WO2024113270A1

WO2024113270A1 - Adjustment method and apparatus, controller, power apparatus, device, and storage medium

Info

Publication number: WO2024113270A1
Application number: PCT/CN2022/135674
Authority: WO
Inventors: 刘章华; 陶师正; 万小康
Original assignee: 广东逸动科技有限公司
Priority date: 2022-11-30
Filing date: 2022-11-30
Publication date: 2024-06-06
Also published as: CN117062748A

Abstract

The present application provides an adjustment method, an adjustment apparatus, a controller, a power apparatus, a water-area movable device, and a machine-readable storage medium. The adjustment method is used for the power apparatus, which is configured to propel the water-area movable device to sail. The adjustment method comprises: obtaining the current energy efficiency ratio of a power apparatus (S101); and if the current energy efficiency ratio is beyond an energy efficiency ratio range, limiting an increase in the power of the power apparatus (S102). The present application can limit the power of the power apparatus when the current energy efficiency ratio of the power apparatus is beyond the energy efficiency ratio range; thus, the power apparatus can also operate in a relatively low power consumption mode while ensuring that the water-area movable device travels at an optimal sailing speed, thereby facilitating an improvement in the endurance capacity of the power apparatus.

Description

Adjustment method and device, controller, power device, equipment and storage medium

Technical Field

The present application relates to the field of ship control, and in particular to an adjustment method, an adjustment device, a controller, a power device, a mobile device in water area, and a machine-readable storage medium.

Background technique

At present, the trend of ship electrification is becoming more and more obvious. Electrified ships usually use electric outboard motors as propulsion equipment. However, pure electric outboard motors have the problem of short cruising range and endurance time.

Summary of the invention

In view of this, the present application provides a regulation method, a regulation device, a controller, a power device, a mobile device in water area and a machine-readable storage medium.

Specifically, the present application is implemented through the following technical solutions:

In a first aspect of the present application, a regulation method is provided for a power device, which is used to propel movable equipment in water areas. The regulation method includes: obtaining a current energy efficiency ratio of the power device; if the current energy efficiency ratio is outside an energy efficiency ratio range, limiting the increase in power of the power device.

According to a second aspect of the present application, a regulating device is provided for a power device, which is used to propel movable equipment in waters to navigate. The regulating device includes: an energy efficiency ratio acquisition module, which is used to obtain the current energy efficiency ratio of the power device; and a power control module, which is used to limit the increase in power of the power device when the current energy efficiency ratio is outside the energy efficiency ratio range.

According to a third aspect of the present application, a controller is provided, comprising: a processor; and a memory, wherein the memory stores computer instructions, and when the computer instructions are executed by the processor, they are used to implement the adjustment method described in the first aspect of the present application.

According to a fourth aspect of the present application, a power device is provided, which includes a propeller, a motor and the controller described in the third aspect of the present application, wherein the motor is used to drive the propeller to rotate, and the controller is used to control the motor.

According to a fifth aspect of the present application, a movable device for water areas is provided, which includes a movable body for water areas and the power device described in the fourth aspect of the present application, and the power device is installed on the movable body for water areas.

In a sixth aspect of the present application, a machine-readable storage medium is provided, wherein the machine-readable storage medium stores machine-readable instructions, and when the machine-readable instructions are called and executed by a processor, the adjustment method described in the first aspect of the present application is implemented.

After applying the above solution, this application has at least the following beneficial effects:

The present application can limit the increase in power of the power device when the current energy efficiency ratio of the power device is outside the energy efficiency ratio range. Thus, while ensuring that the movable equipment in waters travels at a better speed, the power device can also operate in a lower power consumption mode, which is beneficial to improving the cruising range and endurance time of the power device.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

FIG1 is a flow chart of an adjustment method according to an exemplary embodiment of the present application;

FIG2 is a flow chart of a method for obtaining a current energy efficiency ratio of a power device according to an exemplary embodiment of the present application;

FIG3 is a flow chart of an adjustment method according to an exemplary embodiment of the present application;

FIG4 is a scene diagram of adjusting the pitch angle of a movable device in water area according to an exemplary embodiment of the present application;

FIG5 is a flow chart of an adjustment method according to an exemplary embodiment of the present application;

FIG6 is a flow chart of an adjustment method according to an exemplary embodiment of the present application;

FIG7 is a block diagram of an adjustment device according to an exemplary embodiment of the present application;

FIG8 is a block diagram of a controller according to an exemplary embodiment of the present application;

FIG9 is a block diagram of a power device according to an exemplary embodiment of the present application;

FIG10 is a block diagram of a movable device for use in water areas according to an exemplary embodiment of the present application.

Detailed ways

The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

For mobile devices in waters, such as various large and small ships and speedboats, cruising range is a particularly important aspect when traveling on the water. When increasing cruising range, expanding the capacity of batteries or fuel tanks is a common method, but the expansion of energy capacity will bring about a large cost increase; and for small and medium-sized ships, while larger capacity batteries and fuel tanks will increase energy, they will also increase losses during navigation due to their larger mass.

In view of this, the present application proposes an adjustment method that can appropriately extend the endurance. The adjustment method of the present application is used for a power device, which is used to propel a movable device in water to sail. Referring to FIG1 , the steps of the adjustment method may include:

S101, obtaining a current energy efficiency ratio of a power device;

S102: If the current energy efficiency ratio is outside the energy efficiency ratio range, limiting the increase in power of the power device.

Among them, there are many ways to limit the increase in the power of the power device. As is known to all, the user can control the power output of the power device by manipulating the throttle operating component on the control console (such as the tiller, the remote control box, etc.). Then, in one way, the movement of the throttle operating component on the tiller or the remote control box can be limited to limit the size of the throttle command output by the control console to the power device, and further make the power of the power device no longer increase. In another way, the movement of the throttle operating component on the tiller or the remote control box can be not restricted, but when the power corresponding to the throttle command output by the control console to the power device is greater than the preset power (the preset power is related to the current speed and the energy efficiency ratio range), the throttle command is shielded, that is, the power corresponding to the throttle command is not used as the power output of the power device, and the preset power is selected as the power output of the power device, so that the power of the power device no longer increases.

When a movable device in water moves on water, as the power of the power device increases, the speed increase gradually decreases, that is, as the power increases, the economic benefits of the equipment gradually decrease. After applying the above method, when the current energy efficiency ratio is outside the energy efficiency ratio range, the power of the power device is limited so that it no longer increases, and it can be achieved that after reaching a certain speed, the power consumption is no longer increased uncontrollably to increase the speed to a smaller extent, which can extend the endurance to a certain extent; at the same time, the adjustment method of the present application can also be used in conjunction with commonly used means of increasing endurance, such as increasing battery/fuel tank capacity and modifying ship type, without affecting the implementation of other means.

Referring to FIG. 2 , the step of obtaining the current energy efficiency ratio of the power device in S101 may specifically include the following steps:

S201, obtaining the current input power of the power device and the current speed of the movable device in the water area;

S202: Calculate the current energy efficiency ratio according to the current input power and the current speed.

Among them, the current input power can be the power corresponding to the throttle command input to the power unit, that is, the given power in the closed-loop control of the motor (the motor in the power unit used to drive the propeller). The current speed can be detected by a speed sensor. The speed sensor can be a speedometer or a GPS module. For the GPS module, the current speed can be calculated based on the distance between two GPS data and the time difference between the times when the two GPS data are collected.

In one embodiment of the present application, the current energy efficiency ratio = current speed / current input power. Correspondingly, the energy efficiency ratio range is expressed as a range greater than the energy efficiency ratio threshold. The "if the current energy efficiency ratio is outside the energy efficiency ratio range, then the increase in the power of the power device is limited" in step S102 can be understood as "if the current energy efficiency ratio is less than or equal to the energy efficiency ratio threshold, then the increase in the power of the power device is limited". Therefore, during the navigation of movable equipment in waters, when the energy efficiency ratio is reduced to the energy efficiency ratio threshold, the increase in the power of the power device is limited, avoiding the problem of continuous increase in power but a small increase in speed, thereby improving the endurance of the power device.

In another embodiment of the present application, the current energy efficiency ratio = current input power / current speed. Correspondingly, the energy efficiency ratio range is expressed as a range less than the energy efficiency ratio threshold value, and the "if the current energy efficiency ratio is outside the energy efficiency ratio range, then the increase in the power of the power device is limited" in step S102 can be understood as "if the current energy efficiency ratio is greater than or equal to the energy efficiency ratio threshold value, then the increase in the power of the power device is limited". Therefore, during the navigation of movable equipment in waters, when the energy efficiency ratio rises to the energy efficiency ratio threshold value, the increase in the power of the power device is limited, avoiding the problem of continuous increase in power but a small increase in speed, thereby improving the endurance of the power device.

Since there may be different navigation conditions on the same water surface, the energy efficiency ratio range can be learned based on historical navigation data. Specifically, the energy efficiency ratio threshold can be learned based on historical navigation data, and then the energy efficiency ratio range can be determined based on the energy efficiency ratio threshold. In addition, the energy efficiency ratio range set manually or calculated by various methods can also be preset in the power device, that is, the energy efficiency ratio range can also be a preset energy efficiency ratio range. Specifically, the energy efficiency ratio threshold can be set manually or calculated by various methods, and then the energy efficiency ratio range can be obtained based on the energy efficiency ratio threshold, and finally the energy efficiency ratio range can be preset in the power device.

By learning from historical navigation data, a more accurate energy efficiency ratio range that is suitable for the current navigation scenario can be obtained. In more complex scenarios, the learned energy efficiency ratio range can also be a variable range; and the preset energy efficiency ratio threshold range can reduce the demand for computing power and can be adapted to power units with weaker or no computing power.

In actual applications, even if it is a fixed sailing route, the sailing environment is not static. During the sailing process, you may face different situations such as strong winds, rain, waves, etc. at any time. In each different situation, factors such as resistance will change, and the relationship between power consumption and speed will also change.

In order to adapt to this change, for the above adjustment method, the steps of determining the energy efficiency ratio range may also include the following:

Determine the current navigation mode of the movable device in the water area; and determine the energy efficiency ratio range based on the current navigation mode.

By determining the navigation mode, a more accurate energy efficiency ratio range can be set. Different navigation modes correspond to different energy efficiency ratio ranges, and the navigation status can be accurately controlled.

The step of determining the current navigation mode of the movable device in the water area can be implemented by the following detailed steps:

Obtain the current navigation environment and navigation status of the movable device in the water area; determine the current navigation mode based on the navigation environment and navigation status.

It can be understood that the navigation environment can be weather environments such as strong winds and heavy rains, or water environments such as rivers, lakes, and seas. The navigation state can be the state of the power unit, such as single power unit state, multi-power unit state, full-charge operation state, part-full-charge operation state, etc.

By setting corresponding energy efficiency ratio ranges for different situations, appropriate energy efficiency ratio nodes can be adapted in different situations, thereby improving the adaptability of the adjustment method and making the method not limited to a single navigation environment and navigation state.

By setting the energy efficiency ratio range, the endurance of movable equipment in water areas is improved to a certain extent. In order to further improve it, we can also start from the power consumption loss. For movable equipment in water areas, water resistance is an important influencing factor. Therefore, from the perspective of reducing resistance, this application also provides a corresponding adjustment method.

In one embodiment, the navigation mode may be switched after the movable device in the water area monitors the navigation environment or the navigation status; in another embodiment, the navigation mode may also be the current navigation mode determined according to the user's input.

The current navigation mode is determined based on the user's input. The input can be achieved through various actions such as clicking, sliding, and toggling. In actual applications, it can be presented in the form of options, buttons, input boxes, etc. on the UI interface, or it can be set up as physical buttons, joysticks, levers, etc. for users to select or input.

On the basis of the above scheme, the movable device in water area may also be installed with other power devices, so the adjustment method may also include: sending a power limit instruction to other power devices to limit the increase of power of other power devices.

That is to say, a movable device in water area can be equipped with multiple power devices, one of which serves as a host and the other power devices serve as slaves. Before executing the power limiting scheme of the present application, the power device serving as the host can first calculate the current energy efficiency ratio and compare the current energy efficiency ratio with the energy efficiency ratio range to determine whether power limiting is required. When power limiting is required, the power device serving as the host sends a power limiting instruction to the other power devices serving as slaves, so that the other power devices also perform power limiting operations.

By limiting the power of the power unit, each power unit can work at a better energy efficiency ratio. For multiple power units installed in mobile equipment in waters, this method is still applicable, and each power unit can work at a better energy efficiency ratio by adjusting multiple power units, thereby improving the endurance of multiple power units. In addition, in scenarios where there are multiple power units, only one power unit is required to perform the relevant calculations for power limitation, and other power units do not need to perform the calculations, which can further reduce the overall power consumption of multiple power units and further improve the endurance of multiple power units.

In addition to adjusting the power unit from a power perspective to improve energy efficiency, energy efficiency can also be improved from the perspective of resistance. One of the factors that affects resistance in water is trim.

Trim refers to the tilt of the waterborne equipment in the direction of travel caused by the bow being tilted up or down. For movable equipment in water areas, the waterplane refers to the intersection of the horizontal plane and the movable equipment in water areas. The waterplane will change with the occurrence of trim, and the waterplane before the trim and the waterplane after the trim will have a certain angle, which is called the trim angle; it can also be simply understood that the trim angle caused by the trim is the angle between the hull of the movable equipment in water areas and the horizontal plane. Since trim will bring certain resistance, the present application also proposes the following adjustment method:

When the power device includes an electric pitch angle adjustment structure, referring to FIG3 , the following steps may be performed before the step of obtaining the current energy efficiency ratio of the movable device in water area:

S301. Regulate the electric trim angle adjustment structure so that the trim angle of the movable device in the water area approaches the target trim angle. The trim angle is the angle between the movable body of the movable device in the water area and the horizontal plane. The target trim angle is the trim angle when the movable body is horizontal or close to horizontal.

Those skilled in the art can understand that the level referred to in the scheme of the present application does not refer to an absolute level, but a certain angle range tending to the target longitudinal inclination angle. For example, the angle range can refer to a certain angle range such as (-0.5°, +0.5°), (-0.2°, +0.5°), (-3°, +3°), (-5°, +5°), etc. The size of the specific range is no longer limited and does not affect the implementation of the scheme of the adjustment method of the present application.

Both setting the energy efficiency ratio range and adjusting the longitudinal tilt angle can improve the energy efficiency ratio. They are not dependent on each other but can be combined as a combination solution. Therefore, the longitudinal tilt angle can be adjusted on the basis of setting the energy efficiency ratio range, or the energy efficiency ratio range can be set based on the adjustment of the longitudinal tilt angle. They can also be used as two separate solutions.

By adjusting the pitch angle to make it close to the horizontal target pitch angle, since the resistance encountered by the movable device in water areas is minimal when the pitch angle on the water surface is horizontal, the energy loss of the movable device in water areas can be reduced, thereby improving the energy efficiency ratio.

The electric adjustment structure for the longitudinal inclination angle can be any electric structure that is adjustable during driving, such as adjusting the center of gravity of the movable device in water area to control the longitudinal inclination angle, or adopting an electric lifting structure to directly control the fore and stern lifting of the movable body of the movable device in water area to adjust the longitudinal inclination angle; taking the electric lifting structure as an example, reference can be made to Figure 4, which is a schematic diagram of the electric adjustment structure for the longitudinal inclination angle, and the power unit 40 includes an electric adjustment structure for the longitudinal inclination angle 401, wherein the angle between the electric adjustment structure for the longitudinal inclination angle 401 and its mounting surface 411 on the movable body 41 of the movable device in water area is called the inclination angle. As can be analyzed from the figure, a reduction in the inclination angle 4011 of the electric adjustment structure for the longitudinal inclination angle 401 increases the downforce at the stern, thereby increasing the longitudinal inclination angle 412.

Based on the above content, referring to FIG5, before the step of adjusting the electric pitch angle adjustment structure to make the pitch angle of the movable device in the water area approach the target pitch angle in S301, the adjustment method may further include:

S501, obtaining the current speed of the movable device in the water area;

S502, according to the preset correspondence between the speed and the inclination angle, obtaining a target inclination angle corresponding to the current speed, where the inclination angle is the angle between the electric adjustment structure for the longitudinal inclination angle and the mounting surface of the electric adjustment structure for the longitudinal inclination angle;

After the target tilt angle is obtained, the step of adjusting the electric tilt angle adjustment structure in S301 to make the tilt angle of the movable device in the water area approach the target tilt angle may be as follows:

S503, obtaining the current inclination angle of the electric pitch angle adjustment structure;

S504, adjusting the electric pitch angle adjustment structure to make the current pitch angle approach the target pitch angle, so that the pitch angle approaches the target pitch angle.

Similarly, the horizontal mentioned in the above scheme does not refer to the absolute horizontal, but a certain angle range tending to the target longitudinal inclination angle, such as the angle range can refer to a certain angle range such as (-0.5°, +0.5°), (-0.2°, +0.5°), (-3°, +3°), (-5°, +5°), etc. Tend to the target inclination angle means that the current inclination angle is not to be completely equal to the target inclination angle, but a certain angle range tending to the target inclination angle, such as the angle range can refer to a certain angle range such as (-0.5°, +0.5°), (-0.2°, +0.5°), (-1°, +1°), etc.

Since the installation positions of the electric lifting devices are different and the reference planes of the longitudinal inclination angles are different, the correspondence between the inclination angle and the longitudinal inclination angle in the present application can be modified or adjusted according to the actual application situation; accordingly, the electric lifting device can also adjust the installation position according to the installation requirements without affecting the implementation of the embodiments of the present application.

The speed sensor used to obtain the speed can be a GPS module or a speed log. The speed obtained can be the speed relative to the ground or the speed relative to the water. Technical personnel in this field can make a choice based on accuracy, economic benefits, etc.

The above method provides a specific solution for obtaining and adjusting the trim angle. Since there is a corresponding relationship between the speed and the power, the speed and the inclination angle are the two decisive factors that determine the size of the trim angle. By obtaining the speed, the target inclination angle is obtained based on the relationship between the inclination angle and the speed. The target trim angle is replaced by the target inclination angle. When the inclination angle is close to the target inclination angle, the purpose of making the trim angle close to the target trim angle can be achieved, so as to reduce the resistance and improve the energy efficiency ratio.

Since the coarse adjustment scheme of adjusting the pitch angle by speed so that the pitch angle approaches the target pitch angle may have a certain error, a fine adjustment scheme may be added to obtain a more accurate method for adjusting the pitch angle. For details, please refer to FIG. 6. After adjusting the electric adjustment structure of the pitch angle so that the current pitch angle approaches the target pitch angle in S504 so that the pitch angle approaches the target pitch angle, the step of adjusting the electric adjustment structure of the pitch angle so that the pitch angle approaches the target pitch angle in S301 above may also include:

S601, obtaining the longitudinal inclination angle of the movable device in the water area;

S602, adjusting the electric pitch angle adjustment structure again to make the pitch angle approach the target pitch angle.

By applying the above-mentioned scheme of adjusting the trim angle twice in succession, the current speed is first obtained through the speed sensor to obtain the target trim angle, and then the current trim angle is adjusted to make the current trim angle close to the target trim angle; further, by obtaining the current trim angle again, it is adjusted again to make the trim angle more accurately close to the target trim angle, so as to achieve the purpose of reducing resistance and improving energy efficiency.

In addition, the relationship between the speed and the inclination angle is first used to roughly adjust the longitudinal inclination angle, and then the longitudinal inclination angle of the movable equipment in the water area is obtained, and the longitudinal inclination angle is fine-adjusted. Compared with the direct fine-tuning method, the embodiment of the present application can speed up the process of adjusting the longitudinal inclination angle of the movable equipment in the water area to make it tend to the target longitudinal inclination angle, and reduce the time used for adjustment.

In another embodiment, fine adjustment may be performed directly without coarse adjustment. Specifically, the step of adjusting the electric adjustment structure of the pitch angle to make the pitch angle approach the target pitch angle in S301 above directly includes: obtaining the pitch angle of the movable device in the water area; adjusting the electric adjustment structure of the pitch angle to make the pitch angle approach the target pitch angle. After the fine adjustment operation is performed, the operation of obtaining the current energy efficiency ratio can be performed.

Similarly, the horizontal referred to in this scheme does not refer to an absolute horizontal, but a certain angle range that tends to the target longitudinal inclination angle. For example, the angle range can refer to a certain angle range such as (-0.5°, +0.5°), (-0.2°, +0.5°), (-3°, +3°), (-5°, +5°), etc.

According to the above-mentioned multiple adjustment methods, the attitude data can be obtained by the attitude sensor to obtain the pitch angle. Specifically, if the movable device in the water area is equipped with an attitude sensor, the step of obtaining the pitch angle of the movable device in the water area may include: obtaining the attitude data of the movable device in the water area collected by the attitude sensor; and obtaining the pitch angle of the movable device in the water area based on the attitude data. The attitude sensor may communicate with the power device in a wired or wireless manner, which is not limited here.

If the power device is equipped with a posture sensor, the step of obtaining the longitudinal inclination angle of the movable device in water area may include: obtaining the posture data of the power device collected by the posture sensor; calculating the longitudinal inclination angle of the movable device in water area based on the posture data of the power device and the preset calibration data. The preset calibration data may be the posture data of the power device and the movable body of the movable device in water area when they are in the calibrated position, and the calibrated position is, for example, the posture of the movable body in water area being in a horizontal state and the tilt angle of the power device being 0. When the movable device in water area is navigating, the preset calibration data is used to correct the currently collected posture data to obtain the longitudinal inclination angle of the movable device in water area.

The attitude sensor can be an IMU (Inertial Measurement Unit) sensor or a sensor that can obtain the height difference between the bow/stern and the water surface and thus obtain attitude data. The specific type of sensor used to obtain the value of the longitudinal inclination angle can be selected based on the application requirements of accuracy.

Through the above scheme, the value of the trim angle can be obtained more accurately, and then the difference between the trim angle and the target trim angle can be known. By adjusting the trim angle while obtaining the trim angle to make up the difference, that is, getting close to the target trim angle, the movable equipment in the water area can be accurately and effectively achieved. The target trim angle with less resistance can be achieved, so as to further improve the energy efficiency ratio and reduce energy loss.

In step S502 shown in FIG5 , according to the preset correspondence between the speed and the inclination angle, the target inclination angle corresponding to the current speed is obtained, and the inclination angle is the angle between the longitudinal inclination angle electric adjustment structure and the mounting surface of the longitudinal inclination angle electric adjustment structure; wherein the preset correspondence between the speed and the inclination angle can be obtained in advance, so before step S502, the adjustment method may further include:

The corresponding relationship between the speed and the inclination angle is determined according to at least one of the basic information of the movable equipment in the water area and the navigation environment.

Those skilled in the art will appreciate that the above step of acquiring the corresponding relationship may be performed before step S502 , and there is no requirement for the execution order of other steps such as step S501 .

The basic information of movable equipment in water areas may be the model of the vessel, or may specifically be the power of the power unit, the effective area of the propeller, etc. The navigation environment may be factors such as calm, level 3 headwind, big waves, rivers, lakes, and sea areas. Which basic information or navigation environment is used as a reference for determining the correspondence between speed and inclination angle shall be based on the needs of actual application. This embodiment is only exemplary and is not intended to limit this application.

After the rough adjustment of the pitch angle of the movable device in the water area is completed, the movable body may be horizontal or close to horizontal. In this case, no fine adjustment is required. Therefore, in the embodiment shown in FIG6 , after obtaining the pitch angle of the movable device in the water area in step 601, it can be determined whether the pitch angle has approached the target pitch angle. If so, the step S101 of obtaining the current energy efficiency ratio of the power device can be directly executed; if the pitch angle still does not reach the target pitch angle, the step S602 of adjusting the pitch angle electric adjustment structure again to make the pitch angle approach the target pitch angle can be executed. In this way, unnecessary adjustments can be avoided, which is conducive to reducing the energy consumption of the power device.

In the process of adjusting the trim angle, repeated adjustments may occur, causing the hull to vibrate or the circuit to oscillate. For example, the movable equipment in the water area is a ship equipped with a power unit. The electric trim angle adjustment structure installed on the power unit adjusts the trim angle by 4° each time. The current trim angle is 30° and the target trim angle is 0°. When the above adjustment method is applied, the current trim angle will be adjusted to be close to the target trim angle in sequence. After 7 adjustments, the current trim angle is 2°, and after another adjustment, the current trim angle is -2°. Since -2° is close to the angle before adjustment, it is impossible to determine which angle is closer, so it switches back and forth between 2° and -2°, causing the hull to vibrate, and then the current direction in the circuit or the circuit on and off is frequently switched, causing circuit instability.

Based on this, the electric adjustment structure of the longitudinal inclination angle of the present application can set an adjustment dead zone, and the adjustment dead zone is an angle range set with the target longitudinal inclination angle as a reference. Therefore, the adjustment method can also include: when the longitudinal inclination angle of the movable equipment in the water area is within the angle range, stop adjusting the electric adjustment structure of the longitudinal inclination angle.

After applying the above-mentioned adjustment method with a dead zone, for a vessel also equipped with a power plant, the electric trim angle adjustment structure installed on the power plant adjusts the trim angle by 4° each time, while the current trim angle is 30°, the target trim angle is 0°, and the adjustment dead zone is set to [-3°, +3°]. After applying the above-mentioned adjustment method, the current trim angle is adjusted in sequence to be close to the target trim angle. After 7 adjustments, the current trim angle is 2°. Because it falls within the adjustment dead zone, it remains stable and no longer needs to be adjusted frequently.

For different water area movable devices, the angle range of the dead zone may be different. For example, for different sizes of water area movable devices, the angle range of the larger size of the water area movable device is larger than the angle range of the smaller size of the water area movable device. Therefore, different angle ranges are set for different water area movable devices, and the control is more flexible.

Corresponding to the adjustment method, the present application also proposes a corresponding virtual device, namely, an adjustment device for a power device, which is used to propel movable equipment in water areas to navigate. Referring to Figure 7, the adjustment device 70 may include: an energy efficiency ratio acquisition module 701, which is used to obtain the current energy efficiency ratio of the power device; a power control module 702, which is used to limit the increase in power of the power device when the current energy efficiency ratio is outside the energy efficiency ratio range.

Based on the above-mentioned adjustment device, the energy efficiency ratio acquisition module 701 can also include: a power and speed acquisition unit, used to obtain the current input power of the power unit and the current speed of the movable device in the water area; an energy efficiency ratio calculation unit, used to calculate the current energy efficiency ratio according to the current input power and the current speed.

In the above solution, the energy efficiency ratio range may be a preset energy efficiency ratio range or an energy efficiency ratio range learned based on historical navigation data.

Based on the regulating device shown in FIG7 , the regulating device may further include: a navigation mode determination module for determining the current navigation mode of the movable device in the water area; and an energy efficiency ratio range determination module for determining the energy efficiency ratio range based on the current navigation mode.

Based on the above scheme, the navigation mode determination module may include: a navigation environment and status acquisition unit, used to obtain the current navigation environment and navigation status of the movable device in the water area; a navigation mode determination unit, used to determine the current navigation mode based on the navigation environment and navigation status.

The navigation mode determination module may further include: a navigation mode response unit, used to determine the current navigation mode according to the user's input.

If the movable device in the water area is also equipped with other power devices, the regulating device also includes a sending module for sending a power limit instruction to the other power devices to limit the power increase of the other power devices.

The adjustment device also includes: a pitch angle adjustment module, which is used to adjust the pitch angle electric adjustment structure so that the pitch angle of the movable device in the water area tends to the target pitch angle. The pitch angle is the angle between the movable body of the movable device in the water area and the horizontal plane. The target pitch angle is the pitch angle when the movable body is horizontal or close to horizontal.

According to the above-mentioned adjustment device, the adjustment device may also include: a speed acquisition module, used to obtain the current speed of the movable device in the water area; a target inclination angle acquisition module, used to obtain the target inclination angle corresponding to the current speed based on the preset correspondence between the speed and the inclination angle, and the inclination angle is the angle between the longitudinal inclination angle electric adjustment structure and the mounting surface of the longitudinal inclination angle electric adjustment structure; then the longitudinal inclination angle adjustment module may include: a current inclination angle acquisition unit, used to obtain the current inclination angle of the longitudinal inclination angle electric adjustment structure; a longitudinal inclination angle adjustment unit, used to adjust the longitudinal inclination angle electric adjustment structure so that the current inclination angle approaches the target inclination angle, so that the longitudinal inclination angle approaches the target longitudinal inclination angle.

The pitch angle adjustment module may also include a pitch angle acquisition unit. After the pitch angle adjustment unit adjusts the pitch angle electric adjustment structure to make the current pitch angle approach the target pitch angle: the pitch angle acquisition unit is used to obtain the pitch angle of the movable device in the water area; the pitch angle adjustment unit is also used to adjust the pitch angle electric adjustment structure again to make the pitch angle approach the target pitch angle.

In other embodiments, the pitch angle adjustment module may also perform only fine adjustment, that is, the pitch angle acquisition unit is used to obtain the pitch angle of the movable device in the water area; the pitch angle adjustment unit is used to adjust the pitch angle electric adjustment structure to make the pitch angle approach the target pitch angle.

If the movable device in the water area is equipped with a posture sensor, the longitudinal inclination angle acquisition module may include: a posture data acquisition unit, used to acquire the posture data of the movable device in the water area collected by the posture sensor; and a longitudinal inclination angle acquisition unit, used to acquire the longitudinal inclination angle of the movable device in the water area based on the posture data.

If the power device includes a posture sensor, the posture data acquisition unit can also be used to obtain the posture data of the power device collected by the posture sensor; the longitudinal inclination angle acquisition unit can also be used to calculate the longitudinal inclination angle of the movable device in the water area based on the posture data of the power device and preset calibration data.

Correspondingly, the adjustment device may also include a correspondence acquisition module, which is used to determine the correspondence between the speed and the inclination angle based on at least one of the basic information of the movable equipment in the water area and the navigation environment before obtaining the target inclination angle corresponding to the current speed based on the preset correspondence between the speed and the inclination angle.

In the case where the movable body is already horizontal or nearly horizontal after the pitch angle adjustment unit performs the rough adjustment, the pitch angle adjustment module may further include a judgment unit, which is used to judge whether the pitch angle has reached the target pitch angle after the pitch angle acquisition unit acquires the pitch angle of the movable device in the water area. If so, the pitch angle adjustment unit no longer adjusts the pitch angle electric adjustment structure; if not, the pitch angle adjustment unit adjusts the pitch angle electric adjustment structure again to make the pitch angle approach the target pitch angle.

The electric adjustment structure for the pitch angle may also have an adjustment dead zone, which is an angle range set with the target pitch angle as a reference. Therefore, the pitch angle adjustment unit is also used to stop adjusting the electric adjustment structure for the pitch angle when the pitch angle of the movable equipment in the water area is within the angle range.

For the device embodiment, since it basically corresponds to the method embodiment, the relevant parts can refer to the partial description of the method embodiment. The device embodiment described above is only schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative work.

Corresponding to the above-mentioned adjustment method, the present application also proposes a controller. Referring to Figure 8, the controller 80 may include: a processor 801; a memory 802, the memory 802 stores computer instructions, and the computer instructions are used to implement the adjustment method described in any embodiment of the present application when executed by the processor 801.

The above-mentioned adjustment method and adjustment device need to be implemented in conjunction with a power device. Therefore, the present application also provides a power device. Referring to Figure 9, the power device 90 may include a propeller 901, a motor 902 and the controller 80 in the previous embodiment. The motor 902 is used to drive the propeller 901 to rotate, and the controller 80 is used to control the motor 902.

Correspondingly, the present application also proposes a movable device for water areas. Referring to FIG. 10 , the movable device for water areas 100 may include a movable body for water areas 1001 and the power device 90 in the previous embodiment, and the power device 90 is installed on the movable body for water areas 1001 .

The present application also proposes a machine-readable storage medium, which stores machine-readable instructions. When the machine-readable instructions are called and executed by a processor, they implement the adjustment method described in any embodiment of the present application.

Computer readable media suitable for storing computer program instructions and data include all forms of non-volatile memory, media and storage devices, including, for example, semiconductor memory devices (e.g., EPROM, EEPROM and flash memory devices), magnetic disks (e.g., internal hard disks or removable disks), magneto-optical disks, and CD ROM and DVD-ROM disks. The processor and memory may be supplemented by, or incorporated in, special purpose logic circuitry.

It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. The terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprises a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

The method and device provided in the embodiments of the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for those skilled in the art, according to the idea of the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

A regulation method for a power device used to propel a movable device in waters to sail, characterized in that the regulation method comprises:

Obtaining a current energy efficiency ratio of the power device;

If the current energy efficiency ratio is outside the energy efficiency ratio range, the increase in the power of the power device is limited.
The adjustment method according to claim 1, characterized in that obtaining the current energy efficiency ratio of the power device comprises:

Obtaining the current input power of the power device and the current speed of the movable device in the water area;

The current energy efficiency ratio is calculated according to the current input power and the current speed.
The adjustment method according to claim 1 is characterized in that the energy efficiency ratio range is:

A preset energy efficiency ratio range or an energy efficiency ratio range learned based on historical navigation data.
The adjustment method according to claim 1, characterized in that the adjustment method further comprises:

determining the current navigation mode of the movable device in said waters;

The energy efficiency ratio range is determined based on the current navigation mode.
The adjustment method according to claim 4 is characterized in that the determining the current navigation mode of the movable device in the water area comprises:

Obtain the current navigation environment and navigation status of the mobile equipment in the water area;

The current navigation mode is determined based on the navigation environment and the navigation status.
The adjustment method according to claim 4 is characterized in that determining the current navigation mode of the movable device in the water area comprises:

The current navigation mode is determined according to user input.
The adjustment method according to claim 1 is characterized in that the movable device in the water area is also equipped with other power devices, and the adjustment method further comprises:

A power limit instruction is sent to the other power devices to limit the power increase of the other power devices.
The adjustment method according to claim 1 is characterized in that the power device includes an electric pitch angle adjustment structure, and before obtaining the current energy efficiency ratio of the power device, the adjustment method further includes:

The electric pitch angle adjustment structure is adjusted to make the pitch angle of the movable device in the water area approach the target pitch angle, wherein the pitch angle is the angle between the movable body of the movable device in the water area and the horizontal plane, and the target pitch angle is the pitch angle when the movable body is horizontal or close to horizontal.
The adjustment method according to claim 8, characterized in that the adjustment method further comprises:

Obtain the current speed of the movable device in the water area;

According to a preset correspondence between the speed and the inclination angle, a target inclination angle corresponding to the current speed is obtained, wherein the inclination angle is the angle between the electric adjustment structure for the longitudinal inclination angle and the mounting surface of the electric adjustment structure for the longitudinal inclination angle;

The step of adjusting the electric pitch angle adjustment structure so that the pitch angle of the movable device in the water area approaches the target pitch angle comprises:

Acquire the current inclination angle of the electric pitch angle adjustment structure;

The electric pitch angle adjustment structure is adjusted to make the current pitch angle approach the target pitch angle, so that the pitch angle approaches the target pitch angle.
The adjustment method according to claim 9 is characterized in that, after adjusting the electric pitch angle adjustment structure to make the current pitch angle approach the target pitch angle, adjusting the electric pitch angle adjustment structure to make the pitch angle of the movable device in the water area approach the target pitch angle, further comprises:

Obtaining the longitudinal inclination angle of the movable device in the water area;

The electric pitch angle adjustment structure is adjusted again to make the pitch angle approach the target pitch angle.
The adjustment method according to claim 8 is characterized in that the step of adjusting the pitch angle electric adjustment structure so that the pitch angle of the movable device in the water area approaches the target pitch angle comprises:

Obtaining the longitudinal inclination angle of the movable device in the water area;

The electric pitch angle adjustment structure is adjusted to make the pitch angle approach the target pitch angle.
The adjustment method according to claim 10 or 11 is characterized in that the movable device in the water area is equipped with a posture sensor, and obtaining the longitudinal tilt angle of the movable device in the water area comprises:

Acquire the posture data of the movable device in the water area collected by the posture sensor;

The longitudinal tilt angle of the movable device in the water area is obtained based on the posture data.
The adjustment method according to claim 10 or 11 is characterized in that the power device includes a posture sensor, and the obtaining of the longitudinal inclination angle of the movable device in the water area includes:

Acquiring attitude data of the power device collected by the attitude sensor;

The longitudinal tilt angle of the movable device in water area is calculated based on the posture data of the power device and preset calibration data.
The adjustment method according to claim 9 is characterized in that, before obtaining the target inclination angle corresponding to the current speed according to the preset correspondence between the speed and the inclination angle, the adjustment method further comprises:

The corresponding relationship between the speed and the inclination angle is determined according to at least one of the basic information of the movable device in the water area and the navigation environment.
The adjustment method according to any one of claims 8 to 11 is characterized in that the electric pitch angle adjustment structure has an adjustment dead zone, and the adjustment dead zone is an angle range set with the target pitch angle as a reference, and the adjustment method further comprises:

When the longitudinal inclination angle of the movable device in the water area is within the angle range, the adjustment of the longitudinal inclination angle electric adjustment structure is stopped.
A regulating device, used for a power device, the power device is used to drive a movable device in water area to sail, characterized in that the regulating device comprises:

An energy efficiency ratio acquisition module, used to obtain the current energy efficiency ratio of the power device;

The power control module is used to limit the increase of the power of the power device when the current energy efficiency ratio is outside the energy efficiency ratio range.
A controller, characterized in that the controller comprises:

processor;

A memory storing computer instructions, wherein the computer instructions are used to implement the adjustment method according to any one of claims 1 to 15 when executed by the processor.
A power device, characterized in that the power device comprises:

propeller;

A motor, the motor is used to drive the propeller to rotate;

The controller of claim 17, wherein the controller is configured to control the motor.
A movable device for water area, characterized in that the movable device for water area comprises: a movable body for water area;

The power device as described in claim 18 is installed on the movable body in the water area.
A machine-readable storage medium, characterized in that the machine-readable storage medium stores machine-readable instructions, and when the machine-readable instructions are called and executed by a processor, the adjustment method described in any one of claims 1-15 is implemented.