Control method, warping device, thruster, movable device, and storage medium

Abstract

The application provides a control method, a lifting device, a water area propeller, a water area movable device and a computer readable storage medium. The control method comprises the following steps: when a lifting control instruction of the lifting device is received, a target lifting direction indicated by the lifting control instruction is determined; if the target lifting direction is opposite to a lifting direction executed by the lifting device in a set period, the lifting device is controlled to be in a stop state to release a back electromotive force generated by a motor of the lifting device when rotating, and the set period is a period with a set time length from a time when the lifting control instruction is received by the lifting device; and in the case that the back electromotive force meets a preset condition, the lifting device is controlled to execute a lifting action in the target lifting direction according to the lifting control instruction. The scheme of the application is beneficial to eliminating the current surge problem caused by the back electromotive force, thereby protecting hardware devices of the lifting device.

Description

Technical Field

[0001] One or more embodiments of this application relate to the field of tilting control technology, and more particularly to a control method, tilting device, water propulsion device, water mobile device, and computer-readable storage medium. Background Technology

[0002] Outboard motors, also known as water propulsion systems, are detachable power units that are suspended from the stern of boats or other mobile water-based devices to propel them. These propulsion systems typically include a lifting mechanism to control the angle between the propeller shaft and the water surface, as well as the propeller's height above the water, during navigation to adapt to different water conditions. Furthermore, when the boat is moored or not in use for extended periods, the underwater portion of the outboard motor can be lifted out of the water to prevent corrosion and impact damage.

[0003] The motor of the lifting device generates a back electromotive force when it rotates. If the lifting direction is suddenly changed (for example, from lifting upwards to lifting downwards, or from lifting downwards to lifting upwards), the motor needs to overcome this back electromotive force when rotating in the opposite direction, which will cause a surge in current and pose a risk of overcurrent damage to the device. Summary of the Invention

[0004] In view of the above, one or more embodiments of this application provide a control method, a lifting device, a water propulsion device, a water-mobile device, and a computer-readable storage medium.

[0005] To achieve the above objectives, one or more embodiments of this application provide the following technical solutions:

[0006] According to a first aspect of one or more embodiments of this application, a control method for a lifting device is provided, the control method comprising:

[0007] Upon receiving a lifting control command for the lifting device, the target lifting direction indicated by the lifting control command is determined;

[0008] If the target lifting direction is opposite to the lifting direction executed by the lifting device within a set time period, the lifting device is controlled to be in a stopped state to release the back electromotive force generated by the motor of the lifting device when it rotates. The set time period is a set time period from the moment when the lifting device receives the lifting control command.

[0009] When the back electromotive force meets the preset conditions, the lifting device is controlled to perform a lifting action in the target lifting direction according to the lifting control command.

[0010] Optionally, if the target lifting direction is opposite to the lifting direction already executed by the lifting device within a set time period, controlling the lifting device to be in a stopped state to release the back electromotive force generated by the motor of the lifting device during rotation includes:

[0011] If the lifting device is currently in operation and the target lifting direction is opposite to the current lifting direction of the lifting device, the lifting device is controlled to enter the shutdown state and remain in the shutdown state to release the back electromotive force.

[0012] If the lifting device is currently in the stopped state and the target lifting direction is opposite to the lifting direction of the lifting device before it stopped, the lifting device is controlled to continue to maintain the stopped state to release the back electromotive force. At least part of the time when the lifting device performed the lifting action before it stopped was within the set time period.

[0013] Optionally, controlling the tilting device to be in a stopped state includes:

[0014] The lifting device is kept in the stopped state for a preset time, and the preset time is determined according to the release time of the back electromotive force.

[0015] Optionally, controlling the lifting device to enter the shutdown state and maintaining the shutdown state includes:

[0016] The lifting device is controlled to enter a stop state and remains in the stop state for a preset time; wherein the preset time is determined based on the release time of the back electromotive force.

[0017] Optionally, controlling the lifting device to continue maintaining the stopped state includes:

[0018] The lifting device is controlled to remain in a stopped state for a preset time; wherein the preset time is determined based on the release time of the back electromotive force.

[0019] Optionally, the rotational speed of the motor is positively correlated with the back electromotive force;

[0020] The preset duration is less than or equal to the release duration of the back electromotive force generated when the motor rotates at its maximum speed.

[0021] Optionally, the rotational speed of the motor is positively correlated with the back electromotive force;

[0022] The lifting device has a pre-stored correspondence between different motor speeds and different durations; the different durations are determined based on the release duration of the back electromotive force generated by the motor at different speeds.

[0023] If the lifting device is currently in operation, the preset duration is determined based on the current speed of the motor and the corresponding relationship;

[0024] If the lifting device is currently in the stopped state, the preset duration is determined based on the motor speed before stopping and the corresponding relationship.

[0025] Optionally, the control method further includes: during the period when the lifting device is in the stopped state, detecting the decrease in the back electromotive force generated by the motor of the lifting device; wherein the preset conditions include the back electromotive force being completely released or the back electromotive force being less than a preset threshold.

[0026] Optionally, the lifting device includes a lifting actuator, a controller, and lifting controls; the controller can be directly powered by a first power source, or indirectly powered by the first power source via a second power source; the control method includes:

[0027] When the controller is powered off, in response to the triggering of the lifting control, the current power supply mode of the controller is identified;

[0028] When the current power supply mode is direct power supply mode, the controller is controlled to enter maintenance mode. In maintenance mode, the controller can respond to the lifting control command generated by the triggered lifting control to control the lifting actuator to perform lifting action.

[0029] Optionally, identifying the current power supply mode of the controller includes: detecting the voltage of the second power supply to obtain a voltage value; if the voltage value is less than a first voltage threshold, determining that the current power supply mode of the controller is the direct power supply mode; and / or

[0030] The step of identifying the current power supply mode of the controller includes: during a first time period after the controller is started by the first power supply, detecting the voltage of the second power supply multiple times to obtain multiple voltage values; and determining the current power supply mode of the controller as the direct power supply mode if the number of voltage values ​​less than a first voltage threshold is greater than or equal to a preset number.

[0031] Optionally, after controlling the controller to enter the maintenance mode, the control method further includes: in response to the lifting control not being triggered, starting a countdown of a preset duration; and disconnecting the electrical connection between the first power supply and the controller when the countdown ends, so as to power down the controller.

[0032] Optionally, the control method further includes: if the lifting control is triggered again before the countdown ends, the controller is used to control the lifting actuator to perform the lifting action and restart the countdown of the preset duration.

[0033] Optionally, after controlling the controller to enter the maintenance mode, the control method further includes: in response to the lifting control not being triggered, disconnecting the electrical connection between the first power supply and the controller to power down the controller.

[0034] According to a second aspect of one or more embodiments of this application, a lifting device is provided, including a lifting actuator, a controller, and a lifting control, wherein the controller is connected to the lifting actuator and the lifting control; wherein the controller is used to perform the steps of the control method described in any one of the first aspects.

[0035] According to a third aspect of one or more embodiments of this application, a water propulsion device is provided, comprising: a main unit; and a lifting device as described in the second aspect, the lifting device being connected to the main unit.

[0036] According to a fourth aspect of one or more embodiments of this application, a water-based mobile device is provided, comprising: a mobile body, and a water-based thruster as described in the third aspect, the water-based thruster being mounted on the mobile body.

[0037] According to a fifth aspect of one or more embodiments of this application, a computer-readable storage medium is provided that stores computer instructions thereon, which, when executed by a processor, implement the steps of the control method described in any one of the first aspects.

[0038] This application provides a control method, a tilting device, a water propulsion device, a water-based mobile device, and a computer-readable storage medium. When it is necessary to switch the tilting direction of the tilting device, the tilting device is first controlled to be in a stopped state to release the back electromotive force generated by the motor of the tilting device when it is rotating. Then, the tilting device is controlled to switch directions according to the tilting control command. This helps to eliminate the current surge problem caused by back electromotive force, thereby protecting the hardware components of the tilting device. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the structure of a water-based mobile device provided in an embodiment of this application.

[0040] Figure 2 This is a schematic diagram of the structure of a water propulsion device provided in an embodiment of this application.

[0041] Figure 3This is a schematic diagram showing the changes in the current and voltage of the motor provided in this application when switching the lifting direction.

[0042] Figure 4 This is a flowchart illustrating a control method provided in an embodiment of this application.

[0043] Figure 5 and Figure 6 The embodiments provide schematic diagrams of two control methods.

[0044] Figure 7 This is a schematic diagram of the first circuit connection of the lifting device provided in the embodiments of this application.

[0045] Figure 8 This is a schematic diagram of the second circuit connection of the lifting device provided in the embodiments of this application.

[0046] Figure 9 This is a schematic diagram of the third circuit connection of the lifting device provided in the embodiments of this application.

[0047] Figure 10 This is a circuit connection diagram of a power switch module provided in an embodiment of this application.

[0048] Figure 11 This is a schematic diagram of the fourth circuit connection of the lifting device provided in the embodiments of this application.

[0049] Figure 12 This is a circuit connection diagram of an upward-curving control / downward-curving control provided in an embodiment of this application.

[0050] Figure 13 This is a circuit connection diagram of an isolation module provided in an embodiment of this application.

[0051] Figure 14 This is a fifth circuit connection diagram of the lifting device provided in the embodiments of this application.

[0052] Figure 15 This is a circuit connection diagram of a wake-up module provided in an embodiment of this application.

[0053] Figure 16 This is a sixth circuit connection diagram of the lifting device provided in the embodiments of this application. Detailed Implementation

[0054] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with one or more embodiments of this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of one or more embodiments of this application as detailed in the appended claims.

[0055] It should be noted that the steps of the corresponding methods in other embodiments are not necessarily performed in the order shown and described in this application. In some other embodiments, the methods may include more or fewer steps than those described in this application. Furthermore, a single step described in this application may be broken down into multiple steps in other embodiments; and multiple steps described in this application may be combined into a single step in other embodiments.

[0056] like Figure 1 As shown, this embodiment provides a water-based mobile device 300, including a movable body 3001 and a water-based thruster 201, which is movably connected to the movable body 3001. The water-based thruster 201 serves as a power supply device for the water-based mobile device 300, and its attitude can change relative to the movable body 3001. When the water-based thruster 201 is needed, it is positioned below the water surface to provide propulsion for the movement of the movable body 3001. When the water-based thruster 201 is not needed, it is positioned above the water surface to reduce the water resistance experienced by the movable body 3001 during movement.

[0057] The water-based mobile device 300 in this embodiment can be any type of water transport vehicle, such as a commercial ship, passenger ship, yacht, fishing boat, sailboat, or civilian vessel. It can also be a water patrol device, water management device, or water environment monitoring device—any device capable of moving within the water. This application does not impose any limitations on this. When the water-based mobile device 300 is any type of vessel, the movable body 3001 is correspondingly the hull. The water-based propulsion unit 201 in this embodiment can be an outboard motor, podded propulsion unit, or other power-providing device. The water-based propulsion unit 201 can be installed at the bow, stern, or side. When installed on the side, it can be used as a side thruster to assist in the steering of the water-based mobile device 300.

[0058] Please see Figure 1 and Figure 2This embodiment provides a water propulsion device 201, including a main unit 110 and a lifting device 100, wherein the lifting device 100 is connected to the main unit 110. Exemplarily, the lifting device 100 includes a clamp 120, an adjustment mechanism 130, and a motor 140. The clamp 120 is fixed to the movable body 3001, the adjustment mechanism 130 is connected between the clamp and the main unit 110, and the motor 140 is mounted on the clamp 120 or the main unit 110 and connected to the adjustment mechanism 130, for driving the adjustment mechanism 130 to deform. The deformation of the adjustment mechanism 130 causes the main unit 110 to rise and fall relative to the clamp 120, and the main unit 110 is always located outside the movable body 3001. Exemplarily, the main unit 110 includes at least a drive motor and a propeller, the drive motor being used to drive the propeller to rotate, thereby achieving propulsion of the water-based movable device 300.

[0059] In related technologies, the lifting direction of the lifting device can be changed (e.g., from upward lifting to downward lifting, or from downward lifting to upward lifting) by altering the rotation direction of the motor 140. The rotation direction of the motor can be changed by altering the direction of the current. However, the motor generates a back electromotive force (EMF) during rotation. If the lifting direction is suddenly changed, the motor needs to overcome this back EMF during reverse rotation, causing a current surge and posing a risk of overcurrent damage to components. For example, please refer to [reference needed]. Figure 3 When switching the lifting direction of the lifting device, the voltage waveform does not immediately drop to 0. This is the back electromotive force. When the direction switching is performed while the back electromotive force is not 0, a spike appears in the current waveform.

[0060] For questions regarding the relevant technologies, please refer to Figure 4 This application provides a flowchart illustrating a control method for a lifting device. For example, the lifting device includes a lifting actuator, a controller, and a lifting control. The controller is connected to both the lifting actuator and the lifting control. The control method for the lifting device provided in this application can be executed by the controller.

[0061] The methods include:

[0062] In S101, when a lifting control command for the lifting device is received, the target lifting direction indicated by the lifting control command is determined.

[0063] In S102, if the target lifting direction is opposite to the lifting direction executed by the lifting device within a set time period, the lifting device is controlled to be in a stopped state to release the back electromotive force generated by the motor of the lifting device when it rotates. The set time period is the time period set from the moment the lifting device receives the lifting control command.

[0064] In S103, when the back electromotive force meets the preset conditions, the lifting device is controlled to perform a lifting action in the target lifting direction according to the lifting control command.

[0065] In this embodiment, when it is necessary to switch the lifting direction of the lifting device, the lifting device is first controlled to be in a stopped state to release the back electromotive force generated by the motor of the lifting device when it is rotating. Then, the lifting device is controlled to switch directions according to the lifting control command. This helps to eliminate the problem of current surge caused by back electromotive force, thereby protecting the hardware components of the lifting device.

[0066] The set time period is a set time period from the moment the lifting device receives the lifting control command. The set time period can be set according to the actual application scenario, and this embodiment does not impose any restrictions on it.

[0067] For example, considering that there are two control methods for the tilting control of the tilting device: please refer to Figure 5 In (1), one method involves controlling the lifting device to perform a lifting action in one of the upward or downward directions, and then, based on actual needs, controlling the lifting device to perform a lifting action in the other of the upward or downward directions. Please refer to [link to relevant documentation]. Figure 6 (1) Another method is to first control the lifting device to perform the lifting action in one of the directions of upward and downward, and then stop the machine for a very short period of time after the lifting is completed (this period of time may not be able to release the back electromotive force to meet the preset conditions), and then control the lifting device to perform the lifting action in the other direction of upward and downward.

[0068] For the two control methods mentioned above, a set time period can be set according to the release time of the back electromotive force. If the lifting action is performed within the set time period, it means that the back electromotive force has not yet been reduced to meet the preset conditions.

[0069] In some embodiments, if it is determined that the lifting device has performed a lifting action within a set time period, and the target lifting direction is opposite to the lifting direction already performed by the lifting device within the set time period, it indicates that there is still a back electromotive force. The received lifting control command can be temporarily stored, and the lifting device can be controlled to be in a stopped state first, so as to release the back electromotive force generated by the motor of the lifting device when it rotates, effectively reducing the inrush current during commutation.

[0070] For example, to avoid increasing hardware costs due to the additional installation of electromotive force (EMF) detection devices, a preset duration can be determined based on the release time of the back EMF. Controlling the lifting device to be in a stopped state includes: controlling the lifting device to be in a stopped state for a preset duration, thereby ensuring sufficient time for the back EMF to decrease, effectively reducing the inrush current during commutation. After the back EMF decreases, the lifting device can be controlled to perform a lifting action in the target lifting direction according to the lifting control command, ensuring execution safety.

[0071] Here are some examples illustrating the two control methods mentioned above:

[0072] Please see Figure 5 Regarding the first control method, if the target lifting direction is opposite to the lifting direction already executed by the lifting device within a set time period, the lifting device is controlled to be in a stopped state to release the back electromotive force generated by the motor of the lifting device during rotation. This includes: if the lifting device is currently in a running state and the target lifting direction is opposite to the current lifting direction of the lifting device, then the lifting device is controlled to enter a stopped state and remain in the stopped state to release the back electromotive force. This embodiment inserts a stopped state when the lifting direction changes abruptly while maintaining a stopped state, effectively reducing the inrush current during commutation and preventing the hardware overcurrent protection from triggering a shutdown.

[0073] For example, to avoid increasing hardware costs due to the additional installation of electromotive force (EMF) detection devices, a preset duration can be determined based on the release time of the back EMF. Then, controlling the lifting device to enter and remain in a stopped state includes: controlling the lifting device to enter the stopped state and maintaining it in the stopped state for the preset duration, thereby ensuring sufficient time for the back EMF to decrease, effectively reducing the inrush current during commutation. After the back EMF decreases, the lifting device can be controlled to perform a lifting action in the target lifting direction according to the lifting control command, ensuring execution safety.

[0074] Please see Figure 6 Regarding the second control method mentioned above, if at least a portion of the time during which the lifting device performs the lifting action before stopping is within a set time period, it indicates that a back electromotive force still exists. If the target lifting direction is opposite to the lifting direction already performed by the lifting device within the set time period, the lifting device is controlled to be in a stopped state to release the back electromotive force generated by the motor of the lifting device during rotation. This includes: if the lifting device is currently in a stopped state and the target lifting direction is opposite to the lifting direction before stopping, the lifting device is controlled to continue to remain in a stopped state to release the back electromotive force, thereby effectively reducing the inrush current during commutation and preventing the hardware overcurrent protection from triggering a shutdown.

[0075] For example, to avoid increasing hardware costs due to the additional installation of electromotive force (EMF) detection devices, a preset duration can be determined based on the release time of the back EMF. Then, controlling the lifting device to remain in a stopped state includes: controlling the lifting device to remain in a stopped state for the preset duration, thereby ensuring sufficient time for the back EMF to decrease, effectively reducing the inrush current during commutation. After the back EMF decreases, the lifting device can be controlled to perform a lifting action in the target lifting direction according to the lifting control command, ensuring execution safety.

[0076] In some embodiments, in order to ensure that the back electromotive force has sufficient time to be released, the lifting device may not respond to other control commands for a preset period of time while in a stopped state until the preset period is reached.

[0077] In some embodiments, the motor speed is positively correlated with the back electromotive force (EMF), that is, the higher the motor speed, the greater the back EMF, and the longer the release time of the back EMF.

[0078] In one possible implementation, to save user effort, after experimentally detecting the release time of the back EMF generated when the motor rotates at maximum speed, a preset time can be set based on this release time. For example, the preset time can be less than or equal to the release time of the back EMF generated when the motor rotates at maximum speed. For instance, the release time of the back EMF generated when the motor rotates at maximum speed is approximately 150ms. To prevent an excessively long preset time from affecting the lifting response speed and user experience, the preset time can be set to 100ms or 140ms, etc., thus ensuring sufficient time for the back EMF to decrease.

[0079] In another possible implementation, to improve accuracy, the release duration of the back EMF generated by the motor at different speeds can be experimentally detected. Different durations can be determined based on the release duration of the back EMF generated by the motor at different speeds, and the correspondence between different motor speeds and different durations can be obtained and stored in the lifting device. For example, assuming the release duration of the back EMF generated by the motor at speed A is 100ms, the duration of the stop state corresponding to speed A can be set to be less than or equal to 100ms.

[0080] When the target lifting direction is opposite to the lifting direction already executed by the lifting device within a set time period, a preset duration is determined based on the motor speed and corresponding relationship within the set time period to control the lifting device to remain in a stopped state for a preset duration. This embodiment uses the motor speed within the set time period as a benchmark, which helps to improve the accuracy of the preset duration determination and avoids or reduces the impact on lifting response speed and user experience.

[0081] For example, if the lifting device is currently in operation and the target lifting direction is opposite to the current lifting direction of the lifting device, a preset duration is determined based on the current motor speed and its corresponding relationship to control the lifting device to enter a stop state, and the preset duration is maintained in the stop state. This embodiment uses the current motor speed as a reference, which helps to improve the accuracy of determining the preset duration and avoids or reduces the impact on the lifting response speed and user experience.

[0082] For example, if the lifting device is currently in a stopped state and the target lifting direction is opposite to the lifting direction of the lifting device before it stopped, a preset duration is determined based on the motor speed before it stopped and the corresponding relationship, so as to control the lifting device to continue to maintain the stopped state for the preset duration. This embodiment uses the motor speed before it stopped as a reference, which helps to improve the accuracy of determining the preset duration and avoid or reduce the impact on the lifting response speed and user experience.

[0083] In other embodiments, an additional device for detecting back electromotive force (EMF) may be provided. The control method further includes: during the period when the lifting device is in a stopped state, using the back EMF detection device to detect the decrease in the back EMF generated by the motor of the lifting device. The preset condition can be set to the completion of back EMF release or the back EMF being less than a preset threshold. That is, when the back EMF is detected to be completed or less than the preset threshold, the lifting device is controlled to perform a lifting action in the target lifting direction according to the lifting control command. In this embodiment, there is no need to conduct additional experiments to detect the release time of the back EMF, which helps to reduce the operational steps for developers.

[0084] In some embodiments, besides the aforementioned problem of current surge caused by back electromotive force during commutation, the tilting device also presents the following maintenance issues: Due to the design of the entire system, the tilting device is also powered down when the outboard motor is powered off. However, this power-down method cannot meet the usage requirements of certain scenarios where the tilting device needs to be used independently. For example, if the tilting device of the outboard motor malfunctions, to avoid accidentally starting the outboard motor's drive motor and causing the propeller to rotate, thus injuring maintenance personnel, the outboard motor is usually powered down. This prevents the tilting device from completing the tilting action, which increases the difficulty of maintaining the outboard motor.

[0085] To address the aforementioned maintenance issues, the control method further includes: when the controller is powered down, in response to the triggering of the lifting control, identifying the current power supply mode of the controller. If the current power supply mode is a direct power supply mode, the controller is controlled to enter a maintenance mode. In maintenance mode, the controller can respond to the lifting control command generated by the triggered lifting control to control the lifting actuator to perform a lifting action; wherein, the controller can be directly powered by a first power source, or indirectly powered by the first power source via a second power source. In this embodiment, when the controller is powered by either the first or second power source, in response to the triggering of the lifting control, the current power supply mode of the controller is identified to determine whether to control the controller to enter maintenance mode, enabling the controller to control the lifting actuator to perform a lifting action even in maintenance mode, thereby reducing the maintenance difficulty of water propulsion devices such as outboard motors.

[0086] In this context, the direct power supply mode can be understood as the controller being directly powered by a first power source. Conversely, the indirect power supply mode can be understood as the controller being powered by a second power source. It is understood that since the second power source's energy is provided by the first power source, the power supply method where the second power source's energy is transmitted to the controller via the first power source is the indirect power supply mode.

[0087] For example, the second power supply is the main control chip. When the controller is powered normally by the second power supply, the controller can receive the external lifting control command sent by the main control chip and control the lifting actuator to perform the lifting action based on the external lifting control command.

[0088] In some possible implementations, identifying the current power supply mode of the controller includes: when the controller is powered down, in response to the triggering of the lifting control, the controller is powered on and started, and then the voltage of the second power supply is detected to obtain the voltage value; if the voltage value is less than a first voltage threshold, it can be determined that the second power supply cannot supply power normally, and the controller continues to be directly powered by the first power supply, and the current power supply mode of the controller is the direct power supply mode.

[0089] For example, the first voltage threshold can be specifically set according to the actual situation; for instance, considering that when the controller is normally powered by the second power supply, the voltage value of the second power supply should be the rated voltage, or the difference between the voltage value of the second power supply and the rated voltage should be small; while when the second power supply is powered off, the detected voltage value of the second power supply is much less than half of the rated voltage; therefore, the first voltage threshold can be set to be less than or equal to half of the rated voltage of the second power supply. For example, if the rated voltage is 12V, the first voltage threshold can be 4V or 5V.

[0090] In some possible implementations, there is a possibility that, even if the second power supply can power on and start normally, there may be a voltage rise during the first period after power-on. For example, when the second power supply powers on, its voltage undergoes averaging filtering, resulting in a voltage rise time. If the voltage of the second power supply is detected during this rise time, misjudgment is likely. Therefore, the first time period can be determined based on the controller's startup time and the first duration. For example, assuming the rise time is between 50ms and 100ms, the first time period could be between 100ms and 190ms after the controller starts.

[0091] In cases where the voltage rises, the current power supply mode of the controller is identified, including: when the controller is powered down, in response to the triggering of the lifting control, the controller is powered on and started. Then, during the first time period after the controller is started by the first power supply, the voltage of the second power supply can be detected multiple times to obtain multiple voltage values. Furthermore, if the number of voltage values ​​less than the first voltage threshold is greater than or equal to a preset number, it can be determined that the second power supply cannot supply power normally, and the controller continues to be directly powered by the first power supply. The current power supply mode of the controller is the direct power supply mode.

[0092] For example, the first voltage threshold is less than or equal to half the rated voltage of the second power supply.

[0093] For example, if the preset number is greater than or equal to half the total number of multiple voltage values, that is, the vast majority of the multiple voltage values ​​are less than a first voltage threshold, then the current power supply mode of the controller can be determined to be direct power supply mode. For instance, if 7 or more of the 10 voltage values ​​read are less than the first voltage threshold, then the current power supply mode of the controller is determined to be direct power supply mode.

[0094] For example, to improve the accuracy of determining the current power supply mode of the controller, multiple voltage values ​​of the second power supply can be collected evenly to avoid erroneous judgments caused by collecting multiple voltage values ​​at once. In one possible implementation, during the first time period after the controller is started by the first power supply, the voltage of the second power supply is detected multiple times to obtain multiple voltage values. This includes: during the first time period after the controller is started by direct power supply from the first power supply, the voltage of the second power supply can be detected every second time period to obtain voltage values; wherein the second time period is shorter than the first time period. This embodiment achieves the even collection of multiple voltage values ​​to ensure accurate determination of the current power supply mode of the controller. For example, assuming the first time period includes the period from 100ms to 190ms after the controller starts, the second time period can be 10ms, that is, the voltage of the second power supply is detected every 10ms to obtain voltage values. Of course, the second time period can also be other values, and this embodiment does not impose any restrictions on this.

[0095] For example, the lifting control includes, but is not limited to, an upward lifting control and / or a downward lifting control.

[0096] In some embodiments, the control method further includes: after the controller enters maintenance mode, in response to the lifting control not being triggered, starting a countdown of a preset duration; and disconnecting the electrical connection between the first power supply and the controller when the countdown ends, so as to power down the controller. In this embodiment, the controller can send a hold signal to the wake-up module in the aforementioned lifting device during the countdown, and stop sending the hold signal to the wake-up module after the countdown ends. This embodiment can avoid the problem of the controller being powered on for a long time in maintenance mode when there is no user demand, which may lead to accidents or wasted energy, and can also achieve the effect of keeping the controller powered on without continuously triggering the lifting control, which is convenient for user operation.

[0097] Of course, if the lifting control is triggered again before the countdown ends, the controller will control the lifting actuator to perform the lifting action and restart the countdown for the preset duration. For example, if the second power supply is the main control chip, after entering maintenance mode, communication between the controller and the main control chip remains silent (i.e., only receiving signals without sending them) to prevent reverse wake-up of the main control chip. The controller sends a hold signal to the wake-up module, which is maintained for 20 seconds to keep the maintenance mode powered on for 20 seconds. After 20 seconds, the controller stops sending the hold signal and powers down. Within the 20-second window, when the user presses the lifting control, the controller can control the lifting actuator to perform the corresponding lifting action. During this period, if the user does not release the lifting control, the maintenance mode remains in place for 20 seconds. If the user releases the lifting control, a 20-second timer will begin. During this 20-second timer, if the user presses the lifting control again, the timer will reset and restart. If the user does not press at least one of the upward or downward lifting controls within 20 seconds after releasing the lifting control, the controller will power down after 20 seconds. To re-enter maintenance mode, the controller must first be powered down and then powered on again with the secondary power supply off.

[0098] In other embodiments, the control method further includes: after the controller enters maintenance mode, in response to the lifting control not being triggered, disconnecting the electrical connection between the first power supply and the controller to power off the controller. This embodiment enables the user to directly power off the controller when releasing the lifting control, avoiding the problem of the controller remaining powered on for extended periods in maintenance mode when there is no user need, which could lead to accidents or wasted energy.

[0099] In some embodiments, considering that the lifting device entering maintenance mode already indicates a fault in certain components of the lifting device, the controller is directly powered by the first power supply. When the controller does not need to be powered by the second power supply, whether the second power supply is undervoltage will not affect the controller's operation. To allow the user to focus on other maintenance issues, the control method further includes: in maintenance mode, if the voltage value of the second power supply is detected to be less than a second voltage threshold, no undervoltage warning signal is output. For example, the second voltage threshold is less than the rated voltage of the second power supply. The second voltage threshold can be specifically set according to the actual application scenario; this embodiment does not impose any limitations on this. For instance, if the rated voltage of the second power supply is 12V, then the second voltage threshold is 7V.

[0100] In some embodiments, considering that the failure of certain components of the lifting device may be resolved in the maintenance mode, and the second power supply may be re-energized, the control method further includes: in the maintenance mode, if the voltage value of the second power supply is detected to be greater than a third voltage threshold, the controller switches from the maintenance mode to the normal operation mode; in the normal operation mode, the power supply mode of the controller is an indirect power supply mode. For example, the third voltage threshold is less than the rated voltage of the second power supply and greater than or equal to half of the rated voltage of the second power supply; the third voltage threshold can be specifically set according to the actual application scenario, and this embodiment does not impose any limitations on it. For example, if the rated voltage of the second power supply is 12V, then the second voltage threshold is 8V or 10V, etc.

[0101] The second power supply is the main control chip. In normal operating mode, the controller can receive external lifting control commands sent by the main control chip. The control method also includes: when the controller receives the external lifting control command, it controls the lifting actuator to perform the lifting action based on the external lifting control command. For example, the source mechanism of the external lifting control command includes, but is not limited to: (1) buttons on a display screen that is communicatively connected to the water propulsion device, the display screen being located on the movable body of the water-mobile device; (2) buttons on a remote control box that is communicatively connected to the water propulsion device, the remote control box being located on the movable body of the water-mobile device; (3) buttons on the mobile terminal of the water-mobile device, such as on a mobile phone.

[0102] The various technical features in the above embodiments can be combined arbitrarily, as long as there is no conflict or contradiction between the combinations of features. Therefore, the arbitrary combination of the various technical features in the above embodiments also falls within the scope of this application.

[0103] Please see Figure 7 This application also provides a lifting device 100, including a lifting actuator 10, a controller 20, and a lifting control 30. The controller 20 is connected to both the lifting actuator 10 and the lifting control 30, and is used to execute the control method described in any of the above embodiments.

[0104] For example, please refer to Figure 2 The lifting actuator 10 includes a motor 140 and an adjusting mechanism 130. The controller 20 controls the motor 140 to operate, thereby driving the adjusting mechanism 130 to move and achieve lifting.

[0105] For the methods and steps mentioned in the control methods section above for resolving maintenance problems, please refer to [link / reference]. Figure 2 and Figure 8The lifting device 100 of this application has the following circuit connection structure, which corresponds to the above-described method steps and is used to solve the aforementioned maintenance problem. Specifically, the lifting device 100 also includes a power switch module 40; wherein the controller 20 can be directly powered by the first power supply 400, or indirectly powered by the first power supply 400 through the second power supply 500.

[0106] For example, the first terminal 41 of the power switch module 40 is connected to the first power supply 400 and the second power supply 500, and the second terminal 42 of the power switch module 40 is connected to the controller 20 and the lifting control 30. The power of the second power supply 500 is provided by the first power supply 400. The power switch module 40 is used to turn on under the control of the lifting control 30 when the second power supply 500 is not working, so as to use the first power supply 400 to supply power to the lifting control 30 and the controller 20. The lifting control 30 is used to control the power switch module 40 to turn on when a trigger signal is detected when the second power supply 500 is not working. The controller 20 is used to control the lifting actuator 10 to lift according to the lifting control command sent by the lifting control 30.

[0107] Understandably, in this application, the controllable power switch module 40 is connected to the first power supply 400 and is therefore energized. It can receive any type of electrical signal, such as high-level or low-level signals. The inventors have capitalized on this, allowing the lifting control 30, which is not yet powered, to be directly triggered externally to control the on / off state of the power switch module 40. This enables the controller 20 to receive power from the first power supply 400 when the lifting control 30 is triggered. The trigger signal can be understood as the signal detected after the lifting control 30 is manually pressed or touched.

[0108] For example, the second power supply 500 is a main control chip, such as an ECU (Electronic Control Unit). When the main control chip is working, it can also control the power switch module 40 to turn on, so as to supply power to the lifting control 30 and the controller 20. The main control chip can be powered by the first power supply 400. In this embodiment, when the ECU is working, the ECU coordinates the power-on and power-off control of all the electrical devices associated with it, which can realize the centralized management of each electrical device; when the ECU is not working, the lifting device 100 can be independently powered on through the lifting control 30 to perform lifting control, which can also meet the usage requirements in specific scenarios.

[0109] For example, the first power source 400 can be a primary battery, such as a dry cell battery; the second power source can also be a secondary battery, such as a storage battery, and there is no limitation here.

[0110] For example, the electrical energy of the lifting actuator 10 controlled by the controller 20 to lift can be provided by the second power supply 500, or by other power sources other than the second power supply 500, and this application does not limit this.

[0111] For example, please refer to Figure 8 and Figure 9 The second end 42 of the power switch module 40 includes an output end 421 and a control end 422; the controller 20 and the lifting control 30 are connected to the output end 421 to receive electrical energy through the output end 421; the lifting control 30 is also connected to the control end 422 to control the power switch module 40 to be turned on through the control end 422.

[0112] For some possible implementations, please refer to Figure 10 The power switch module 40 includes a first electronic switch 43, a first resistor R1, and a second resistor R2. The first end of the first resistor R1 is connected to the tilting control 30, and the second end of the first resistor R1 is connected to the first end of the first electronic switch 43. The second end of the first electronic switch 43 is connected to the controller 20, and the third end of the first electronic switch 43 is connected to the second power supply 500 and the first power supply 400. The first end of the second resistor R2 is connected to the second end of the first resistor R1, and the second end of the second resistor R2 is connected to both the second power supply 500 and the first power supply 400. (Please refer to...) Figure 8 , Figure 9 and Figure 10 The first end of the first resistor R1 can be regarded as the control terminal 422 of the power switch module 40, the second end of the first electronic control switch 43 and the second end of the second resistor R2 can be regarded as the first end 41 of the power switch module 40, that is, the input terminal, and the third end of the first electronic control switch can be regarded as the output terminal 421 of the power switch module 40.

[0113] In the power switch module 40, due to the low-level signal input to the lifting control 30 and the high-level signal (power supply signal) input to the first power supply 400 or the second power supply 500, the voltage divider between the two resistors causes a voltage difference to be generated across the second resistor R2. At the same time, the first electronic control switch 43 is turned on by the voltage difference, so that the controller 20 and the lifting control 30 are powered. This allows the controller 20 to control the lifting actuator 10 to lift even when the second power supply 500 is not working.

[0114] For example, please refer to Figure 11The lifting control 30 includes an upward lifting control 31 and / or a downward lifting control 32. The controller 20 controls the lifting actuator 10 to lift upward according to the lifting control command sent by the upward lifting control 31; and / or the controller 20 controls the lifting actuator 10 to lift downward according to the lifting control command sent by the downward lifting control 32. In the above scheme, the lifting control is directly used as a button to trigger the power switch module 40 to turn on when the second power supply 500 is not working, realizing the reuse of the lifting control. Therefore, there is no need to add additional controls to the lifting device 100, which helps to simplify the circuit and reduce costs.

[0115] In one possible application scenario, the lifting control 30 includes an upward lifting control 31 and a downward lifting control 32. The upward lifting control 31 is used to control the power switch module 40 to turn on when a trigger signal is detected when the second power supply 500 is not working; or the downward lifting control 32 is used to control the power switch module 40 to turn on when a trigger signal is detected when the second power supply 500 is not working.

[0116] For another possible application scenario, please refer to [the relevant documentation / reference]. Figure 11 The lifting control 30 includes an upward lifting control 31 and a downward lifting control 32. The upward lifting control 31 is used to control the power switch module 40 to turn on when a trigger signal is detected when the second power supply 500 is not working; and the downward lifting control 32 is used to control the power switch module 40 to turn on when a trigger signal is detected when the second power supply 500 is not working.

[0117] In scenarios where the tilting control 30 includes an upward tilting control 31 and a downward tilting control 32, the upward tilting control 31 or the downward tilting control 32 are closely connected. Signal interference or other issues may cause the upward tilting control 31 or the downward tilting control 32 to affect each other, preventing the controller 20 from distinguishing which tilting control the tilting control command originated from, thus resulting in an incorrect response or no response at all. For further information, please refer to [link to relevant documentation]. Figure 8 and Figure 11 The lifting device 100 also includes an isolation module 50. The upward lifting control 31 and the downward lifting control 32 are respectively connected to the first end 51 of the isolation module 50, and the second end 52 of the isolation module 50 is connected to the second end 42 of the power switch module 40. For example, the isolation module 50 is used to connect the upward lifting control 31 to the power switch module 40 when the upward lifting control 31 detects a trigger signal; and the isolation module 50 is also used to connect the downward lifting control 32 to the power switch module 40 when the downward lifting control 32 detects a trigger signal. In this embodiment, by setting the isolation module 50, the upward lifting control 31 and the downward lifting control 32 are prevented from having electrical signal conduction conditions, thus avoiding mutual interference.

[0118] For example, please refer to Figure 9 and Figure 12 Both the upward tilting control 31 and the downward tilting control 32 include a manual switch 301, a third electric control switch 302, a sixth resistor R6, a seventh resistor R7, an eighth resistor R8, and a ninth resistor R9. The first end of the sixth resistor R6 is connected to the manual switch 301, and the second end of the sixth resistor R6 is connected to the first end of the third electric control switch 302. The first end of the seventh resistor R7 is connected to the first end of the third electric control switch 302, and the second end of the seventh resistor R7 is connected to the output terminal 421 of the second terminal 42 of the power switch module 40. The second end of the third electric control switch 302 is connected to the output terminal 421 of the second terminal 42 of the power switch module 40, and the third end of the third electric control switch 302 is connected to the first end of the eighth resistor R8. The second end of the eighth resistor R8 is grounded. The first end of the ninth resistor R9 is connected to the third end of the third electric control switch 302, and the second end of the ninth resistor R9 is connected to the controller 20. One end of the manual switch 301 is connected to the first end of the sixth resistor R6 and the control terminal 422 in the second terminal 42 of the power switch module 40, and the other end is grounded. When the user presses the manual switch 301, the manual switch 301 outputs a low-level signal, the control terminal 422 in the second terminal 42 of the power switch module 40 is pulled low, thereby turning on the power switch module 40.

[0119] For example, please refer to Figure 11 and Figure 13 The isolation module 50 includes a first isolation unit 53 and a second isolation unit 54; the upward tilting control 31 is connected to the second end 42 of the power switch module 40 through the first isolation unit 53; the downward tilting control 32 is connected to the second end 42 of the power switch module 40 through the second isolation unit 54.

[0120] In one possible implementation, the first isolation unit 53 includes a first diode, the anode of which is connected to the second terminal 42 of the power switch module 40, and the cathode is connected to the upward-tilting control 31. The second isolation unit 54 includes a second diode, the anode of which is connected to the second terminal 42 of the power switch module 40, and the cathode is connected to the downward-tilting control 32. Those skilled in the art will understand that the device is not limited to a diode, but can also be other electronic components, such as IGBTs (Insulated Gate Bipolar Transistors), thyristors, transistors, etc., and the appropriate type can be selected based on cost, function, and product form.

[0121] In some embodiments, please refer to Figure 8 and Figure 14The lifting device 100 also includes a wake-up module 60. The first end of the wake-up module 60 is connected to the second power supply 500, the second end of the wake-up module 60 is grounded, and the third end of the wake-up module 60 is connected to the second end 42 of the power switch module 40. The wake-up module 60 is used to receive a wake-up signal sent by the second power supply 500 when the second power supply 500 is working, thereby controlling the power switch module 40 to conduct, and thus using the second power supply 500 to supply power to the lifting control 30 and the controller 20. In this embodiment, since the wake-up module 60 is connected to both the second power supply 500 and the power switch module 40, when the second power supply 500 is powered on, the wake-up module 60 can receive a control signal sent by the second power supply 500, and control the power switch module 40 to conduct based on this control signal. This allows the lifting control 30 and the controller 20 to receive electrical energy transmitted from the second power supply 500 via the power switch module 40, thereby enabling the second power supply 500 to uniformly control their power on and off.

[0122] In one exemplary embodiment, please refer to Figure 15 The wake-up module 60 includes a second electronic switch 61, a third resistor R3, and a fourth resistor R4. The first end of the third resistor R3 is connected to the second power supply 500, and the second end of the third resistor R3 is connected to the first end of the second electronic switch 61. The second end of the second electronic switch 61 is grounded, and the third end of the second electronic switch 61 is connected to the second end of the power switch module 40. The first end of the fourth resistor R4 is connected to the first end of the second electronic switch 61, and the second end of the fourth resistor R4 is grounded. Through this scheme, since the second power supply 500 can output a high-level signal when working normally, it generates a voltage difference with the grounded terminal. The fourth resistor R4 and the third resistor R3 act as a voltage divider, each having a certain voltage at its ends. The voltage formed across the fourth resistor R4 creates a voltage difference between the first and second ends of the second electronic switch 61. Therefore, the second and third ends of the second electronic switch 61 are connected. Since the second end is grounded, a low-level signal is input to the second end 42 of the power switch module 40, which is connected to the third end of the second electronic switch 61, thereby controlling the power switch module 40 to conduct.

[0123] Depend on Figure 14 and Figure 15 It can be seen that the first end of the third resistor R3 can be regarded as the first end of the wake-up module 60, the second end of the fourth resistor R4 and the second end of the second electronic control switch 61 can be regarded as the second end of the wake-up module 60, and the third end of the second electronic control switch 61 can be regarded as the third end of the wake-up module 60.

[0124] refer to Figure 14 and Figure 15The controller 20 can also be connected to the first end of the wake-up module 60. The wake-up module 60 can also be used to control the power switch module 40 to remain on during the period when it receives the hold signal sent by the controller 20, so as to maintain the power-on state of the controller 20.

[0125] As an exemplary embodiment, such as Figure 15 As shown, the wake-up module also includes a fifth resistor R5; the first end of the fifth resistor R5 is connected to the controller 20, and the second end of the fifth resistor R5 is connected to the first end of the second electronic switch 61; the second end of the second electronic switch 61 is grounded, and the third end of the second electronic switch 61 is connected to the second end 42 of the power switch module 40; the first end of the fourth resistor R4 is connected to the first end of the second electronic switch 61, and the second end of the fourth resistor R4 is grounded. Therefore, the wake-up module 60 can also be used to control the power switch module 40 to remain on during the period when a hold signal is received from the controller 20, so as to maintain the power-on state of the controller 20.

[0126] With the above solution, after the lifting control 30 controls the power switch module 40 to turn on, the controller 20 sends an additional hold signal to the wake-up module 60. The wake-up module 60 can turn on the power switch module 40 so that the controller 20 itself can continue to receive power. Therefore, the controller 20 can maintain its power supply for a certain period of time through the hold signal, thereby completing the control of a larger distance or a larger angle. Maintenance personnel do not need to trigger the lifting control 30 for a long time, which improves the user experience and reduces the difficulty of operation.

[0127] It is easy to understand that the duration of the hold signal determines the conduction time of the power switch module 40. Therefore, when the second power supply 500 is not working and the controller 20 is in the power-on state, the controller 20 can also be used to send a hold signal of a preset duration to the wake-up module 60 when the lifting control 30 detects the trigger signal, so as to maintain the power-on state of the controller 20 within the preset duration.

[0128] Since the duration of a single lifting operation may involve maintenance or other control requirements and is also affected by the equipment itself, the preset duration is set in at least one of the following ways: a user-defined duration; or the load or equipment parameters of the lifting actuator 10. It is understood that the user-defined duration can be stored in non-volatile memory; the load or equipment parameters of the lifting actuator 10 will affect the overall weight or structure, and changes in weight and structure are related to power, speed, etc. If the load of the lifting actuator 10 in one embodiment is increased, then to achieve the same control effect (such as the same lifting angle), the preset duration can be appropriately increased.

[0129] In some embodiments, please refer to Figure 8 and Figure 16The lifting device 100 also includes a voltage conversion module 80. The first end of the voltage conversion module 80 is connected to the second end 42 of the power switch module 40, and the second end of the voltage conversion module 80 is connected to the controller 20 and the lifting control 30. The first end of the voltage conversion module 80 can be connected to the output end 421 of the power switch module 40. Through the above technical solution, the voltage conversion module 80 can convert the output voltage of the first power supply 400 into a voltage suitable for the rated operation of the controller 20 and the lifting control 30 through step-down, step-up, and AC / DC conversion, thus ensuring normal power supply even if the rated voltages of the components are different.

[0130] It is understood that any of the above-mentioned electronically controlled switches can be one of MOSFETs, transistors, or relays. The specific type can be selected according to the control requirements, such as PMOS transistors, NMOS transistors, PNP transistors, NPN transistors, etc.

[0131] Some or all of the modules can be selected to achieve the purpose of this embodiment, depending on actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0132] This application also provides a non-transitory computer-readable storage medium. The non-transitory computer-readable storage medium stores computer instructions. When the computer instructions in the non-transitory computer-readable storage medium are executed by a processor, the control method described in any of the above embodiments can be implemented. The non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0133] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. The terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0134] The methods and apparatus provided in the embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the methods and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this application should not be construed as a limitation of this application.

Claims

1. A control method for a lifting device, characterized in that, The lifting device includes a lifting actuator, a controller, and lifting controls; The controller can be directly powered by a first power source, or indirectly powered by the first power source via a second power source, and the control method includes: Upon receiving a lifting control command for the lifting device, the target lifting direction indicated by the lifting control command is determined; If the target lifting direction is opposite to the lifting direction executed by the lifting device within a set time period, the lifting device is controlled to be in a stopped state to release the back electromotive force generated by the motor of the lifting device when it rotates. The set time period is a set time period from the moment when the lifting device receives the lifting control command. When the back electromotive force meets the preset conditions, the lifting device is controlled to perform a lifting action in the target lifting direction according to the lifting control command; When the controller is powered off, in response to the triggering of the lifting control, the current power supply mode of the controller is identified; When the current power supply mode is direct power supply mode, the controller is controlled to enter maintenance mode. In maintenance mode, the controller can respond to the lifting control command generated by the triggered lifting control to control the lifting actuator to perform lifting action.

2. The control method according to claim 1, characterized in that, If the target lifting direction is opposite to the lifting direction already executed by the lifting device within a set time period, the lifting device is controlled to be in a stopped state to release the back electromotive force generated by the motor of the lifting device during rotation, including: If the lifting device is currently in operation and the target lifting direction is opposite to the current lifting direction of the lifting device, the lifting device is controlled to enter the shutdown state and remain in the shutdown state to release the back electromotive force. If the lifting device is currently in the stopped state and the target lifting direction is opposite to the lifting direction of the lifting device before it stopped, the lifting device is controlled to continue to maintain the stopped state to release the back electromotive force. At least part of the time when the lifting device performed the lifting action before it stopped was within the set time period.

3. The control method according to claim 1, characterized in that, The control of the lifting device to be in a stopped state includes: The lifting device is kept in the stopped state for a preset time, and the preset time is determined according to the release time of the back electromotive force.

4. The control method according to claim 2, characterized in that, The control of the lifting device to enter the shutdown state and to maintain the shutdown state includes: The lifting device is controlled to enter a stop state and remains in the stop state for a preset time; wherein the preset time is determined based on the release time of the back electromotive force.

5. The control method according to claim 2, characterized in that, The control of the lifting device to maintain the stopped state includes: The lifting device is controlled to remain in a stopped state for a preset time; wherein the preset time is determined based on the release time of the back electromotive force.

6. The control method according to any one of claims 3 to 5, characterized in that, The rotational speed of the motor is positively correlated with the back electromotive force; The preset duration is less than or equal to the release duration of the back electromotive force generated when the motor rotates at its maximum speed.

7. The control method according to any one of claims 3 to 5, characterized in that, The rotational speed of the motor is positively correlated with the back electromotive force; The lifting device has a pre-stored correspondence between different motor speeds and different durations; The different durations are determined based on the release duration of the back electromotive force generated by the motor at different speeds; If the lifting device is currently in operation, the preset duration is determined based on the current speed of the motor and the corresponding relationship; If the lifting device is currently in the stopped state, the preset duration is determined based on the motor speed before stopping and the corresponding relationship.

8. The control method according to claim 1, characterized in that, The control method further includes: During the period when the lifting device is in the stopped state, the decrease in the back electromotive force generated by the motor of the lifting device is detected; The preset conditions include the complete release of the back electromotive force or the back electromotive force being less than a preset threshold.

9. The control method according to claim 1, characterized in that, The identification of the controller's current power supply mode includes: The voltage of the second power supply is detected to obtain the voltage value; If the voltage value is less than a first voltage threshold, the current power supply mode of the controller is determined to be the direct power supply mode; and / or The identification of the controller's current power supply mode includes: During the first time period after the controller is started by the first power supply, the voltage of the second power supply is detected multiple times to obtain multiple voltage values; If the number of voltage values ​​less than the first voltage threshold is greater than or equal to a preset number, the current power supply mode of the controller is determined to be the direct power supply mode.

10. The control method according to claim 1, characterized in that, After the controller enters the maintenance mode, the control method further includes: In response to the fact that the lifting control is not triggered, a countdown of a preset duration is started; When the countdown ends, the electrical connection between the first power source and the controller is disconnected to power down the controller.

11. The control method according to claim 10, characterized in that, The control method further includes: If the lifting control is triggered again before the countdown ends, the controller will control the lifting actuator to perform the lifting action and restart the countdown of the preset duration.

12. The control method according to claim 1, characterized in that, After the controller enters the maintenance mode, the control method further includes: In response to the fact that the lifting control is not triggered, the electrical connection between the first power supply and the controller is disconnected, so that the controller is powered down.

13. A lifting device, characterized in that, It includes a lifting actuator, a controller, and a lifting control, wherein the controller is connected to the lifting actuator and the lifting control; The controller is used to execute the steps in the control method according to any one of claims 1 to 12.

14. A water propulsion device, characterized in that, include: Host; and The lifting device according to claim 13, wherein the lifting device is connected to the main unit.

15. A water-based mobile device, characterized in that, include: A movable body, and the water propulsion device of claim 14, wherein the water propulsion device is mounted on the movable body.

16. A computer-readable storage medium storing computer instructions thereon, characterized in that, When the computer instructions are executed by the processor, they implement the steps of the control method according to any one of claims 1 to 12.

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