is connected between the driving pulley 38 and the driven pulley 39 ; the driving pulley 38 is mounted on the input shaft 17 , and the driven pulley 39 is mounted on the output shaft 11 .

6 , the chain transmission mechanism may be configured to include a driving sprocket 41, a driven sprocket 42 and a transmission chain 43, wherein the transmission chain 43 is transmission-connected between the driving sprocket 41 and the driven sprocket 42. The driving sprocket 41 is mounted on the input shaft 17, and the driven sprocket 42 is mounted on the output shaft 11.

The embodiment of the present application further provides a method for controlling a mobile device in water area. The method for controlling a mobile device in water area is based on the aforementioned propeller 300 for a mobile device in water area. The method for controlling a mobile device in water area includes:

The total power and rotation speed output to the output shaft 11 are controlled by controlling the output power of each motor 14 and/or the transmission efficiency of the transmission assembly 13. The control of the transmission efficiency of the transmission assembly 13 can be achieved by switching different transmission ratios.

In some embodiments, the method for controlling a movable device in water area may include the following steps:

When receiving a control signal to make the movable device 100 in the water area run at a greater total power and rotation speed, more or all of the motors 14 are controlled to start simultaneously to drive the propeller 12 to rotate, and/or, the transmission component 13 is controlled to switch to a greater acceleration transmission ratio;

When receiving the control signal for making the movable device 100 in water area run at a lower total power and rotation speed, the motor 14 is controlled to be turned off, and/or the transmission component 13 is controlled to switch to a smaller acceleration transmission ratio.

The embodiment of the present application also provides a computer-readable storage medium, which includes a stored program, and the program executes the aforementioned water area movable device control method. The computer-readable storage medium in this embodiment is applied to the integrated central control terminal of the water area movable device 100. When necessary, the integrated central control terminal reads and runs the program stored in the computer-readable storage medium, and executes the aforementioned water area movable device control method. The integrated central control terminal in this embodiment includes but is not limited to structures such as a motor driver, a driving controller, a power management controller, and a temperature management controller. The integrated central control terminal can be integrated on the motor 14 to control the start or stop of the motor 14. In addition to the motor driver that controls the operation of the motor, the integrated central control terminal can also include a driving management controller, which can be used to control the driving posture of the water area movable device, and can also be used to interact with other modules on the water area movable device 100. In the implementation of the present application, it is not limited to the way in which the driver includes the above-mentioned controller. Any electronic control terminal module that can realize the driving and information interaction functions and is integrated into the motor 14 can be an implementation of the present application.

In summary of the above description, the propeller 300 for a movable device in water areas in the embodiment of the present application has the beneficial effects of a smaller frontal area, higher driving efficiency and higher safety in use.

The above implementation modes are only used to illustrate the technical solutions of the present application and are not intended to limit the present application. Although the present application has been described in detail with reference to the above preferred implementation modes, a person skilled in the art should understand that the technical solutions of the present application may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present application.

Claims

A propeller for a movable device in waters, characterized by comprising:

An output shaft having a first axis;

a propeller, mounted on the output shaft and capable of rotating around the first axis;

Transmission components;

A plurality of motors are respectively connected to the output shaft through the transmission assembly; the plurality of motors are respectively staggered relative to the first axis in a first plane, wherein the first plane is a plane perpendicular to the first axis.
The propeller for a movable device in water area according to claim 1 is characterized in that:

The motor is provided with an input shaft, the input shaft has a second axis and can be driven to rotate around the second axis to output torque;

The input shaft is transmission-connected to the output shaft via the transmission assembly.
The propeller for a movable device in water area according to claim 2 is characterized in that:

The input shaft is spaced apart in parallel with the output shaft.
The propeller for a movable device in water area according to claim 3 is characterized in that:

The plurality of input shafts are distributed around the first axis.
The propeller for a movable device in water area according to claim 2 is characterized in that:

The transmission assembly includes a first gear and a plurality of second gears;

The first gear is connected to the output shaft, and the second gears are connected to the input shafts accordingly;

The plurality of second gears are respectively meshed with the first gear.
The propeller for a movable device in water area according to claim 5 is characterized in that:

A plurality of the second gears are distributed circumferentially around the first gear.
The propeller for a movable device in water area according to claim 5 is characterized in that:

The propeller for a movable device in water areas further comprises a mounting frame, and the transmission assembly is mounted on the mounting frame.
The propeller for a movable device in water area according to claim 7 is characterized in that:

The output shaft and/or the input shaft are rotatably mounted on the mounting frame respectively.
The propeller for a movable device in water area according to claim 8 is characterized in that:

The output shaft and/or the input shaft are rotatably mounted on the mounting frame via a bearing.
The propeller for a movable device in water area according to claim 9 is characterized in that:

The bearing member is a tapered roller bearing, an angular contact ball bearing or a thrust self-aligning bearing.
The propeller for a movable device in water area according to claim 7 is characterized in that:

The mounting frame is provided with an accommodating space, and the input shaft and the output shaft extend into the accommodating space respectively;

The first gear is mounted on the portion of the output shaft extending into the accommodation space and is accommodated in the accommodation space;

The second gear is installed on the portion of the input shaft extending into the accommodating space and is accommodated in the accommodating space.
The propeller for a movable device in water area according to claim 11 is characterized in that:

The mounting frame comprises a cover and a shell that are detachably connected, and the cover and the shell together enclose the accommodating space.
The propeller for a movable device in water area according to claim 12 is characterized in that:

One end of the input shaft passes through the housing and is loosely matched with the cover member, and the output shaft passes through the cover member and is loosely matched with the housing.
The propeller for a movable device in water area according to claim 13 is characterized in that:

The cover is provided with a first through hole, and the shell is provided with a first groove corresponding to the first through hole; bearings are respectively installed at the first through hole and the first groove, and the output shaft extends into the first groove after passing through the first through hole, and rotatably installs the bearings at the first through hole and the first groove.
The propeller for a movable device in water area according to claim 14 is characterized in that:

The shell is provided with a plurality of second through holes, and the cover is provided with second grooves corresponding to the second through holes; bearings are respectively installed at the second through holes and the second grooves, and the input shaft extends into the second groove after passing through the second through holes, and rotatably installs the bearings at the second through holes and the second grooves.
The propeller for a movable device in water area according to claim 15 is characterized in that:

The propeller for a movable device in water areas comprises a first sealing ring sealed between the mounting frame and the output shaft, and a second sealing ring sealed between the mounting frame and the input shaft, and the accommodating space is a closed space.
The propeller for a movable device in water area according to claim 11 is characterized in that:

The accommodating space is filled with cooling lubricating liquid, and the cooling lubricating liquid is used for cooling and lubricating the first gear and the second gear.
The propeller for a movable device in water area according to claim 2 is characterized in that:

The transmission assembly is a belt transmission mechanism.
The propeller for a movable device in water area according to claim 18 is characterized in that:

The belt transmission mechanism comprises a driving pulley, a driven pulley and a transmission belt, wherein the transmission belt is connected between the driving pulley and the driven pulley.

The driving pulley is mounted on the input shaft, and the driven pulley is mounted on the output shaft.
The propeller for a movable device in water area according to claim 2 is characterized in that:

The transmission assembly is a chain transmission mechanism.
The propeller for a movable device in water area according to claim 20 is characterized in that:

The chain transmission mechanism comprises a driving sprocket, a driven sprocket and a transmission chain, wherein the transmission chain is transmission-connected between the driving sprocket and the driven sprocket;

The driving sprocket is mounted on the input shaft, and the driven sprocket is mounted on the output shaft.
The propeller for a movable device in water area according to claim 2 is characterized in that:

The distance from the second axis to the first axis is greater than the radius of the propeller and less than the sum of the radius of the propeller and the radius of the motor.
The propeller for a movable device in water area according to claim 2 is characterized in that:

The distance from the second axis to the first axis is greater than or equal to the sum of the radius of the propeller and the radius of the motor.
A movable device in water area, characterized by comprising:

A movable body; and

a propulsion device, the propulsion device being mounted on the movable body;

Wherein, the propulsion device comprises the propeller described in any one of claims 1-23.
The movable device for use in water area according to claim 24 is characterized in that:

The propulsion device comprises a frame, the frame is connected to the movable body, and the motor is installed on the frame.
The movable device for use in water area according to claim 24 is characterized in that:

The propulsion device is an outboard motor or an inboard motor.
A method for controlling a mobile device in water area, characterized in that the method for controlling a mobile device in water area is based on the propeller for a mobile device in water area according to any one of claims 1 to 23, and the method for controlling a mobile device in water area comprises:

The total power and rotation speed output to the output shaft are controlled by controlling the output power of each motor and/or the transmission efficiency of the transmission assembly.
A computer-readable storage medium, comprising a stored program, wherein the program executes the method for controlling a movable device in water area according to claim 27.