Control method of power plant and power plant, control method of steering wheel and steering wheel, control method of propulsion system and propulsion system

Abstract

The application discloses a control method of a power device, the power device, a control method of a steering wheel, the steering wheel, a control method of a propulsion system, the propulsion system, a water area movable device and a computer readable storage medium. The control method comprises the following steps: if it is detected that one of the steering wheel and the steering mechanism is rotated first and the other one is not rotated secondly according to a preset steering transmission ratio, a new rotation angle range of the steering wheel is determined according to a rotation angle change amount of the first rotation, the steering wheel is controlled to rotate in the new rotation angle range, the preset steering transmission ratio represents a proportional relationship between a rotation limit angle difference of the steering wheel and a rotation limit angle difference of the steering mechanism, a mapping relationship between a rotation angle of the steering wheel and a rotation angle of the steering mechanism is re-established according to the new rotation angle range, and the steering mechanism is controlled to steer according to the mapping relationship.

Description

Technical Field

[0001] This application relates to the field of steering control, and more particularly to a control method for a power unit and a power unit, a control method for a steering wheel and a steering wheel, a control method for a propulsion system and a propulsion system, a mobile device and a computer-readable storage medium. Background Technology

[0002] Ships, cars, and other vehicles steer by operating the steering wheel mounted on it. However, the way ship steering wheels are installed differs from that of some cars (such as cars where the steering wheel's rotation shaft is directly mechanically connected to the steering mechanism). On ships, the steering wheel is electrically connected to the outboard motor. When the driver turns the steering wheel, the system uses a drive-by-wire method to make the outboard motor rotate with the steering wheel, thus achieving ship steering.

[0003] There is a mapping relationship between the steering wheel rotation angle and the outboard motor rotation angle. When the ship's system is powered down, if the steering wheel is turned, the outboard motor will still maintain the angle it was last turned to before the power was off. When the system is powered back on, if the steering wheel is turned to its limit angle, the outboard motor cannot turn to the corresponding limit angle of the outboard motor. This results in a poor driving experience and low safety. Summary of the Invention

[0004] To address the aforementioned technical problems, this application provides a control method for a power unit, a control method for a power unit, a control method for a steering wheel, a control method for a propulsion system, a propulsion system, a mobile device, and a computer-readable storage medium. The technical solutions are as follows:

[0005] According to a first aspect of this application, a control method is provided for a power unit, the power unit being communicatively connected to a steering wheel, the steering mechanism of the power unit being capable of performing corresponding steering when the steering wheel is rotated, the control method comprising: if it is detected that one of the steering wheel and the steering mechanism has undergone a first rotation, and the other has not undergone a second rotation according to a preset steering transmission ratio, then determining a new steering angle range of the steering wheel based on the change in the rotation angle of the first rotation, the preset steering transmission ratio representing the proportional relationship between the difference in the rotation limit angle of the steering wheel and the difference in the rotation limit angle of the steering mechanism; re-establishing the mapping relationship between the rotation angle of the steering wheel and the rotation angle of the steering mechanism based on the new steering angle range; controlling the steering mechanism to steer according to the mapping relationship; and sending the new steering angle range to the steering wheel so that the steering wheel rotates within the new steering angle range.

[0006] According to a second aspect of this application, a control method is provided for a power unit, the power unit being communicatively connected to a steering wheel, the steering mechanism of the power unit being able to perform corresponding steering when the steering wheel is rotated, the control method comprising: receiving a new steering angle range sent by the steering wheel, the new steering angle range being determined based on the change in the rotation angle of the first rotation when the steering wheel detects that it and one of the steering mechanisms have undergone a first rotation, while the other has not performed a second rotation according to a preset steering transmission ratio; re-establishing a mapping relationship between the rotation angle of the steering wheel and the rotation angle of the steering mechanism based on the new steering angle range; and controlling the steering mechanism to steer according to the mapping relationship.

[0007] According to a third aspect of this application, a control method is provided for a steering wheel, the steering wheel being communicatively connected to a power unit and used to control the steering mechanism of the power unit to turn. The control method includes: if it is detected that one of the steering wheel and the steering mechanism has undergone a first rotation, and the other has not undergone a second rotation according to a preset steering transmission ratio, then a new steering angle range of the steering wheel is determined based on the change in the rotation angle of the first rotation, and the steering wheel is controlled to rotate within the new steering angle range. The preset steering transmission ratio characterizes the proportional relationship between the difference in the steering wheel's rotation limit angle and the difference in the steering mechanism's rotation limit angle; a mapping relationship between the steering wheel's rotation angle and the steering mechanism's rotation angle is re-established based on the new steering angle range; and the mapping relationship is sent to the power unit so that the power unit controls the steering mechanism to turn according to the mapping relationship.

[0008] According to a fourth aspect of this application, a control method is provided for a steering wheel, the steering wheel being communicatively connected to a power unit and used to control the steering mechanism of the power unit to turn. The control method includes: if it is detected that one of the steering wheel and the steering mechanism has undergone a first rotation, and the other has not undergone a second rotation according to a preset steering transmission ratio, then a new steering angle range of the steering wheel is determined based on the change in the rotation angle of the first rotation, and the steering wheel is controlled to rotate within the new steering angle range. The preset steering transmission ratio characterizes the proportional relationship between the difference in the rotation limit angle of the steering wheel and the difference in the rotation limit angle of the steering mechanism; the new steering angle range is sent to the power unit so that the power unit re-establishes the mapping relationship between the rotation angle of the steering wheel and the rotation angle of the steering mechanism based on the new steering angle range, and the steering mechanism is controlled to turn according to the mapping relationship.

[0009] According to a fifth aspect of this application, a control method is provided for a propulsion system, the propulsion system including a steering wheel and a power unit, the steering wheel being communicatively connected to the power unit and used to control the steering mechanism of the power unit. The control method includes: if it is detected that one of the steering wheel and the steering mechanism has undergone a first rotation, and the other has not undergone a second rotation according to a preset steering transmission ratio, the power unit determines a new steering angle range of the steering wheel based on the change in the rotation angle of the first rotation, the preset steering transmission ratio representing the proportional relationship between the difference in the steering wheel's rotation limit angle and the difference in the steering mechanism's rotation limit angle; the power unit re-establishes the mapping relationship between the steering wheel's rotation angle and the steering mechanism's rotation angle based on the new steering angle range; and the power unit controls the steering mechanism to turn according to the mapping relationship.

[0010] The power unit sends a new steering angle range to the steering wheel; the steering wheel receives the new steering angle range and rotates within the new steering angle range.

[0011] According to a sixth aspect of this application, a control method is provided for a propulsion system. The propulsion system includes a steering wheel and a power unit. The steering wheel is communicatively connected to the power unit and is used to control the steering mechanism of the power unit. The control method includes: if it is detected that one of the steering wheel and the steering mechanism has undergone a first rotation, and the other has not undergone a second rotation according to a preset steering transmission ratio, the steering wheel determines its new turning angle range based on the change in the rotation angle of the first rotation, and rotates within the new turning angle range. The preset steering transmission ratio represents the proportional relationship between the difference in the rotation limit angle of the steering wheel and the difference in the rotation limit angle of the steering mechanism; the steering wheel re-establishes the mapping relationship between its own rotation angle and the rotation angle of the steering mechanism based on the new turning angle range; the steering wheel sends the mapping relationship to the power unit; the power unit receives the mapping relationship and controls the steering mechanism to turn according to the mapping relationship.

[0012] According to a seventh aspect of this application, a control method is provided for a propulsion system. The propulsion system includes a steering wheel and a power unit. The steering wheel is communicatively connected to the power unit and is used to control the steering mechanism of the power unit. The control method includes: if it is detected that one of the steering wheel and the steering mechanism has undergone a first rotation, and the other has not undergone a second rotation according to a preset steering transmission ratio, the steering wheel determines its new turning angle range based on the change in the rotation angle of the first rotation, and rotates within the new turning angle range. The preset steering transmission ratio represents the proportional relationship between the difference in the rotation limit angle of the steering wheel and the difference in the rotation limit angle of the steering mechanism; the steering wheel sends the new turning angle range to the power unit; the power unit receives the new turning angle range; the power unit re-establishes the mapping relationship between the rotation angle of the steering wheel and the rotation angle of the steering mechanism based on the new turning angle range, and controls the steering mechanism to turn according to the mapping relationship.

[0013] According to an eighth aspect of this application, a power device is provided, comprising: a steering mechanism; and a control circuit connected to the steering mechanism and also connected to a steering wheel, and controlling the steering mechanism to rotate upon receiving a command from the steering wheel. The control circuit is configured to: determine a new steering wheel angle range based on the change in the first rotation angle when it detects that one of the steering wheel and the steering mechanism has undergone a first rotation and the other has not undergone a second rotation according to a preset steering gear ratio; the preset steering gear ratio characterizes the proportional relationship between the difference in the steering wheel's rotation limit angle and the difference in the steering mechanism's rotation limit angle; re-establish the mapping relationship between the steering wheel's rotation angle and the steering mechanism's rotation angle based on the new angle range; control the steering mechanism to steer according to the mapping relationship; and send the new angle range to the steering wheel so that the steering wheel rotates within the new angle range.

[0014] According to a ninth aspect of this application, a power device is provided, comprising: a steering mechanism; and a control circuit, which is communicatively connected to the steering mechanism and also communicatively connected to a steering wheel, and controls the steering mechanism to rotate upon receiving a command from the steering wheel. The control circuit is configured to: receive a new steering angle range from the steering wheel, the new steering angle range being determined based on the change in the rotation angle of the first rotation when the steering wheel detects that it has undergone a first rotation with one of the steering mechanisms and the other has not performed a second rotation according to a preset steering gear ratio; re-establish the mapping relationship between the rotation angle of the steering wheel and the rotation angle of the steering mechanism based on the new steering angle range; and control the steering mechanism to turn according to the mapping relationship.

[0015] According to a tenth aspect of this application, a steering wheel is provided, the steering wheel including a processing circuit, the processing circuit being communicatively connected to a power unit, the processing circuit being capable of outputting a command for controlling the rotation of the steering mechanism of the power unit, the processing circuit being configured to: when detecting that one of the steering wheel and the steering mechanism has undergone a first rotation, and the other has not undergone a second rotation according to a preset steering gear ratio, determine a new steering angle range of the steering wheel based on the change in the rotation angle of the first rotation, and control the steering wheel to rotate within the new steering angle range, the preset steering gear ratio representing the proportional relationship between the difference in the steering wheel's rotation limit angle and the difference in the steering mechanism's rotation limit angle; re-establish the mapping relationship between the steering wheel's rotation angle and the steering mechanism's rotation angle based on the new steering angle range; and send the mapping relationship to the power unit so that the power unit controls the steering mechanism to steer according to the mapping relationship.

[0016] According to the eleventh aspect of this application, a steering wheel is provided, the steering wheel including a processing circuit, the processing circuit being communicatively connected to a power unit, the processing circuit being capable of outputting a command for controlling the rotation of the steering mechanism of the power unit, the processing circuit being configured to: when detecting that one of the steering wheel and the steering mechanism has undergone a first rotation, and the other has not undergone a second rotation according to a preset steering transmission ratio, determine a new steering angle range of the steering wheel based on the change in the rotation angle of the first rotation, and control the steering wheel to rotate within the new steering angle range, the preset steering transmission ratio representing the proportional relationship between the difference in the steering wheel's rotation limit angle and the difference in the steering mechanism's rotation limit angle; send the new steering angle range to the power unit so that the power unit re-establishes the mapping relationship between the steering wheel's rotation angle and the steering mechanism's rotation angle based on the new steering angle range, and control the steering mechanism to steer according to the mapping relationship.

[0017] According to the twelfth aspect of this application, a propulsion system is provided, the propulsion system including a steering wheel and the power device of the eighth aspect above, the steering wheel including a processing circuit, the processing circuit being communicatively connected to a control circuit, the processing circuit being used to receive a new steering angle range sent by the control circuit, and to control the steering wheel to rotate within the new steering angle range.

[0018] According to the thirteenth aspect of this application, a propulsion system is provided, which includes the power unit of the ninth aspect and the steering wheel of the eleventh aspect.

[0019] According to the fourteenth aspect of this application, a propulsion system is provided, the propulsion system including a power unit and a steering wheel as described in the tenth aspect above, the power unit including a control circuit for receiving a mapping relationship sent by the steering wheel and controlling the steering mechanism to turn according to the mapping relationship.

[0020] According to the fifteenth aspect of this application, a mobile device is provided, comprising: a body; and a propulsion system according to any one of the twelfth to fourteenth aspects, the propulsion system being mounted on the body.

[0021] According to a sixteenth aspect of this application, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the control method as described in any of the first to seventh aspects of the invention.

[0022] The technical solution provided in this application, if one of the steering wheel and the steering mechanism has undergone a first rotation, and the other has not undergone a second rotation according to the preset steering transmission ratio, determines a new steering angle range for the steering wheel based on the change in the first rotation angle, and controls the steering wheel to rotate within the new steering angle range. Simultaneously, based on the new steering angle range, a new mapping relationship between the steering wheel's rotation angle and the steering mechanism's rotation angle is re-established. This ensures that when one of the steering wheel and the steering mechanism has undergone a first rotation, and the other has not undergone a second rotation according to the preset steering transmission ratio, after the steering wheel is turned to its limit angle, the steering mechanism can subsequently turn to the limit angle of the steering mechanism corresponding to the limit angle of the steering wheel, thus improving the driving experience and driving safety.

[0023] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0025] Figure 1 This is a schematic diagram illustrating the application scenarios of steering wheel control based on related technologies;

[0026] Figure 2 This is a flowchart illustrating the control method provided in this application;

[0027] Figure 3 This is a schematic diagram of an embodiment of the control method provided in this application;

[0028] Figure 4 This is a schematic diagram of another embodiment of the control method provided in this application;

[0029] Figure 5 This is a schematic diagram of another embodiment of the control method provided in this application;

[0030] Figure 6a This is a schematic diagram of the steering wheel rotation provided in this application;

[0031] Figure 6b This is another schematic diagram of steering wheel rotation provided in this application;

[0032] Figure 7 This is a schematic diagram of the power unit provided in this application;

[0033] Figure 8 This is a schematic diagram of a steering wheel provided in this application;

[0034] Figure 9a This is a schematic diagram of the limiting structure of a steering wheel provided in this application from one perspective.

[0035] Figure 9b yes Figure 9a A schematic diagram of the limiting structure from another perspective;

[0036] Figure 10a This is a schematic diagram of another limiting structure of the steering wheel provided in this application from one perspective;

[0037] Figure 10b yes Figure 10a A schematic diagram of the limiting structure from another perspective;

[0038] Figure 11a This is a schematic diagram of another limiting structure of the steering wheel provided in this application from one perspective;

[0039] Figure 11b yes Figure 11a A schematic diagram of the limiting structure from another perspective;

[0040] Figure 11c yes Figure 11a A schematic diagram of the limiting structure from another perspective;

[0041] Figure 12 This is a schematic diagram of the propulsion system provided in this application. Detailed Implementation

[0042] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art should fall within the scope of protection of this application.

[0043] Please see Figure 1 First, we will introduce the application scenarios of steering wheel control in related technologies. Transportation vehicles such as ships and cars achieve steering by operating the steering wheel equipped on it. However, the installation method of ship steering wheels is different from that of some cars (such as cars where the steering wheel rotation shaft is directly mechanically connected to the steering mechanism). The steering wheel 110 on a ship is connected to the outboard motor 120 by electrical connection. When the driver turns the steering wheel 110, the system makes the outboard motor 120 rotate with the rotation of the steering wheel 110 through a drive-by-wire method, thereby realizing the steering of the ship.

[0044] There is a mapping relationship between the rotation angle of the steering wheel 110 and the rotation angle of the outboard motor 120. When the ship's system is powered down, if the steering wheel 110 is turned, the outboard motor 120 will still maintain the angle it was last turned to before the power was off. When the system is powered on again, after the steering wheel 110 is turned to its limit angle, the outboard motor 120 cannot turn to the limit angle of the outboard motor 120 corresponding to the limit angle of the steering wheel 110. This results in poor handling experience and low safety.

[0045] It is understood that the above description of the application scenarios of steering wheel control is only an illustrative example. In actual applications, the application scenarios can be flexibly selected according to the designer's needs, and there are no limitations on this.

[0046] To address the aforementioned problems, this application provides a control method that ensures that when either the steering wheel or the steering mechanism has undergone a first rotation, and the other has not performed a second rotation according to a preset steering gear ratio, after the steering wheel is turned to its limit angle, the steering mechanism can subsequently rotate to its limit angle corresponding to the steering wheel's limit angle, thereby improving the driving experience and safety. Figure 2 As shown, the method includes the following steps:

[0047] S201. If it is detected that one of the steering wheel and the steering mechanism has undergone a first rotation, and the other has not performed a second rotation according to the preset steering transmission ratio, then the new steering angle range of the steering wheel is determined according to the amount of change in the rotation angle of the first rotation. The preset steering transmission ratio characterizes the proportional relationship between the difference in the rotation limit angle of the steering wheel and the difference in the rotation limit angle of the steering mechanism.

[0048] S202. Re-establish the mapping relationship between the steering wheel rotation angle and the steering mechanism rotation angle based on the new rotation angle range;

[0049] S203. Control the steering mechanism to steer according to the mapping relationship;

[0050] S204. Control the steering wheel to rotate within a new angle range.

[0051] It should be noted that the order of S204 and S202-S203 is not limited.

[0052] The technical solution provided in this application, if one of the steering wheel and the steering mechanism has undergone a first rotation, and the other has not undergone a second rotation according to the preset steering transmission ratio, determines a new steering angle range for the steering wheel based on the change in the first rotation angle, and controls the steering wheel to rotate within the new steering angle range. Simultaneously, based on the new steering angle range, a new mapping relationship between the steering wheel's rotation angle and the steering mechanism's rotation angle is re-established. This ensures that when one of the steering wheel and the steering mechanism has undergone a first rotation, and the other has not undergone a second rotation according to the preset steering transmission ratio, after the steering wheel is turned to its limit angle, the steering mechanism can subsequently turn to the limit angle of the steering mechanism corresponding to the limit angle of the steering wheel, thus improving the driving experience and driving safety.

[0053] In this application embodiment, the new steering wheel angle range can be determined in multiple ways, and the mapping relationship between the steering wheel rotation angle and the steering mechanism rotation angle can be re-established in multiple ways. Several embodiments are provided; Embodiment 1 is described below. In Embodiment 1, the determination of the new steering wheel angle range and the re-establishment of the mapping relationship are both performed by the power unit. The power unit is communicatively connected to the steering wheel, and the steering mechanism of the power unit can perform corresponding steering when the steering wheel rotates. For detailed execution process, please refer to [link to specific implementation details]. Figure 3 As shown, an embodiment of the control method provided in this application may include 301 to 305.

[0054] 301. If the power unit detects that one of the steering wheel and the steering mechanism has undergone a first rotation, and the other has not undergone a second rotation according to the preset steering transmission ratio, then the new steering angle range of the steering wheel is determined based on the change in the rotation angle of the first rotation.

[0055] The preset steering gear ratio represents the proportional relationship between the difference in the steering wheel's rotation limit angles and the difference in the steering mechanism's rotation limit angles. For example, assuming the steering wheel rotates 360° to the left from 0° to reach its left limit position, and then rotates 360° to the right from 0° to reach its right limit position, the difference in the steering wheel's rotation limit angles is 720°; assuming the steering mechanism rotates 45° to the left from 0° to reach its left limit position, and then rotates 45° to the right from 0° to reach its right limit position, the difference in the steering mechanism's rotation limit angles is 90°. Therefore, the steering gear ratio between the steering wheel and the steering mechanism is 720°:90° = 8:1. It should be noted that the values ​​provided in the embodiments of this application are for illustrative purposes only and should not be construed as limiting the scope of this application.

[0056] The steering ratio can be fixed or variable. For a fixed steering ratio, the preset steering ratio is a fixed value. For a variable steering ratio, the preset steering ratio corresponds to the number of steering wheel rotations currently set. For example, a user can manually set the number of steering wheel rotations on a display screen connected to the steering wheel to change the steering ratio. For instance, if the steering mechanism's rotation limit angle difference is 90°, and the user sets the steering wheel rotations to two rotations, the preset steering ratio is 8:1; if the user sets the steering wheel rotations to one rotation, the preset steering ratio is 4:1.

[0057] It should be noted that in the various embodiments of the preset steering ratio involved in this application, the understanding of the preset steering ratio can be referred to the interpretation herein.

[0058] As an example, this embodiment can be applied to a propulsion system, which may include a steering wheel and a power unit.

[0059] If one of the steering wheel and the steering mechanism has undergone a first rotation, and the other has not performed a second rotation according to the preset steering gear ratio, at least the following two situations apply.

[0060] In the first scenario, the first rotation can occur on the steering wheel side, and the first rotation can occur before the propulsion system is powered on.

[0061] As an example, the power unit can acquire a first rotation angle of the steering wheel and a second rotation angle of the steering mechanism when the propulsion system is powered on. The first rotation angle can be detected by an angle sensor located within the steering wheel, and the power unit can communicate with the steering wheel to receive the first rotation angle transmitted from it. The second rotation angle can be detected by an angle sensor located within the steering mechanism. When the first and second rotation angles are inconsistent, the power unit determines that the steering wheel has undergone a first rotation, but the steering mechanism has not performed a second rotation according to the preset steering gear ratio.

[0062] It should be noted that when the first and second rotation angles correspond perfectly, they can be considered consistent. Even if they don't correspond perfectly, but the difference between them and the angles they should correspond to is less than a preset value, they can still be considered consistent. This avoids frequently adjusting the mapping relationship between the steering wheel rotation angle and the steering mechanism rotation angle. For example, suppose the preset steering ratio is 8:1. If the first rotation angle is 280° and the second rotation angle is 35°, since the second rotation angle 35° is the same as the angle 35° calculated based on the first rotation angle and the preset steering ratio (or, since 280°:35°=8:1, which matches the preset steering ratio 8:1), the first and second rotation angles are considered consistent. If the first rotation angle is 280° and the second rotation angle is 36°, since the difference between 36° and 35° is small (or, since 280°:36°≈8:1), the first and second rotation angles are considered consistent. If the first rotation angle is 280° and the second rotation angle is 20°, then the first rotation angle is considered to be inconsistent with the second rotation angle because the difference between the second rotation angle 20° and the angle 35° calculated based on the first rotation angle and the preset steering ratio is large (or, since 280°:20°=14:1, and 14:1 is large compared with the preset steering ratio 8:1).

[0063] It should be noted that in all embodiments of this application involving the determination of the consistency between the first rotation angle and the second rotation angle, the determination of the consistency between the first rotation angle and the second rotation angle can refer to the description herein.

[0064] In the second scenario, the first rotation can occur on the steering mechanism side, and the first rotation can occur after the propulsion system is powered on.

[0065] As an example, when the first turn occurs, the steering motor of the steering mechanism does not operate normally. It should be noted that "not operating normally" can mean that the steering motor does not operate when it receives the corresponding operating command, such as when the steering motor operates under impact, or it can mean that it operates under other conditions; there is no limitation on this.

[0066] It should be noted that the above description of the location and time of the first rotation in the embodiments of this application is only an exemplary illustration. In actual applications, the location and time of the first rotation may be different from those described above, and are not limited thereto.

[0067] As an example, the situation where one steering wheel rotates once but the other does not rotate according to the preset steering ratio can mean either that one steering wheel rotates but the other does not rotate at all, or that one steering wheel rotates but the angle of rotation does not match the preset steering ratio. For example, the situation where "one steering wheel rotates but the other does not rotate at all" could occur before the propulsion system is powered on, when the driver turns the steering wheel, but because the propulsion system is not powered on, the steering mechanism does not rotate with the steering wheel. The situation where "one steering wheel rotates but the other rotates but the angle of rotation does not match the preset steering ratio" could occur after the propulsion system is powered on, when the steering wheel is turned, and although the steering mechanism rotates with the steering wheel, the angle of rotation of the steering mechanism does not match the preset steering ratio due to external impacts or other factors. It is worth noting that the above description of the rotation not in accordance with the preset steering gear ratio in the embodiments of this application is only an exemplary demonstration. In actual applications, the situation of rotation not in accordance with the preset steering gear ratio may not be excluded from the above description, and is not limited thereto.

[0068] It should be noted that in the embodiments of this application where one party has undergone a first rotation and the other party has not undergone a second rotation according to the preset steering gear ratio, the interpretation herein shall apply.

[0069] As an example, the power unit can redetermine the steering wheel's rotation limit angle based on the change in rotation angle, and determine a new steering angle range based on the redetermined rotation limit angle.

[0070] As an example, the power unit can adjust the first rotation limit angle of the steering wheel based on the change in rotation angle to obtain the third rotation limit angle, and adjust the second rotation limit angle based on the change in rotation angle to obtain the fourth rotation limit angle. Here, the first and second rotation limit angles are the angles at the extreme positions reached by the steering wheel in two opposite directions. The power unit can determine a new steering angle range using the third and fourth rotation limit angles. Therefore, the new steering angle range of the steering wheel can be adjusted based on the change in rotation angle, enhancing the accuracy of the steering angle range adjustment. For example, assuming the steering wheel's rotation limit angles are -360° and 360°, its steering angle range is [-360°, 360°]. Assuming the change in steering wheel rotation angle is 20°, the steering wheel's rotation limit angles can be adjusted to -380° and 340° based on this change in rotation angle, resulting in a new steering angle range of [-380°, 340°].

[0071] As an example, the above-mentioned method for adjusting the rotation limit angle can be to add a change to the first rotation limit angle of the steering wheel to obtain the third rotation limit angle, and to subtract the change from the second rotation limit angle to obtain the fourth rotation limit angle. It is worth noting that the above-described method for adjusting the rotation limit angle in the embodiments of this application is only an exemplary demonstration. In practical applications, the method for adjusting the rotation limit angle does not exclude the above-described method, and no specific limitation is made in this regard.

[0072] 302. The power unit re-establishes the mapping relationship between the steering wheel rotation angle and the steering mechanism rotation angle based on the new steering angle range;

[0073] For example, suppose the original steering wheel angle range is [-360°, 360°], and the steering mechanism angle range is [-45°, 45°]. There is a mapping relationship between [-360°, 360°] and [-45°, 45°]. After the steering wheel angle range is adjusted, a new angle range of [-380°, 340°] is obtained. Then, the mapping relationship is re-established based on the new angle range [-380°, 340°]. That is, the new mapping relationship is [-380°, 340°] corresponding to [-45°, 45°].

[0074] 303. The power unit controls the steering mechanism's direction according to the mapping relationship;

[0075] For example, suppose the new mapping relationship is that the new steering wheel angle range [-380°, 340°] corresponds to the new steering mechanism angle range [-45°, 45°]. Then the power unit controls the steering mechanism to turn according to this mapping relationship. For example, when the steering wheel angle is -380°, the steering mechanism angle is controlled to be -45°.

[0076] 304. The power unit sends a new steering angle range to the steering wheel so that the steering wheel can be turned within the new steering angle range;

[0077] 305. The steering wheel controls itself to rotate within a new angle range.

[0078] As an example, the power unit can be a propulsion device such as an outboard motor or podded propulsion unit of a water-based mobile device, and the steering mechanism can be the steering mechanism within the propulsion device such as an outboard motor or podded propulsion unit. The steering wheel and power unit are mounted on the water-based mobile device. The power unit can also be a propulsion device in a land-based mobile device, and the steering mechanism can be the steering mechanism within that propulsion device. The steering mechanism can also be other mechanisms, without limitation.

[0079] As an example, the steps performed by the power unit described above can be executed by the electronic control unit (ECU) of the power unit, or by other units, without any specific restrictions.

[0080] For example, the power unit and steering wheel can be connected via bus communication or wireless communication. The specific connection method is not limited, as long as data exchange between the two is possible.

[0081] It should be noted that the order of steps 304 and 302-303 is not limited.

[0082] The following describes Embodiment 2. In Embodiment 1, the determination of the new steering wheel angle range and the re-establishment of the mapping relationship were both performed by the power unit. However, in this embodiment, the determination of the new steering wheel angle range is performed by the steering wheel itself, while the re-establishment of the mapping relationship is performed by the power unit. The power unit and the steering wheel are communicatively connected, and the steering mechanism of the power unit can perform corresponding steering when the steering wheel is turned. For detailed execution procedures, please refer to [link to documentation]. Figure 4 As shown, a second embodiment of the control method provided in this application may include:

[0083] 401. If the steering wheel detects that it has undergone a first rotation with one of the steering mechanisms and the other has not performed a second rotation according to the preset steering transmission ratio, the new steering angle range of the steering wheel is determined according to the change in the rotation angle of the first rotation. The preset steering transmission ratio represents the proportional relationship between the difference in the steering wheel's rotation limit angle and the difference in the steering mechanism's rotation limit angle.

[0084] As an example, this embodiment can be applied to a propulsion system, which may include a steering wheel and a power unit.

[0085] If one of the steering wheel and the steering mechanism has undergone a first rotation, and the other has not performed a second rotation according to the preset steering gear ratio, at least the following two situations apply.

[0086] In the first scenario, the first rotation can occur on the steering wheel side, and the first rotation can occur before the propulsion system is powered on.

[0087] As an example, when the propulsion system is powered on, the steering wheel can acquire a first rotation angle of the steering wheel and a second rotation angle of the steering mechanism. If the first rotation angle and the second rotation angle are inconsistent, it is determined that the steering wheel has undergone a first rotation, but the steering mechanism has not performed a second rotation according to the preset steering gear ratio. The first rotation angle can be detected by an angle sensor located inside the steering wheel, and the second rotation angle can be detected by an angle sensor located inside the steering mechanism. The steering wheel can communicate with the power unit to receive the second rotation angle sent by the power unit.

[0088] In the second scenario, the first rotation can occur on the steering mechanism side, and the first rotation can occur after the propulsion system is powered on.

[0089] As an example, when the first turn occurs, the steering motor of the steering mechanism does not operate normally. It should be noted that "not operating normally" can mean that the steering motor does not operate when it receives the corresponding operating command, such as when the steering motor operates under impact, or it can mean that it operates under other conditions; there is no limitation on this.

[0090] It should be noted that the above description of the location and time of the first rotation in the embodiments of this application is only an exemplary illustration. In actual applications, the location and time of the first rotation may be different from those described above, and are not limited thereto.

[0091] As an example, the statement that one component has undergone a first rotation while the other has not performed a second rotation according to the preset steering ratio could mean that one component has rotated while the other has not rotated at all, or it could mean that one component has rotated while the other has rotated, but the angle of rotation does not match the preset steering ratio. It is worth noting that the above description of rotation not according to the preset steering ratio in the embodiments of this application is merely illustrative. In practical applications, situations other than those described above may occur where rotation is not performed according to the preset steering ratio, and this is not considered a limitation.

[0092] As an example, the steering wheel can redetermine its rotation limit angle based on the change in rotation angle, and then determine a new rotation angle range based on the redetermined rotation limit angle.

[0093] As an example, the steering wheel can be adjusted based on the change in rotation angle to obtain a first rotation limit angle, resulting in a third rotation limit angle. Similarly, the second rotation limit angle can be adjusted based on the change in rotation angle to obtain a fourth rotation limit angle. Here, the first and second rotation limit angles are the angles at the extreme positions reached by the steering wheel in two opposite directions. The steering wheel can determine a new turning angle range using the third and fourth rotation limit angles. Therefore, the new turning angle range of the steering wheel can be adjusted based on the change in rotation angle, enhancing the accuracy of the turning angle adjustment. For example, assuming the steering wheel's rotation limit angles are -360° and 360°, its turning angle range is [-360°, 360°]. Assuming the change in steering wheel rotation angle is 20°, the steering wheel's rotation limit angles can be adjusted to -380° and 340° based on this change in rotation angle, resulting in a new turning angle range of [-380°, 340°].

[0094] As an example, the above-mentioned method for adjusting the rotation limit angle can be to add a change to the first rotation limit angle of the steering wheel to obtain the third rotation limit angle, and to subtract the change from the second rotation limit angle to obtain the fourth rotation limit angle. It is worth noting that the above-described method for adjusting the rotation limit angle in the embodiments of this application is only an exemplary demonstration. In practical applications, the method for adjusting the rotation limit angle does not exclude the above-described method, and no specific limitation is made in this regard.

[0095] As an example, the steering wheel can be set as the updated rotation limit angles based on the third and fourth rotation limit angles. When the steering wheel is at the updated rotation limit angle, a limiting force can be output to the steering wheel to restrict it from rotating in directions exceeding the updated rotation limit angle. It is worth noting that the timing of outputting the limiting force described above is merely an illustrative example. In practical applications, the timing of outputting the limiting force can also be other times, and there is no specific limitation on this.

[0096] As an example, the steering wheel can control the damping motor to output a limiting force to the steering wheel.

[0097] As an example, the steering wheel can control the engagement limiting mechanism to output limiting force to the steering wheel.

[0098] As an example, the engagement limiting mechanism can be a ratchet limiting mechanism, which can include a pawl, a ratchet, and an actuator. The steering wheel can control the actuator to drive the pawl so that the pawl engages with the teeth of the ratchet, forming a limiting force.

[0099] As an example, the engagement limiting mechanism can also be a stop lever limiting mechanism. The stop lever limiting mechanism can include a limiting rod, a limiting gear, and an actuator. The steering wheel can control the actuator to drive the limiting rod so that the limiting rod engages with the tooth groove of the limiting gear to form a limiting force.

[0100] As an example, the steering wheel can also control the friction limiting mechanism to output limiting force to the steering wheel.

[0101] As an example, the friction limiting mechanism can be a roller limiting mechanism, which can include a limiting post, a limiting element, and an actuator. The steering wheel can control the actuator to drive the limiting post so that the limiting post and the limiting wall of the limiting element rub against each other to form a limiting force.

[0102] For example, the actuator can be an electromagnetic actuator, a linear motor, etc., and there is no limitation on this.

[0103] It is worth noting that the above-described method of outputting limiting force is merely an example. In practical applications, the method of outputting limiting force can also be other than the above-described method, and there is no specific limitation on this.

[0104] 402. The steering wheel controls itself to rotate within a new angle range;

[0105] 403. The steering wheel sends a new steering angle range to the power unit;

[0106] 404. The power unit re-establishes the mapping relationship between the steering wheel rotation angle and the steering mechanism rotation angle based on the new steering angle range;

[0107] For example, suppose the original steering wheel angle range is [-360°, 360°], and the steering mechanism angle range is [-45°, 45°]. There is a mapping relationship between [-360°, 360°] and [-45°, 45°]. After the steering wheel angle range is adjusted, a new angle range of [-380°, 340°] is obtained. Then, the mapping relationship is re-established based on the new angle range [-380°, 340°]. That is, the new mapping relationship is [-380°, 340°] corresponding to [-45°, 45°].

[0108] 405. The power unit controls the steering mechanism to steer according to the mapping relationship.

[0109] For example, suppose the new mapping relationship is that the new steering wheel angle range [-380°, 340°] corresponds to the new steering mechanism angle range [-45°, 45°]. Then the power unit controls the steering mechanism to turn according to this mapping relationship. For example, when the steering wheel angle is -380°, the steering mechanism angle is controlled to be -45°.

[0110] As an example, the power unit can be a propulsion device such as an outboard motor or podded propulsion unit of a water-based mobile device, and the steering mechanism can be the steering mechanism within the propulsion device such as an outboard motor or podded propulsion unit. The steering wheel and power unit are mounted on the water-based mobile device. The power unit can also be a propulsion device in a land-based mobile device, and the steering mechanism can be the steering mechanism within that propulsion device. The steering mechanism can also be other mechanisms, without limitation.

[0111] As an example, the steps performed by the power unit can be executed by the ECU of the power unit or by other units, without any specific restrictions.

[0112] For example, the power unit and steering wheel can be connected via bus communication or wireless communication. The specific connection method is not limited, as long as data exchange between the two is possible.

[0113] It should be noted that the order of steps 402 and 403 is not limited.

[0114] The following describes Embodiment 3. In Embodiment 2, the determination of the new steering wheel angle range was performed by the steering wheel, while the re-establishment of the mapping relationship was performed by the power unit. In this embodiment, both the determination of the new steering wheel angle range and the re-establishment of the mapping relationship are performed by the steering wheel. The power unit is communicatively connected to the steering wheel, and the steering mechanism of the power unit can perform corresponding steering when the steering wheel is turned. For details of the execution process, please refer to [link to documentation]. Figure 5 As shown, Embodiment 3 of the control method provided in this application may include:

[0115] 501. If the steering wheel detects that it has undergone a first rotation with one of the steering mechanisms and the other has not performed a second rotation according to the preset steering transmission ratio, the new steering angle range of the steering wheel is determined according to the change in the rotation angle of the first rotation. The preset steering transmission ratio represents the proportional relationship between the difference in the rotation limit angle of the steering wheel and the difference in the rotation limit angle of the steering mechanism.

[0116] As an example, this embodiment can be applied to a propulsion system, which may include a steering wheel and a power unit.

[0117] If one of the steering wheel and the steering mechanism has undergone a first rotation, and the other has not performed a second rotation according to the preset steering gear ratio, at least the following two situations apply.

[0118] In the first scenario, the first rotation can occur on the steering wheel side, and the first rotation can occur before the propulsion system is powered on.

[0119] As an example, when the propulsion system is powered on, the steering wheel can acquire a first rotation angle of the steering wheel and a second rotation angle of the steering mechanism. If the first rotation angle and the second rotation angle are inconsistent, it is determined that the steering wheel has undergone a first rotation, but the steering mechanism has not performed a second rotation according to the preset steering gear ratio. The first rotation angle can be detected by an angle sensor located inside the steering wheel, and the second rotation angle can be detected by an angle sensor located inside the steering mechanism. The steering wheel can communicate with the power unit to receive the second rotation angle sent by the power unit.

[0120] In the second scenario, the first rotation can occur on the steering mechanism side, and the first rotation can occur after the propulsion system is powered on.

[0121] As an example, when the first rotation occurs, the steering motor of the steering mechanism does not operate normally. It should be noted that not operating normally can mean that the steering motor does not operate when it receives the corresponding operating command, such as when the steering motor operates under impact, or it can mean that it operates under other conditions. There is no limitation on this.

[0122] It should be noted that the above description of the location and time of the first rotation in the embodiments of this application is only an exemplary illustration. In actual applications, the location and time of the first rotation may be different from those described above, and are not limited thereto.

[0123] As an example, the statement that one component has undergone a first rotation while the other has not performed a second rotation according to the preset steering ratio could mean that one component has rotated while the other has not rotated at all, or it could mean that one component has rotated while the other has rotated, but the angle of rotation does not match the preset steering ratio. It is worth noting that the above description of rotation not according to the preset steering ratio in the embodiments of this application is merely illustrative. In practical applications, situations other than those described above may occur where rotation is not performed according to the preset steering ratio, and this is not considered a limitation.

[0124] As an example, the steering wheel can redetermine its rotation limit angle based on the change in rotation angle, and then determine a new rotation angle range based on the redetermined rotation limit angle.

[0125] As an example, the steering wheel can be adjusted based on the change in rotation angle to obtain the first rotation limit angle, resulting in the third rotation limit angle. The second rotation limit angle can then be adjusted based on the change in rotation angle, resulting in the fourth rotation limit angle. Here, the first and second rotation limit angles are the angles at the extreme positions reached by the steering wheel in two opposite directions. The steering wheel can determine a new turning angle range using the third and fourth rotation limit angles. Therefore, the new turning angle range of the steering wheel can be adjusted based on the change in rotation angle, enhancing the accuracy of the turning angle adjustment. For example, assuming the steering wheel's rotation limit angles are -360° and 360°, its turning angle range is [-360°, 360°]. Assuming the change in steering wheel rotation angle is 20°, the steering wheel's rotation limit angles can be adjusted to -380° and 340° based on this change in rotation angle, resulting in a new turning angle range of [-380°, 340°].

[0126] As an example, the above-mentioned method for adjusting the rotation limit angle can be to add a change to the first rotation limit angle of the steering wheel to obtain the third rotation limit angle, and to subtract the change from the second rotation limit angle to obtain the fourth rotation limit angle. It is worth noting that the above-described method for adjusting the rotation limit angle in the embodiments of this application is only an exemplary demonstration. In practical applications, the method for adjusting the rotation limit angle does not exclude the above-described method, and no specific limitation is made in this regard.

[0127] As an example, the steering wheel can be set as the updated rotation limit angles based on the third and fourth rotation limit angles. When the steering wheel is at the updated rotation limit angle, a limiting force can be output to the steering wheel to restrict it from rotating in directions exceeding the updated rotation limit angle. It is worth noting that the timing of outputting the limiting force described above is merely an illustrative example. In practical applications, the timing of outputting the limiting force can also be other times, and there is no specific limitation on this.

[0128] As an example, the steering wheel can control the damping motor to output a limiting force to the steering wheel.

[0129] As an example, the steering wheel can control the engagement limiting mechanism to output limiting force to the steering wheel.

[0130] As an example, the engagement limiting mechanism can be a ratchet limiting mechanism, which can include a pawl, a ratchet, and an actuator. The steering wheel can control the actuator to drive the pawl so that the pawl engages with the teeth of the ratchet, forming a limiting force.

[0131] As an example, the engagement limiting mechanism can also be a stop lever limiting mechanism. The stop lever limiting mechanism can include a limiting rod, a limiting gear, and an actuator. The steering wheel can control the actuator to drive the limiting rod so that the limiting rod engages with the tooth groove of the limiting gear to form a limiting force.

[0132] As an example, the steering wheel can also control the friction limiting mechanism to output limiting force to the steering wheel.

[0133] As an example, the friction limiting mechanism can be a roller limiting mechanism, which can include a limiting post, a limiting element, and an actuator. The steering wheel can control the actuator to drive the limiting post so that the limiting post and the limiting wall of the limiting element rub against each other to form a limiting force.

[0134] For example, the actuator can be an electromagnetic actuator, a linear motor, etc., and there is no limitation on this.

[0135] It is worth noting that the above-described method of outputting limiting force is merely an example. In practical applications, the method of outputting limiting force can also be other than the above-described method, and there is no specific limitation on this.

[0136] 502. The steering wheel controls itself to rotate within a new angle range;

[0137] 503. The steering wheel re-establishes the mapping relationship between its own rotation angle and the rotation angle of the steering mechanism based on the new rotation angle range;

[0138] For example, suppose the original steering wheel angle range is [-360°, 360°], and the steering mechanism angle range is [-45°, 45°]. There is a mapping relationship between [-360°, 360°] and [-45°, 45°]. After the steering wheel angle range is adjusted to obtain a new angle range [-380°, 340°], the steering wheel re-establishes the mapping relationship according to the new angle range [-380°, 340°]. That is, the new mapping relationship is [-380°, 340°] corresponding to [-45°, 45°].

[0139] 504. The steering wheel sends the mapping relationship to the power unit, so that the power unit controls the steering mechanism to steer according to the mapping relationship;

[0140] 505. The power unit controls the steering mechanism to steer according to the mapping relationship.

[0141] For example, suppose the new mapping relationship is that the new steering wheel angle range [-380°, 340°] corresponds to the new steering mechanism angle range [-45°, 45°]. Then the power unit controls the steering mechanism to turn according to this mapping relationship. For example, when the steering wheel angle is -380°, the steering mechanism angle is controlled to be -45°.

[0142] As an example, the power unit can be a propulsion device such as an outboard motor or podded propulsion unit of a water-based mobile device, and the steering mechanism can be the steering mechanism within the propulsion device such as an outboard motor or podded propulsion unit. The steering wheel and power unit are mounted on the water-based mobile device. The power unit can also be a propulsion device in a land-based mobile device, and the steering mechanism can be the steering mechanism within that propulsion device. The steering mechanism can also be other mechanisms, without limitation.

[0143] As an example, the steps performed by the above power unit can be executed by the power unit's electronic control unit (ECU) or by other units, without any specific restrictions.

[0144] For example, the power unit and steering wheel can be connected via bus communication or wireless communication. The specific connection method is not limited, as long as data exchange between the two is possible.

[0145] It should be noted that the order of steps 502 and 503 is not limited.

[0146] The following is an exemplary description of a specific application scenario of an embodiment of this application:

[0147] Please see Figure 1 , Figure 6a as well as Figure 6bAssuming the maximum number of turns of the steering wheel is 2, and taking the driver's overhead view as the reference, with clockwise rightward turning of the steering wheel as the positive direction (positive turning angle) and counterclockwise leftward turning of the steering wheel as the negative direction (negative turning angle), then the steering wheel angle range is [-360°, 360°].

[0148] Still using the top-down view as the reference, and taking the counterclockwise rightward rotation of the steering mechanism as the positive direction and the clockwise leftward rotation as the negative direction, we assume that the steering angle range of the steering mechanism is [-45°, 45°]. The preset steering transmission ratio represents the ratio between the difference in the steering wheel's rotation limit angle and the difference in the steering mechanism's rotation limit angle. Therefore, the preset steering transmission ratio is 720°:90°=8:1.

[0149] See Figure 6a Assume that when the propulsion system is powered on (denoted as the first power-on), the steering wheel is in the zero position, i.e., the P lever is at point A, and the steering mechanism is also in the zero position. If the driver turns the steering wheel counterclockwise, the change in rotation angle is -48°. The P lever then moves from point A to point B, and the steering wheel sends this change in rotation angle to the ECU in the power unit. Based on this change in rotation angle and the preset steering gear ratio, the ECU determines that the required rotation angle for the steering mechanism is -6° and controls the steering mechanism to rotate 6° clockwise to the left from the zero position.

[0150] See Figure 6b Suppose the driver turns off the power to the propulsion system and continues to turn the steering wheel counterclockwise to the left during the power-off period, changing the rotation angle from -48° to -64° (a change of 16°). The P lever on the steering wheel moves from point B to point C, while the rotation angle of the steering mechanism remains at -6°. When the propulsion system is powered on again (denoted as the second power-on), the steering wheel sends the current rotation angle of -64° to the ECU. The ECU can then re-establish the mapping relationship between the steering wheel rotation angle and the steering mechanism rotation angle based on this current rotation angle and the preset steering gear ratio. At this time, the maximum number of steering wheel rotations remains unchanged (2 rotations), meaning the difference in the steering wheel's rotation limit angle remains unchanged at 720°. However, the new steering wheel angle range changes from [-360°, 360°] to [-376°, 344°].

[0151] Compared to the first system power-up, during the second system power-up, the mapping relationship between the steering wheel rotation angle and the steering mechanism rotation angle changed from [-360°, 360°] corresponding to [-45°, 45°] to [-376°, 344°] corresponding to [-45°, 45°]. Based on this new mapping relationship, for example, when the steering wheel is turned to -80°, the steering mechanism should rotate to -8°; when the steering wheel is turned to 0°, the steering mechanism should rotate to 2°; and when the steering wheel is turned to 120°, the steering mechanism should rotate to 17°.

[0152] During the first system power-on, when the steering wheel is turned to its limit position (-360° or 360°), a damping force can be output to limit the steering wheel from continuing to turn in a direction beyond the limit position. During the second system power-on, when the steering wheel is turned to its limit position (-376° or 344°), a damping force can be output to limit the steering wheel from continuing to turn in a direction beyond the limit position.

[0153] It is understood that the maximum number of steering wheel rotations of 2 in the above scenario is only an illustrative example. The maximum number of rotations is not limited to 2; it can also be 1 rotation, 2.5 rotations, etc., without any limitation.

[0154] It is understood that the preset steering ratio of 8:1 in the above scenario is only an illustrative example. In actual applications, other values ​​for the preset steering ratio are not excluded and are not limited thereto.

[0155] It is understood that the maximum rotation angle of the steering mechanism in the above scenario is ±45° only as an example. In actual applications, other values ​​for the maximum rotation angle are not excluded and are not limited thereto.

[0156] It is worth noting that the above description of a specific application scenario of the present application embodiment is merely an illustrative example. In practical applications, the present application embodiment can also be applied to other scenarios, and no specific limitations are imposed.

[0157] The control method in the embodiments of this application has been described above. Corresponding to the above method embodiments, the embodiments of the power unit, steering wheel, and propulsion system in the embodiments of this application are described below. Please refer to... Figure 7 One embodiment of the power unit in this application, namely embodiment four, may include:

[0158] Steering mechanism 702;

[0159] A control circuit 701 is connected to a steering mechanism 702 and a steering wheel. Upon receiving a command from the steering wheel, the control circuit 701 controls the steering mechanism 702 to rotate. The control circuit 701 is used to: determine a new steering angle range for the steering wheel based on the change in the first rotation angle when it detects that one of the steering wheel or the steering mechanism 702 has undergone a first rotation, while the other has not performed a second rotation according to a preset steering gear ratio; the preset steering gear ratio characterizes the proportional relationship between the difference in the steering wheel's rotation limit angle and the difference in the steering mechanism 702's rotation limit angle; re-establish the mapping relationship between the steering wheel's rotation angle and the steering mechanism 702's rotation angle based on the new steering angle range; control the steering mechanism 702 to steer based on the mapping relationship; and send the new steering angle range to the steering wheel so that the steering wheel rotates within the new steering angle range.

[0160] Optionally, the first rotation occurs on the steering wheel side, and the first rotation occurs before the propulsion system is powered on, the propulsion system including a steering wheel and a steering mechanism 702.

[0161] Optionally, the control circuit 701 is also used to: when the propulsion system is powered on, acquire the first rotation angle of the steering wheel and the second rotation angle of the steering mechanism 702; when the first rotation angle and the second rotation angle are inconsistent, determine that the steering wheel has undergone the first rotation, but the steering mechanism 702 has not performed the second rotation according to the preset steering transmission ratio.

[0162] Optionally, the first rotation occurs on the steering mechanism 702 side, and the first rotation occurs after the propulsion system is powered on, the propulsion system including a steering wheel and the steering mechanism 702.

[0163] Optionally, when the first rotation occurs, the steering motor of the steering mechanism 702 does not operate normally.

[0164] Optionally, the control circuit 701 is specifically used to: redetermine the steering wheel's rotation limit angle based on the change in rotation angle, and determine a new rotation angle range through the redetermined rotation limit angle.

[0165] Optionally, the control circuit 701 is specifically used to: adjust the first rotation limit angle of the steering wheel according to the change in rotation angle to obtain the third rotation limit angle; adjust the second rotation limit angle of the steering wheel according to the change in rotation angle to obtain the fourth rotation limit angle; wherein, the first rotation limit angle and the second rotation limit angle are the angles to the limit positions reached by the steering wheel in two opposite directions respectively; and determine the new rotation angle range through the third rotation limit angle and the fourth rotation limit angle.

[0166] Please see Figure 7 Another embodiment of the power unit in this application, namely embodiment five, may include:

[0167] Steering mechanism 702;

[0168] The control circuit 701 is communicatively connected to the steering mechanism 702 and also communicatively connected to the steering wheel. Upon receiving a command from the steering wheel, the control circuit 701 controls the steering mechanism 702 to rotate. The control circuit 701 is used to: receive a new steering angle range sent by the steering wheel, which is determined based on the change in the first rotation angle when the steering wheel detects that one of itself and the steering mechanism 702 has undergone a first rotation, while the other has not performed a second rotation according to a preset steering gear ratio; re-establish the mapping relationship between the steering wheel's rotation angle and the steering mechanism 702's rotation angle based on the new steering angle range; and control the steering mechanism to steer based on the mapping relationship.

[0169] Optionally, the first rotation occurs on the steering wheel side, and the first rotation occurs before the propulsion system is powered on, the propulsion system including a steering wheel and a steering mechanism 702.

[0170] Optionally, the first rotation occurs on the steering mechanism 702 side, and the first rotation occurs after the propulsion system is powered on, the propulsion system including a steering wheel and the steering mechanism 702.

[0171] Optionally, when the first rotation occurs, the steering motor of the steering mechanism 702 does not operate normally.

[0172] Please see Figure 8 One embodiment of the steering wheel in this application, namely embodiment six, may include:

[0173] The steering wheel includes a processing circuit 801, which is communicatively connected to the power unit. The processing circuit 801 can output commands to control the steering mechanism of the power unit to rotate. The processing circuit 801 is used to: determine a new steering angle range of the steering wheel based on the change in the first rotation angle when it is detected that one of the steering wheel and the steering mechanism has undergone a first rotation and the other has not undergone a second rotation according to a preset steering gear ratio; and control the steering wheel to rotate within the new steering angle range. The preset steering gear ratio represents the proportional relationship between the difference in the steering wheel's rotation limit angle and the difference in the steering mechanism's rotation limit angle; re-establish the mapping relationship between the steering wheel's rotation angle and the steering mechanism's rotation angle based on the new steering angle range; and send the mapping relationship to the power unit so that the power unit controls the steering mechanism to turn according to the mapping relationship.

[0174] Optionally, the first rotation occurs on the steering wheel side, and the first rotation occurs before the propulsion system is powered on, the propulsion system including a steering wheel and a steering mechanism.

[0175] Optionally, the processing circuit 801 is specifically used to: when the system is powered on, acquire the first rotation angle of the steering wheel and the second rotation angle of the steering mechanism; when the first rotation angle and the second rotation angle are inconsistent, determine that the steering wheel has undergone the first rotation, but the steering mechanism has not performed the second rotation according to the preset steering transmission ratio.

[0176] Optionally, the first rotation occurs on the steering mechanism side, and the first rotation occurs after the propulsion system is powered on, the propulsion system including a steering wheel and a steering mechanism.

[0177] Optionally, the steering motor of the steering mechanism may not be operating normally when the first rotation occurs.

[0178] Optionally, the processing circuit 801 is specifically used to: redetermine the steering wheel's rotation limit angle based on the change in rotation angle, and determine a new rotation angle range through the redetermined rotation limit angle.

[0179] Optionally, the processing circuit 801 is specifically used to: adjust the first rotation limit angle of the steering wheel according to the change in rotation angle to obtain the third rotation limit angle; adjust the second rotation limit angle of the steering wheel according to the change in rotation angle to obtain the fourth rotation limit angle; wherein, the first rotation limit angle and the second rotation limit angle are the angles to the limit positions reached by the steering wheel in two opposite directions respectively; and determine the new rotation angle range through the third rotation limit angle and the fourth rotation limit angle.

[0180] Optionally, the processing circuit 801 is also used to: determine the third rotation limit angle and the fourth rotation limit angle as the updated rotation limit angle; when the steering wheel is at the updated rotation limit angle, output a limiting force to the steering wheel, the limiting force being used to restrict the steering wheel from rotating in a direction exceeding the updated rotation limit angle.

[0181] Optionally, the processing circuit 801 is specifically used to control the damping motor to output a limiting force to the steering wheel.

[0182] Optionally, the processing circuit 801 is specifically used to control the engagement limit mechanism to output a limit force to the steering wheel.

[0183] Optionally, the engagement limiting mechanism includes a ratchet limiting mechanism, which includes a pawl, a ratchet, and an actuator; the processing circuit 801 is specifically used to control the actuator to drive the pawl so that the pawl engages with the tooth groove of the ratchet to form a limiting force.

[0184] Optionally, the engagement limiting mechanism includes a stop lever limiting mechanism, which includes a limiting lever, a limiting gear, and an actuator; the processing circuit 801 is specifically used to: control the actuator to drive the limiting lever so that the limiting lever engages with the tooth groove of the limiting gear to form a limiting force.

[0185] Optionally, the processing circuit 801 is specifically used to control the friction limiting mechanism to output a limiting force to the steering wheel.

[0186] Optionally, the friction limiting mechanism includes a roller limiting mechanism, which includes a limiting post, a limiting member, and an actuator; the processing circuit 801 is specifically used to control the actuator to drive the limiting post so that the limiting post and the limiting wall of the limiting member rub against each other to form a limiting force.

[0187] Please see Figure 8 Another embodiment of the steering wheel in this application, namely embodiment seven, may include:

[0188] The steering wheel includes a processing circuit 801, which is communicatively connected to the power unit. The processing circuit 801 can output commands to control the steering mechanism of the power unit to rotate. The processing circuit 801 is used to: determine a new steering angle range of the steering wheel based on the change in the rotation angle of the first rotation when it is detected that one of the steering wheel and the steering mechanism has undergone a first rotation and the other has not undergone a second rotation according to a preset steering gear ratio; and control the steering wheel to rotate within the new steering angle range. The preset steering gear ratio represents the proportional relationship between the difference in the steering wheel's rotation limit angle and the difference in the steering mechanism's rotation limit angle; and send the new steering angle range to the power unit so that the power unit can re-establish the mapping relationship between the steering wheel's rotation angle and the steering mechanism's rotation angle based on the new steering angle range, and control the steering mechanism to steer according to the mapping relationship.

[0189] Optionally, the first rotation occurs on the steering wheel side, and the first rotation occurs before the propulsion system is powered on, the propulsion system including a steering wheel and a steering mechanism.

[0190] Optionally, the processing circuit 801 is specifically used to: when the system is powered on, acquire the first rotation angle of the steering wheel and the second rotation angle of the steering mechanism; when the first rotation angle and the second rotation angle are inconsistent, determine that the steering wheel has undergone the first rotation, but the steering mechanism has not performed the second rotation according to the preset steering transmission ratio.

[0191] Optionally, the first rotation occurs on the steering mechanism side, and the first rotation occurs after the propulsion system is powered on, the propulsion system including a steering wheel and a steering mechanism.

[0192] Optionally, the steering motor of the steering mechanism may not be operating normally when the first rotation occurs.

[0193] Optionally, the processing circuit 801 is specifically used to: redetermine the steering wheel's rotation limit angle based on the change in rotation angle, and determine a new rotation angle range through the redetermined rotation limit angle.

[0194] Optionally, the processing circuit 801 is specifically used to: adjust the first rotation limit angle of the steering wheel according to the change in rotation angle to obtain the third rotation limit angle; adjust the second rotation limit angle of the steering wheel according to the change in rotation angle to obtain the fourth rotation limit angle; wherein, the first rotation limit angle and the second rotation limit angle are the angles to the limit positions reached by the steering wheel in two opposite directions respectively; and determine the new rotation angle range through the third rotation limit angle and the fourth rotation limit angle.

[0195] Optionally, the processing circuit 801 is also used to: determine the third rotation limit angle and the fourth rotation limit angle as the updated rotation limit angle; when the steering wheel is at the updated rotation limit angle, output a limiting force to the steering wheel, the limiting force being used to restrict the steering wheel from rotating in a direction exceeding the updated rotation limit angle.

[0196] Optionally, the processing circuit 801 is specifically used to control the damping motor to output a limiting force to the steering wheel.

[0197] Optionally, the processing circuit 801 is specifically used to control the engagement limit mechanism to output a limit force to the steering wheel.

[0198] Optionally, the engagement limiting mechanism includes a ratchet limiting mechanism, which includes a pawl, a ratchet, and an actuator; the processing circuit 801 is specifically used to control the actuator to drive the pawl so that the pawl engages with the tooth groove of the ratchet to form a limiting force.

[0199] Optionally, the engagement limiting mechanism includes a stop lever limiting mechanism, which includes a limiting lever, a limiting gear, and an actuator; the processing circuit 801 is specifically used to: control the actuator to drive the limiting lever so that the limiting lever engages with the tooth groove of the limiting gear to form a limiting force.

[0200] Optionally, the processing circuit 801 is specifically used to control the friction limiting mechanism to output a limiting force to the steering wheel.

[0201] Optionally, the friction limiting mechanism includes a roller limiting mechanism, which includes a limiting post, a limiting member, and an actuator; the processing circuit 801 is specifically used to control the actuator to drive the limiting post so that the limiting post and the limiting wall of the limiting member rub against each other to form a limiting force.

[0202] Please see Figures 9a-11c Optionally, for the steering wheel of Embodiments 6 and 7, the steering wheel may further include: a first rotating shaft 130, a housing, and a limiting mechanism. One end of the first rotating shaft 130 is housed in the housing, and the other end extends out of the housing to connect with the steering wheel body; the limiting mechanism is housed in the housing, and the limiting mechanism is used to output a limiting force to the steering wheel when the steering wheel is at its rotation limit angle, the limiting force being used to restrict the steering wheel from rotating in a direction exceeding the rotation limit angle.

[0203] Optionally, the limiting mechanism can be a locking limiting mechanism.

[0204] See Figure 9a as well as Figure 9b Optionally, the engagement limiting mechanism may include a ratchet limiting mechanism, which may include a pawl 150, a ratchet 160, and an actuator 170. The ratchet 160 is sleeved on the first rotating shaft 130 and fixed relative to the first rotating shaft 130. The actuator 170 can drive the pawl 150 to move so that the pawl 150 engages with the tooth groove of the ratchet 160 to form a limiting force.

[0205] Optionally, the steering wheel also includes a mounting plate 180, which is sleeved on the first rotating shaft 130 and can rotate relative to the first rotating shaft 130. A second rotating shaft 190 is provided on the mounting plate 180. One end of the pawl 150 is sleeved on the second rotating shaft 190 and can rotate relative to the second rotating shaft 190. The other end of the pawl 150 is used to engage with the tooth groove. The actuator 170 includes a telescopic part 1701, which pushes the pawl 150 to rotate around the second rotating shaft 190 when it extends or retracts.

[0206] Optionally, such as Figure 9b As shown, the actuator 170 is connected to the pawl 150 via a connecting rod 140. One end of the connecting rod 140 is hinged to the free end of the telescopic part 1701 of the actuator 170, and the other end of the connecting rod 140 is hinged to the pawl 150. When the telescopic part 1701 of the actuator 170 extends, the telescopic part 1701 drives the free end of the pawl 150 to move away from the ratchet 160 via the connecting rod 140. When the telescopic part 1701 retracts, the telescopic part 1701 drives the free end of the pawl 150 to move towards the pawl via the connecting rod 140, and finally engages with the pawl to achieve a limit.

[0207] Optionally, the number of ratchet limiting mechanisms may include two, with the two ratchet limiting mechanisms located on opposite sides of the mounting plate 180, and the tooth grooves of the ratchet 160 of the two ratchet limiting mechanisms facing opposite directions. Thus, one ratchet limiting mechanism can be used to restrict the first rotating shaft 130 from rotating in a first direction, and the other ratchet limiting mechanism can be used to restrict the first rotating shaft 130 from rotating in a second direction opposite to the first direction.

[0208] Please see Figure 10a as well as Figure 10bOptionally, the engagement limiting mechanism may include a stop lever limiting mechanism, which may include a limiting rod 200, a limiting gear 210, and an actuator 220. The limiting gear 210 is sleeved on the first rotating shaft 130 and fixed relative to the first rotating shaft 130. The actuator 220 can drive the limiting rod 200 to move so that the limiting rod 200 engages with the tooth groove of the limiting gear 210 to form a limiting force.

[0209] Optionally, the steering wheel may also include a mounting plate 230, which is sleeved on the first rotating shaft 130 and rotatable relative to the first rotating shaft 130. A limiting rod 200 and an actuator 220 are both mounted on the mounting plate 230, with the limiting rod 200 positioned closer to the end of the first rotating shaft 130 away from the housing than the actuator 220. Specifically, one end of the limiting rod 200 abuts against the free end of the telescopic portion 2201 of the actuator 220. When the telescopic portion 2201 of the actuator 220 extends, the limiting rod 200 is pushed up by the telescopic portion 2201, and the end of the limiting rod 200 away from the telescopic portion 2201 enters the tooth groove of the limiting gear 210 to engage with the tooth groove, thereby limiting the rotation of the first rotating shaft 130. When the telescopic part 2201 of the actuator 220 retracts, the limiting rod 200 falls off under the action of gravity, and the end of the limiting rod 200 away from the telescopic part 2201 leaves the tooth groove, thereby releasing the rotation restriction on the first rotating shaft 130.

[0210] Optionally, the limiting mechanism can also be a friction limiting mechanism.

[0211] Please see Figure 11a , Figure 11b as well as Figure 11c Optionally, the friction limiting mechanism may include a roller limiting mechanism, which may include a limiting post 240, a limiting member 250, and an actuator 270. The limiting member 250 forms a limiting space 260, and the actuator 270 can drive the limiting post 240 to move in the limiting space 260 and cause the limiting post 240 to rub against the limiting wall surrounding the limiting space 260 to generate a limiting force.

[0212] Optionally, the limiting member 250 may include a first limiting member 2501 and a second limiting member 2502. The first limiting member 2501 is sleeved on the first rotating shaft 130 and fixed relative to the first rotating shaft 130. The second limiting member 2502 is sleeved on the first rotating shaft 130 and can rotate relative to the first rotating shaft 130. The first limiting member 2501 and the second limiting member 2502 are not concentrically arranged to form a limiting space 260. When the steering wheel is at the rotation limit angle, the actuator 270 drives the limiting post 240 to move in the direction where the radial distance of the limiting space 260 decreases.

[0213] Optionally, there can be two limit posts 240 and two actuators 270. One limit post 240 and one actuator 270 are used to limit the rotation of the first shaft 130 in a first direction, and the other limit post 240 and the other actuator 270 are used to limit the rotation of the first shaft 130 in a second direction, which is opposite to the second direction.

[0214] See Figure 12 This application also provides a propulsion system, which includes a steering wheel and the power device described in Embodiment 4. The steering wheel includes a processing circuit 1203, which is communicatively connected to a control circuit 1201. The processing circuit 1203 is used to receive a new turning angle range sent by the control circuit 1201 and control the steering wheel to rotate within the new turning angle range.

[0215] Optionally, the propulsion system may also include a first transmission line, and the power unit may also include a second transmission line. The processing circuit 1203 may receive a new turning angle range sent by the control circuit 1201 through the first transmission line, and the control circuit of the power unit may send a control signal to the steering mechanism through the second transmission line so that the steering mechanism turns based on the control signal.

[0216] Optionally, the first transmission line and the second transmission line can be two different buses. The first transmission line can be used to interact with external devices (such as displays, steering wheels, rudders, remote control boxes, etc.), while the second transmission line can be used to interact with internal devices (such as steering mechanisms, lifting mechanisms, power mechanisms, etc.). All data is managed by the control circuit of the power unit, resulting in a clearer system architecture and easier device expansion.

[0217] See Figure 12 This application also provides a propulsion system, which includes the power unit described in Embodiment 5 and the steering wheel described in Embodiment 7.

[0218] Optionally, the propulsion system may also include a third transmission line, and the power unit may also include a fourth transmission line. The control circuit 1201 may receive a new turning angle range sent by the processing circuit 1203 through the third transmission line, and the control circuit 1201 of the power unit may send a control signal to the steering mechanism through the fourth transmission line so that the steering mechanism turns based on the control signal.

[0219] Optionally, the third and fourth transmission lines can be two different buses. The third transmission line can be used to interact with external devices (such as displays, steering wheels, rudders, remote control boxes, etc.), while the fourth transmission line can be used to interact with internal devices (such as steering mechanisms, lifting mechanisms, power mechanisms, etc.). All data is managed by the control circuit of the power unit, resulting in a clearer system architecture and easier device expansion.

[0220] See Figure 12 This application also provides a propulsion system, which includes a power unit and a steering wheel as described in Embodiment Six. The power unit includes a control circuit 1201, which is used to receive a mapping relationship sent by the steering wheel and control the steering mechanism 1202 to steer according to the mapping relationship.

[0221] Optionally, the propulsion system may also include a fifth transmission line, and the power unit may also include a sixth transmission line. The control circuit 1201 can receive the mapping relationship sent by the processing circuit 1203 through the fifth transmission line, and the control circuit of the power unit can send a control signal to the steering mechanism through the sixth transmission line so that the steering mechanism can turn based on the control signal.

[0222] Optionally, the fifth and sixth transmission lines can be two different buses. The fifth transmission line can be used to interact with external devices (such as displays, steering wheels, rudders, remote control boxes, etc.), while the sixth transmission line can be used to interact with internal devices (such as steering mechanisms, lifting mechanisms, power mechanisms, etc.). All data is managed by the control circuit of the power unit, resulting in a clearer system architecture and easier device expansion.

[0223] This application also provides a mobile device, including: a body; and a propulsion system as described in any of the above embodiments, wherein the propulsion system is mounted on the body.

[0224] Optionally, the mobile device can be a waterborne mobile device, such as a vessel navigating waterways, or a land-based mobile device, such as a drive-by-wire vehicle traveling on land, or other types of mobile devices. There are no specific limitations on the type of mobile device.

[0225] This application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the control method described in any of the above embodiments.

[0226] Computer-readable storage media can be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage devices, etc., without any specific limitation.

[0227] The above description is only a specific embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A control method for a power unit, characterized in that, The power unit is communicatively connected to the steering wheel, and the steering mechanism of the power unit can perform corresponding steering when the steering wheel is turned. The control methods include: If the power unit detects that one of the steering wheel and the steering mechanism has undergone a first rotation, and the other has not performed a second rotation according to the preset steering transmission ratio, then the new steering angle range of the steering wheel is determined according to the amount of change in the rotation angle of the first rotation. The preset steering transmission ratio characterizes the proportional relationship between the difference in the rotation limit angle of the steering wheel and the difference in the rotation limit angle of the steering mechanism. The mapping relationship between the steering wheel rotation angle and the steering mechanism rotation angle is re-established based on the new rotation angle range; The steering mechanism is controlled to steer based on the mapping relationship; Send a new steering angle range to the steering wheel so that the steering wheel turns within the new steering angle range.

2. A control method for a power unit, characterized in that, The power unit is communicatively connected to the steering wheel, and the steering mechanism of the power unit can perform corresponding steering when the steering wheel is turned. The control methods include: The new steering angle range is received from the steering wheel. The new steering angle range is determined by the change in the rotation angle of the first rotation when the steering wheel detects that it has undergone a first rotation with one of the steering mechanisms and the other has not performed a second rotation according to the preset steering transmission ratio. The preset steering transmission ratio represents the proportional relationship between the difference in the steering wheel's rotation limit angle and the difference in the steering mechanism's rotation limit angle. The mapping relationship between the steering wheel rotation angle and the steering mechanism rotation angle is re-established based on the new rotation angle range; The steering mechanism is controlled to steer based on the mapping relationship.

3. A control method for a steering wheel, the steering wheel being communicatively connected to a power unit and used to control the steering mechanism of the power unit, characterized in that, Control methods include: If it is detected that one of the steering wheel and the steering mechanism has undergone a first rotation, and the other has not performed a second rotation according to the preset steering transmission ratio, then the new steering angle range of the steering wheel is determined according to the change in the rotation angle of the first rotation, and the steering wheel is controlled to rotate within the new steering angle range. The preset steering transmission ratio represents the proportional relationship between the difference in the rotation limit angle of the steering wheel and the difference in the rotation limit angle of the steering mechanism. The mapping relationship between the steering wheel rotation angle and the steering mechanism rotation angle is re-established based on the new rotation angle range; The mapping relationship is sent to the power unit so that the power unit controls the steering mechanism to steer according to the mapping relationship.

4. A control method for a steering wheel, characterized in that, The steering wheel is communicatively connected to the power unit and is used to control the steering mechanism of the power unit. The control methods include: If it is detected that one of the steering wheel and the steering mechanism has undergone a first rotation, and the other has not performed a second rotation according to the preset steering transmission ratio, then the new steering angle range of the steering wheel is determined according to the change in the rotation angle of the first rotation, and the steering wheel is controlled to rotate within the new steering angle range. The preset steering transmission ratio represents the proportional relationship between the difference in the rotation limit angle of the steering wheel and the difference in the rotation limit angle of the steering mechanism. A new steering angle range is sent to the power unit so that the power unit can re-establish the mapping relationship between the steering wheel rotation angle and the steering mechanism rotation angle based on the new steering angle range, and control the steering mechanism to steer according to the mapping relationship.

5. The control method according to any one of claims 1, 3, and 4, characterized in that, The first rotation occurs on the steering wheel side, and the first rotation occurs before the propulsion system is powered on. The propulsion system includes a steering wheel and a steering mechanism.

6. The control method according to claim 5, characterized in that, Control methods also include: When the propulsion system is powered on, the first rotation angle of the steering wheel and the second rotation angle of the steering mechanism are obtained; When the first rotation angle and the second rotation angle are inconsistent, it is determined that the steering wheel has undergone the first rotation, but the steering mechanism has not performed the second rotation according to the preset steering transmission ratio.

7. The control method according to any one of claims 1, 3, and 4, characterized in that, The first rotation occurs on the steering mechanism side, and the first rotation occurs after the propulsion system is powered on. The propulsion system includes a steering wheel and a steering mechanism.

8. The control method according to claim 7, characterized in that, When the first rotation occurs, the steering motor of the steering mechanism does not operate normally.

9. The control method according to claim 1, characterized in that, The new steering wheel angle range is determined based on the change in the first rotation angle, including: The steering wheel's rotation limit angle is redefined based on the change in rotation angle, and a new rotation angle range is determined using the redefined rotation limit angle.

10. The control method according to claim 9, characterized in that, The steering wheel's rotation limit angle is redefined based on the change in rotation angle. A new rotation angle range is then determined using this redefined limit angle, including: The first rotation limit angle of the steering wheel is adjusted according to the change in rotation angle to obtain the third rotation limit angle; the second rotation limit angle of the steering wheel is adjusted according to the change in rotation angle to obtain the fourth rotation limit angle; wherein, the first rotation limit angle and the second rotation limit angle are the angles to the extreme positions reached by the steering wheel in two opposite directions respectively; The new rotation angle range is determined by the third and fourth rotation limit angles.

11. The control method according to claim 3 or 4, characterized in that, The new steering wheel angle range is determined based on the change in the first rotation angle, including: The steering wheel's rotation limit angle is redefined based on the change in rotation angle, and a new rotation angle range is determined using the redefined rotation limit angle.

12. The control method according to claim 11, characterized in that, The steering wheel's rotation limit angle is redefined based on the change in rotation angle. A new rotation angle range is then determined using this redefined limit angle, including: The first rotation limit angle of the steering wheel is adjusted according to the change in rotation angle to obtain the third rotation limit angle; the second rotation limit angle of the steering wheel is adjusted according to the change in rotation angle to obtain the fourth rotation limit angle; wherein, the first rotation limit angle and the second rotation limit angle are the angles to the extreme positions reached by the steering wheel in two opposite directions respectively; The new rotation angle range is determined by the third and fourth rotation limit angles.

13. The control method according to claim 12, characterized in that, Control methods also include: The third and fourth rotation limit angles are determined as the updated rotation limit angles. When the steering wheel is at the updated rotation limit angle, a limiting force is output to the steering wheel to restrict the steering wheel from rotating in a direction that exceeds the updated rotation limit angle.

14. The control method according to claim 13, characterized in that, Applying limiting force to the steering wheel includes: The control damping motor outputs a limiting force to the steering wheel.

15. The control method according to claim 13, characterized in that, Applying limiting force to the steering wheel includes: The control locking and limiting mechanism outputs a limiting force to the steering wheel.

16. The control method according to claim 15, characterized in that, The engagement limiting mechanism includes a ratchet limiting mechanism, which comprises a pawl, a ratchet, and an actuator. Controlling the engagement limiting mechanism to output a limiting force to the steering wheel includes: The control actuator drives the pawl so that the pawl engages with the teeth of the ratchet, creating a limiting force.

17. The control method according to claim 15, characterized in that, The engagement limiting mechanism includes a stop lever limiting mechanism, which comprises a limiting rod, a limiting gear, and an actuator. Controlling the engagement limiting mechanism to output a limiting force to the steering wheel includes: The control actuator drives the limit rod so that the limit rod engages with the tooth groove of the limit gear, forming a limiting force.

18. The control method according to claim 13, characterized in that, Applying limiting force to the steering wheel includes: The friction limiting mechanism outputs a limiting force to the steering wheel.

19. The control method according to claim 18, characterized in that, The friction limiting mechanism includes a roller limiting mechanism, which comprises a limiting post, a limiting element, and an actuator. Controlling the friction limiting mechanism to output a limiting force to the steering wheel includes: The control actuator drives the limiting post so that the limiting post and the limiting wall of the limiting component rub against each other, forming a limiting force.

20. A control method for a propulsion system, the propulsion system including a steering wheel and a power unit, the steering wheel being communicatively connected to the power unit and used to control the steering mechanism of the power unit, characterized in that, Control methods include: If it is detected that one of the steering wheel and the steering mechanism has undergone a first rotation, and the other has not performed a second rotation according to the preset steering transmission ratio, the power unit determines the new steering angle range of the steering wheel based on the change in the rotation angle of the first rotation. The preset steering transmission ratio characterizes the proportional relationship between the difference in the steering wheel's rotation limit angle and the difference in the steering mechanism's rotation limit angle. The power unit re-establishes the mapping relationship between the steering wheel rotation angle and the steering mechanism rotation angle based on the new steering angle range; The power unit controls the steering mechanism to steer according to the mapping relationship; The power unit sends a new steering angle range to the steering wheel; The steering wheel receives the new turning angle range and turns within the new turning angle range.

21. A control method for a propulsion system, the propulsion system including a steering wheel and a power unit, the steering wheel being communicatively connected to the power unit and used to control the steering mechanism of the power unit, characterized in that, Control methods include: If it is detected that one of the steering wheel and the steering mechanism has undergone a first rotation, and the other has not performed a second rotation according to the preset steering transmission ratio, the steering wheel determines its new turning angle range based on the change in the rotation angle of the first rotation, and rotates within the new turning angle range. The preset steering transmission ratio characterizes the proportional relationship between the difference in the rotation limit angle of the steering wheel and the difference in the rotation limit angle of the steering mechanism. The steering wheel re-establishes the mapping relationship between its own rotation angle and the rotation angle of the steering mechanism based on the new rotation angle range; The steering wheel sends the mapping relationship to the power unit; The power unit receives the mapping relationship and controls the steering mechanism to steer according to the mapping relationship.

22. A control method for a propulsion system, the propulsion system including a steering wheel and a power unit, the steering wheel being communicatively connected to the power unit and used to control the steering mechanism of the power unit, characterized in that, Control methods include: If it is detected that one of the steering wheel and the steering mechanism has undergone a first rotation, and the other has not performed a second rotation according to the preset steering transmission ratio, the steering wheel determines its new turning angle range based on the change in the rotation angle of the first rotation, and rotates within the new turning angle range. The preset steering transmission ratio characterizes the proportional relationship between the difference in the rotation limit angle of the steering wheel and the difference in the rotation limit angle of the steering mechanism. The steering wheel sends a new steering angle range to the power unit; The power unit receives the new turning angle range; The power unit re-establishes the mapping relationship between the steering wheel rotation angle and the steering mechanism rotation angle based on the new steering angle range, and controls the steering mechanism to steer according to the mapping relationship.

23. A power unit, characterized in that, The power unit includes: Steering mechanism; The control circuit is connected to the steering mechanism and also to the steering wheel. Upon receiving commands from the steering wheel, the control circuit controls the steering mechanism to rotate. The control circuit is used for: When the power unit detects that one of the steering wheel and the steering mechanism has undergone a first rotation, and the other has not performed a second rotation according to the preset steering transmission ratio, the new steering angle range of the steering wheel is determined based on the change in the rotation angle of the first rotation. The preset steering transmission ratio characterizes the proportional relationship between the difference in the steering wheel's rotation limit angle and the difference in the steering mechanism's rotation limit angle. The mapping relationship between the steering wheel rotation angle and the steering mechanism rotation angle is re-established based on the new rotation angle range; The steering mechanism is controlled to steer based on the mapping relationship; Send a new steering angle range to the steering wheel so that the steering wheel turns within the new steering angle range.

24. A power unit, characterized in that, The power unit includes: Steering mechanism; The control circuit is communicatively connected to the steering mechanism and also to the steering wheel. Upon receiving commands from the steering wheel, the control circuit controls the steering mechanism to rotate. The control circuit is used for: The new steering angle range is received from the steering wheel. The new steering angle range is determined by the change in the rotation angle of the first rotation when the steering wheel detects that it has undergone a first rotation with one of the steering mechanisms and the other has not performed a second rotation according to the preset steering transmission ratio. The preset steering transmission ratio represents the proportional relationship between the difference in the steering wheel's rotation limit angle and the difference in the steering mechanism's rotation limit angle. The mapping relationship between the steering wheel rotation angle and the steering mechanism rotation angle is re-established based on the new rotation angle range; The steering mechanism is controlled to steer based on the mapping relationship.

25. A steering wheel, characterized in that, The steering wheel includes a processing circuit that is communicatively connected to the power unit. This processing circuit outputs commands to control the steering mechanism of the power unit. The processing circuit is used for: When it is detected that one of the steering wheel and the steering mechanism has undergone a first rotation and the other has not performed a second rotation according to the preset steering transmission ratio, the new steering angle range of the steering wheel is determined based on the change in the rotation angle of the first rotation, and the steering wheel is controlled to rotate within the new steering angle range. The preset steering transmission ratio characterizes the proportional relationship between the difference in the steering wheel's rotation limit angle and the difference in the steering mechanism's rotation limit angle. The mapping relationship between the steering wheel rotation angle and the steering mechanism rotation angle is re-established based on the new rotation angle range; The mapping relationship is sent to the power unit so that the power unit controls the steering mechanism to steer according to the mapping relationship.

26. A steering wheel, characterized in that, The steering wheel includes a processing circuit that is communicatively connected to the power unit. This processing circuit outputs commands to control the steering mechanism of the power unit. The processing circuit is used for: When it is detected that one of the steering wheel and the steering mechanism has undergone a first rotation and the other has not performed a second rotation according to the preset steering transmission ratio, the new steering angle range of the steering wheel is determined based on the change in the rotation angle of the first rotation, and the steering wheel is controlled to rotate within the new steering angle range. The preset steering transmission ratio characterizes the proportional relationship between the difference in the steering wheel's rotation limit angle and the difference in the steering mechanism's rotation limit angle. A new steering angle range is sent to the power unit so that the power unit can re-establish the mapping relationship between the steering wheel rotation angle and the steering mechanism rotation angle based on the new steering angle range, and control the steering mechanism to steer according to the mapping relationship.

27. The steering wheel according to claim 25 or 26, characterized in that, The steering wheel also includes: First pivot; The housing, with one end of the first rotating shaft housed within the housing; The limiting mechanism is housed in the housing. The limiting mechanism is used to output a limiting force to the steering wheel when the steering wheel is at its rotation limit angle. The limiting force is used to restrict the steering wheel from rotating in a direction that exceeds the rotation limit angle.

28. The steering wheel according to claim 27, characterized in that, Limiting mechanisms include locking and limiting mechanisms.

29. The steering wheel according to claim 28, characterized in that, The engagement limiting mechanism includes a ratchet limiting mechanism, which includes a pawl, a ratchet, and an actuator. The ratchet is sleeved on the first rotating shaft and fixed relative to the first rotating shaft. The actuator can drive the pawl to move so that the pawl engages with the tooth groove of the ratchet to form a limiting force.

30. The steering wheel according to claim 29, characterized in that, The steering wheel also includes a mounting plate that is fitted onto a first pivot and is rotatable relative to the first pivot. A second pivot is provided on the mounting plate. One end of a pawl is fitted onto the second pivot and is rotatable relative to the second pivot. The other end of the pawl is used to engage with a tooth groove. The actuator includes a telescopic part that pushes the pawl to rotate around the second pivot when it extends or retracts.

31. The steering wheel according to claim 30, characterized in that, The ratchet limiting mechanism consists of two ratchet limiting mechanisms, which are located on opposite sides of the mounting plate, and the tooth grooves of the ratchets of the two ratchet limiting mechanisms are in opposite directions.

32. The steering wheel according to claim 28, characterized in that, The engagement limiting mechanism includes a stop lever limiting mechanism, which includes a limiting lever, a limiting gear, and an actuator. The limiting gear is sleeved on the first rotating shaft and fixed relative to the first rotating shaft. The actuator can drive the limiting lever to move so that the limiting lever engages with the tooth groove of the limiting gear to form a limiting force.

33. The steering wheel according to claim 32, characterized in that, The steering wheel also includes a mounting plate that is fitted onto the first pivot and is rotatable relative to the first pivot. A limit rod and an actuator are both mounted on the mounting plate, with the limit rod being closer to the end of the first pivot that is furthest from the housing than the actuator.

34. The steering wheel according to claim 27, characterized in that, Limiting mechanisms include friction limiting mechanisms.

35. The steering wheel according to claim 34, characterized in that, The friction limiting mechanism includes a roller limiting mechanism, which includes a limiting post, a limiting element, and an actuator. The limiting element forms a limiting space, and the actuator can drive the limiting post to move in the limiting space and cause the limiting post to rub against the limiting wall surrounding the limiting space to generate a limiting force.

36. The steering wheel according to claim 35, characterized in that, The limiting component includes a first limiting component and a second limiting component. The first limiting component is sleeved on the first rotating shaft and fixed relative to the first rotating shaft. The second limiting component is sleeved on the first rotating shaft and can rotate relative to the first rotating shaft. The first limiting component and the second limiting component are not concentrically arranged to form a limiting space. When the steering wheel is at the rotation limit angle, the actuator drives the limiting column to move in the direction of decreasing radial distance of the limiting space.

37. The steering wheel according to claim 36, characterized in that, The number of limit posts and actuators includes two.

38. A propulsion system, characterized in that, The propulsion system includes a steering wheel and the power unit as described in claim 23. The steering wheel includes a processing circuit that is communicatively connected to a control circuit. The processing circuit is used to receive a new steering angle range sent by the control circuit and control the steering wheel to rotate within the new steering angle range.

39. A propulsion system, characterized in that, The propulsion system includes the power unit as described in claim 24 and the steering wheel as described in claim 26.

40. A propulsion system, characterized in that, The propulsion system includes a power unit and a steering wheel as described in claim 25. The power unit includes a control circuit for receiving a mapping relationship sent by the steering wheel and controlling the steering mechanism to steer according to the mapping relationship.

41. A mobile device, characterized in that, include: The subject; and The propulsion system of any one of claims 38-40, wherein the propulsion system is mounted on the body.

42. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the control method according to any one of claims 1-22.

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