Calibration detection method, attitude adjustment device, propeller, apparatus, and storage medium

Abstract

A calibration and detection method for an angle sensor, an attitude adjustment device, a water propulsion device, a water-based mobile device, and a computer-readable storage medium are disclosed. The calibration and detection method includes: acquiring a pre-stored calibration zero point of the angle sensor; determining whether the angle sensor has been calibrated based on the relationship between the calibration zero point and a preset range. Alternatively, acquiring the extreme attitude angle output by the angle sensor when the attitude adjustment device is in its extreme position; determining whether the angle sensor has been calibrated based on the difference between the extreme attitude angle and the pre-stored calibration zero point of the angle sensor. This achieves accurate detection of whether the angle sensor has been calibrated.

Description

Technical Field

[0001] This application relates to the field of waterborne mobile equipment technology, and more specifically, to a calibration and detection method for an angle sensor, an attitude adjustment device, a waterborne thruster, a waterborne mobile equipment vessel, and a computer-readable storage medium. Background Technology

[0002] A water propulsion system is a detachable power unit suspended from a boat or vessel, used to propel it. It is also known as an outboard motor. Water propulsion systems typically include attitude adjustment devices, such as a tilting mechanism and a steering mechanism. The tilting mechanism controls the angle between the propeller shaft and the water surface, as well as the propeller's height above the water surface, during navigation to adapt to different water conditions. It also tilts the underwater portion of the outboard motor above the water to prevent corrosion and collisions when the vessel is moored or not in use for extended periods. The steering mechanism uses a steering shaft to drive the propeller's rotation, thus enabling the water propulsion system to turn.

[0003] The attitude adjustment device is equipped with an angle sensor, which can perform attitude control based on the angle detected by the angle sensor.

[0004] Without knowing whether the angle sensor has been calibrated, the attitude adjustment device cannot determine the relative position of the current attitude, which may lead to attitude adjustment control errors. Therefore, it is necessary to check whether the angle sensor has been calibrated. Summary of the Invention

[0005] In view of this, one of the objectives of this application is to provide a calibration and detection method for an angle sensor, an attitude adjustment device, a water propulsion device, a water-mobile device, and a computer-readable storage medium.

[0006] In a first aspect, embodiments of this application provide a calibration and detection method for an angle sensor, the calibration and detection method comprising: acquiring a pre-stored calibration zero point of the angle sensor; and determining whether the angle sensor has been calibrated based on the relationship between the calibration zero point and a preset range.

[0007] Secondly, embodiments of this application provide a calibration and detection method for an angle sensor, wherein the angle sensor is used to acquire the attitude angle of an attitude adjustment device; the calibration and detection method includes: acquiring the extreme attitude angle output by the angle sensor when the attitude adjustment device is in an extreme position; and determining whether the angle sensor has been calibrated based on the difference between the extreme attitude angle and a pre-stored calibration zero point of the angle sensor.

[0008] Thirdly, embodiments of this application provide a posture adjustment device, including: an angle sensor for detecting the tilt angle of the device; a processor; and a memory, wherein the memory stores executable instructions that can run on the processor; wherein, when the processor executes the executable instructions, it implements the steps in the calibration and detection methods described in the first and second aspects.

[0009] Fourthly, embodiments of this application provide a water propulsion device, including: a main unit; and the attitude adjustment device described in the third aspect, wherein the attitude adjustment device is connected to the main unit.

[0010] Fifthly, embodiments of this application provide a water-based mobile device, comprising: a mobile body; and the water-based thruster described in the fourth aspect, wherein the water-based thruster is mounted on the mobile body.

[0011] In a sixth aspect, embodiments of this application provide a computer-readable storage medium having computer instructions stored thereon, which, when executed by a processor, implement the steps of the calibration and detection methods described in the first and second aspects.

[0012] This application provides a calibration and detection method for an angle sensor. It can acquire a pre-stored calibration zero point of the angle sensor; and determine whether the angle sensor has been calibrated based on the relationship between the calibration zero point and a preset range. Alternatively, it can acquire the extreme attitude angle output by the angle sensor when the attitude adjustment device is in its extreme position; and determine whether the angle sensor has been calibrated based on the difference between the extreme attitude angle and the pre-stored calibration zero point of the angle sensor. This achieves accurate detection of whether the angle sensor has been calibrated. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a schematic diagram of the structure of the water-based mobile device of this application in one embodiment.

[0015] Figure 2 This is a schematic diagram of the structure of the water propulsion device of this application in one embodiment.

[0016] Figure 3 This is another structural schematic diagram of the water propulsion device of this application in one embodiment.

[0017] Figure 4AA schematic diagram of the posture adjustment device provided in this application in one embodiment.

[0018] Figure 4B This is a flowchart illustrating a calibration and testing method for an angle sensor provided in this application.

[0019] Figure 5 A schematic diagram of the calibration zero point of the steering device provided in this application.

[0020] Figure 6 A schematic diagram of the calibration zero point of the lifting device provided in this application.

[0021] Figure 7 A schematic flowchart of another calibration and detection method for an angle sensor provided in this application.

[0022] Figure 8 This is a perspective view of one embodiment of the lifting device of this application.

[0023] Figure 9 This is a plan view of the lifting device of this application in one embodiment.

[0024] Figure 10 This is a plan view of the clamp in one embodiment of the lifting device of this application.

[0025] Figure 11 for Figure 9 A cross-sectional view of the lifting device along the II-II direction.

[0026] Figure 12 for Figure 9 The diagram shows a partially enlarged view of the lifting device corresponding to area IV.

[0027] Figure 13 This is a schematic diagram of the clamp structure in one embodiment of the lifting device of this application.

[0028] Figure 14 This is a structural schematic diagram of the clamp in one embodiment of the lifting device of this application from another perspective.

[0029] Figure 15 This is an exploded schematic diagram of the lifting device of this application in one embodiment.

[0030] Figure 16 for Figure 9 A cross-sectional schematic diagram of the lifting device along the III-III direction.

[0031] Figure 17 This is a schematic diagram showing the installation position of the angle sensor in one embodiment of this application.

[0032] Figure 18This is a schematic diagram of the lifting device of this application in one embodiment.

[0033] Figure 19 This is another structural schematic diagram of the lifting device of this application in one embodiment.

[0034] Figure 20 This is a schematic diagram showing the setting position of the limit switch of this application in one embodiment.

[0035] Figure 21 This describes different signal conditions detected by the limit switch in one embodiment of this application.

[0036] Figure 22 This is a schematic diagram showing the placement of the magnet in the limit switch of this application in one embodiment.

[0037] Figure 23 This is a partially enlarged schematic diagram of the fixture of this application. Detailed Implementation

[0038] The technical solutions of the embodiments of this application will be clearly and completely described 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 of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0039] like Figure 1 As shown, this embodiment provides a water-based mobile device 300, including a movable body 301 and a water-based thruster 200, which is movably connected to the movable body 301. The water-based thruster 200 serves as a power supply device for the water-based mobile device 300, and its attitude can change relative to the movable body 301. When the water-based thruster 200 is needed, it can be positioned below the water surface to provide propulsion for the movement of the movable body 301. When the water-based thruster 200 is not needed, it is positioned above the water surface to reduce the water resistance experienced by the movable body 301 during movement.

[0040] The water-based mobile device 300 in this embodiment can be various water-based transportation vehicles such as commercial ships, passenger ships, yachts, fishing boats, sailboats, and civilian vessels. It can also be equipment capable of moving in water, such as waterway inspection equipment, waterway management equipment, and waterway environmental monitoring equipment. This disclosure does not impose any limitations on this. When the water-based mobile device 300 is various types of vessels, the movable body 301 is correspondingly the hull. The water-based propulsion unit 200 in this embodiment can be a power-providing device such as an outboard motor or a podded propulsion unit. The water-based propulsion unit 200 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.

[0041] In some embodiments, this embodiment provides a water propulsion device 200, including a main unit 201 and an attitude adjustment device 1000, wherein the attitude adjustment device 1000 is connected to the main unit 201.

[0042] The attitude adjustment device 1000 includes a steering device 101 and a tilting device 100. The tilting device 100 is used to control the angle between the propeller shaft and the water surface, as well as the height of the propeller above the water surface, during navigation to adapt to different water conditions; and to tilt the underwater part of the water propeller 200 out of the water surface to avoid corrosion and collision when the ship is moored or not used for a long time. The steering device 101 is used to drive the propeller to swing through the steering shaft, thereby realizing the steering of the water propeller 200.

[0043] For example, please refer to the lifting device 100. Figure 2 and refer to Figure 1 This embodiment provides a water propulsion device 200, including a main unit 201 and a tilting device 100. The tilting device 100 includes a clamp 1 and a tilting bracket 20, with the main unit 201 connected to the tilting bracket 20. The clamp 1 is fixed to a movable body 301, and the tilting bracket 20 is connected to the clamp 1 and can tilt relative to the clamp 1, so that the main unit 201 connected to the tilting bracket 20 can tilt relative to the movable body 301. Thus, when the water propulsion device 200 is not needed, the tilting bracket 20 tilts and raises the main unit 201 above the water surface; when the water propulsion device 200 is needed, the tilting bracket 20 unlocks and releases, causing the main unit 201 to fall back below the water surface. For example, the main unit 201 includes at least a drive motor and a propeller, with the drive motor driving the propeller to rotate, thereby propulsing the water propulsion device 200.

[0044] For example, regarding the steering device 101, please refer to... Figure 3This embodiment provides a water propulsion device 200, including a main unit 201 and a steering device 101. Exemplarily, the steering device 101 includes a controller 1011, a first motor 1012, a reduction mechanism 1013, and a steering shaft 1014. The main unit 201 includes a frame 2011, a second motor 2012, a vertical rod 2013, a housing 2014, and a propeller 2015.

[0045] The controller 1011 is used to receive steering signals; the first motor 1012 is electrically connected to the controller 1011, and the controller 1011 is used to control the first motor 1012 to work based on the steering signals; the reduction mechanism 1013 includes a worm and a worm wheel, the worm is coaxially fixed with the output shaft of the first motor 1012, and the worm wheel meshes with the worm; the steering shaft 1014 is connected to the worm wheel for receiving the steering torque of the worm wheel; the frame 2011 is connected to the steering shaft 1014 and turns under the steering torque of the steering shaft 1014; the propeller 2015 is connected to the frame 2011 through the vertical rod 2013 and the housing 2014, and swings with the frame 2011 as it turns.

[0046] The controller 1011 is also used to control the second motor 2012 to drive the propeller 2015 to rotate, thereby realizing the propulsion of the water propulsion device 200. One end of the vertical rod 2013 is connected to the frame 2011, and the other end of the vertical rod 2013 is connected to the outer casing 2014. The second motor 2012 is installed inside the outer casing 2014.

[0047] It is understood that the water propulsion device 200 may be equipped with both the lifting device 100 and the steering device 101, and this embodiment does not impose any restrictions on this.

[0048] Please see Figure 4A The attitude adjustment device 1000 also includes an angle sensor 50, which detects the attitude angle of the attitude adjustment device 1000. The attitude adjustment device 1000 can perform attitude control based on the angle detected by the angle sensor 50. The zero point of the angle sensor 50 varies depending on its installation orientation within the attitude adjustment device 1000. In one example, please refer to... Figure 2 and Figure 4A The zero-point calibration indicator of the lifting device 100 indicates its lowest position. For lifting devices A and B, when both lifting devices 100 are at their lowest positions (i.e., zero points), the values ​​output by the angle sensor 50 may be 10° and 20°, respectively. 10° and 20° are the zero-point calibration values ​​for lifting devices A and B, respectively. In another example, please refer to... Figure 3 and Figure 4A The zero-point calibration of the steering device 101 indicates the middle position of the steering device 101.

[0049] Without knowing whether the angle sensor 50 has been calibrated, the attitude adjustment device 1000 cannot determine the relative position of the current attitude based on the calibration zero point, which may lead to attitude adjustment control errors. Therefore, it is necessary to check whether the angle sensor has been calibrated.

[0050] For example, please refer to Figure 4A The attitude adjustment device 1000 also includes a processor 70 and a memory 80. The memory 80 stores executable instructions that can be run on the processor 70. When the processor 70 executes the executable instructions, it implements the steps in the calibration and detection method provided in this application. For details regarding the calibration and detection method, please refer to the following description.

[0051] For questions regarding related technologies, please refer to [link / reference]. Figure 4B This application provides a calibration and detection method for an angle sensor, applied to an attitude adjustment device 1000; the angle sensor is used to acquire the attitude angle of the attitude adjustment device 1000. Those skilled in the art will understand that when the names of components mentioned in the calibration and detection method provided in this application are the same as the names of components in aquatic mobile devices, aquatic propellers, and tilting devices, they indicate the same component. The calibration and detection method includes:

[0052] In S101, the pre-stored calibration zero point of the angle sensor is obtained.

[0053] In S102, it is determined whether the angle sensor has been calibrated based on the relationship between the calibration zero point and the preset range.

[0054] This embodiment takes into account that the processor generally has pre-stored calibration zero-point angle data. During the initial programming, the calibration zero-point will be set to a value that exceeds the angle range that the angle sensor can sense, such as 0xFFFFFFFF (corresponding to 65535). This value can be used to detect whether the angle sensor is calibrated. Under normal calibration, the angle range that the calibration zero-point can sense is within a preset range, such as 0° to 360° (corresponding to 0 to 4096). Therefore, the attitude adjustment device can accurately detect whether the angle sensor has been calibrated based on the relationship between the pre-stored calibration zero-point and the preset range.

[0055] For example, Figure 4B S102 includes: if the calibration zero point is not within a preset range (e.g., 0° to 360°), it can be determined that the angle sensor is not calibrated; if the calibration zero point is within the preset range, it can be determined that the angle sensor is calibrated. It is understood that 0° to 360° is just one example, and the preset range can be specifically set according to the actual application scenario. This embodiment does not impose any restrictions on this.

[0056] In some embodiments, considering that after the angle sensor is calibrated at the factory, the installation posture of the angle sensor on the attitude adjustment device may change during subsequent actual use, causing the original calibration zero point to become invalid, in order to improve the accuracy of calibration detection, after determining that the calibration zero point is within the preset range, other factors need to be further considered to determine whether the angle sensor has been calibrated.

[0057] In one possible implementation, when the calibration zero point is determined to be within a preset range, the calibration detection method further includes: acquiring the extreme attitude angle output by the angle sensor when the attitude adjustment device is in its extreme position; acquiring the difference between the extreme attitude angle and the calibration zero point; determining that the angle sensor has been calibrated when the difference meets a preset condition; otherwise, determining that the angle sensor has not been calibrated. This embodiment, by further detecting the difference between the extreme position and the calibration zero point when the calibration zero point is determined to be within a preset range, helps to improve the accuracy of the calibration detection.

[0058] The attitude adjustment device includes a steering device and a lifting device.

[0059] The steering system is used as an example for illustration: Please refer to [link / reference]. Figure 5 The steering system's calibration zero point indicates the center position of the steering system. Assuming that when turning right, the angle detected by the angle sensor gradually increases from the calibration zero point; while when turning left, the angle detected by the angle sensor gradually decreases from the calibration zero point.

[0060] In one scenario, when the extreme attitude angle is less than the calibration zero point, it indicates that the extreme position corresponding to the extreme attitude angle is to the left of the calibration zero point. If the difference meets a preset condition, it is determined that the angle sensor has been calibrated, including: if the difference between the extreme attitude angle and the calibration zero point is less than a first threshold, it can be determined that the angle sensor has been calibrated; wherein, the first threshold is determined based on the steering travel of the steering device and the error parameters of the angle sensor, more specifically, the first threshold is determined based on half of the steering travel of the steering device and the error parameters of the angle sensor.

[0061] For example, if the steering travel of the steering system is -50° to +50°, the calibration zero point is 0°, and the angle sensor error angle is 1°, then the first threshold is -51°. That is, the absolute value of the first threshold is the sum of half the steering travel of the steering system and the angle sensor error angle. Of course, the sign of the first threshold also needs to be considered in the specific direction.

[0062] In another scenario, when the extreme attitude angle is greater than the calibration zero point, it indicates that the extreme position corresponding to the extreme attitude angle is to the right of the calibration zero point. If the difference meets the preset conditions, it is determined that the angle sensor has been calibrated, including: if the difference between the extreme attitude angle and the calibration zero point is less than a second threshold, it can be determined that the angle sensor has been calibrated; wherein, the second threshold is determined based on the steering travel of the steering device and the error parameters of the angle sensor, more specifically, the second threshold is determined based on half of the steering travel of the steering device and the error parameters of the angle sensor.

[0063] For example, if the steering travel of the steering system is -50° to +50°, the calibration zero point is 0°, and the angle sensor error angle is 1°, then the first threshold is +51°. That is, the absolute value of the second threshold is the sum of half the steering travel of the steering system and the angle sensor error angle. Of course, the sign of the second threshold also needs to be determined by the specific direction.

[0064] The following is an example of a lifting device: Please refer to [link / reference]. Figure 6 The zero point of the lifting device indicates the lowest position of the lifting device. When lifting upwards from the zero point, the angle detected by the angle sensor gradually increases based on the zero point.

[0065] In one scenario, when the extreme attitude angle is less than the calibration zero point, it indicates that the extreme position corresponding to the extreme attitude angle is lower than the calibration zero point. If the difference meets the preset conditions, it is determined that the angle sensor has been calibrated. This includes: if the difference between the extreme attitude angle and the calibration zero point is less than a third threshold, it can be determined that the angle sensor has been calibrated. The third threshold is determined based on the error parameters of the angle sensor.

[0066] For example, if the angle sensor has an error angle of 1°, then the third threshold is 1°.

[0067] In another case, when the extreme attitude angle is greater than the calibration zero point, it means that the extreme position corresponding to the extreme attitude angle is the highest position of the lifting device. When the difference meets the preset conditions, it is determined that the angle sensor has been calibrated, including: if the difference between the extreme attitude angle and the calibration zero point is less than the fourth threshold, it is determined that the angle sensor has been calibrated; wherein, the fourth threshold is determined according to the lifting stroke of the lifting device and the error parameters of the angle sensor.

[0068] For example, if the lifting stroke of the lifting device is 5° to +65°, the calibration zero point is 5°, and the error angle of the angle sensor is 1°, then the fourth threshold is +66°.

[0069] For questions regarding related technologies, please refer to [link / reference]. Figure 7This application provides another calibration and detection method for an angle sensor, applied to an attitude adjustment device; the angle sensor is used to acquire the attitude angle of the attitude adjustment device; the calibration and detection method includes:

[0070] In S201, the extreme attitude angle output by the angle sensor is obtained when the attitude adjustment device is in the extreme position.

[0071] In S202, the angle sensor is determined to be calibrated based on the difference between the extreme attitude angle and the pre-stored calibration zero point of the angle sensor.

[0072] Those skilled in the art will understand that when the names of the components mentioned in the calibration and testing methods provided in this application are the same as the names of the components in the water-based mobile equipment, water-based propeller, and lifting device, they indicate the same component.

[0073] In this embodiment, considering that the lifting stroke of the lifting device is fixed, evaluating the difference between the extreme attitude angle output by the angle sensor and the calibration zero point when the attitude adjustment device is in the extreme position is beneficial to improving the accuracy of calibration detection.

[0074] The attitude adjustment device includes a steering device and a lifting device.

[0075] The steering system is used as an example for illustration: Please refer to [link / reference]. Figure 5 The steering system's calibration zero point indicates the center position of the steering system. Assuming that when turning right, the angle detected by the angle sensor gradually increases from the calibration zero point; while when turning left, the angle detected by the angle sensor gradually decreases from the calibration zero point.

[0076] In one scenario, when the limiting attitude angle is less than the calibration zero point, it indicates that the limiting position corresponding to that angle is to the left of the calibration zero point. Therefore, based on the difference between the limiting attitude angle and the pre-stored calibration zero point of the angle sensor, it is determined whether the angle sensor has been calibrated. This includes: if the difference between the limiting attitude angle and the calibration zero point is less than a first threshold, the angle sensor is determined to be calibrated; otherwise, the angle sensor is determined to be uncalibrated. The first threshold is determined based on the steering travel of the steering system and the error parameters of the angle sensor. More specifically, the first threshold is determined based on half of the steering travel of the steering system and the error parameters of the angle sensor.

[0077] In another scenario, when the limiting attitude angle is greater than the calibration zero point, it indicates that the limiting position corresponding to that angle is to the right of the calibration zero point. Therefore, based on the difference between the limiting attitude angle and the pre-stored calibration zero point of the angle sensor, it is determined whether the angle sensor has been calibrated. This includes: if the difference between the limiting attitude angle and the calibration zero point is less than a second threshold, the angle sensor is determined to be calibrated; otherwise, the angle sensor is determined to be uncalibrated. The second threshold is determined based on the steering travel of the steering system and the error parameters of the angle sensor. More specifically, the second threshold is determined based on half of the steering travel of the steering system and the error parameters of the angle sensor.

[0078] The following is an example of a lifting device: Please refer to [link / reference]. Figure 6 The zero point of the lifting device indicates the lowest position of the lifting device. When lifting upwards from the zero point, the angle detected by the angle sensor gradually increases based on the zero point.

[0079] In one scenario, when the limiting attitude angle is less than the calibration zero point, it indicates that the corresponding limiting position is below the calibration zero point. Therefore, the angle sensor's calibration status is determined based on the difference between the limiting attitude angle and the pre-stored calibration zero point of the angle sensor. This includes: if the difference between the limiting attitude angle and the calibration zero point is less than a third threshold, the angle sensor is considered calibrated; otherwise, it is considered uncalibrated. The third threshold is determined based on the angle sensor's error parameters. For example, if the angle sensor's error angle is 1°, then the third threshold is 1°.

[0080] In another scenario, when the limiting attitude angle is greater than the calibration zero point, it indicates that the limiting position corresponding to that angle is the highest point of the lifting device. Then, based on the difference between the limiting attitude angle and the pre-stored calibration zero point of the angle sensor, it is determined whether the angle sensor has been calibrated. This includes: if the difference between the limiting attitude angle and the calibration zero point is less than a fourth threshold, the angle sensor is determined to be calibrated; otherwise, the angle sensor is determined to be uncalibrated. The fourth threshold is determined based on the lifting stroke of the lifting device and the error parameters of the angle sensor.

[0081] For example, if the lifting stroke of the lifting device is 5° to +65°, the calibration zero point is 5°, and the error angle of the angle sensor is 1°, then the fourth threshold is +66°.

[0082] In some embodiments, the calibration detection method for the angle sensor in this application further includes: if it is determined that the angle sensor is not calibrated, the attitude adjustment device can be calibrated to determine a new calibration zero point.

[0083] Taking a tilting device as an example: In response to determining that the angle sensor is not calibrated, a calibration prompt message can be output. The calibration prompt message is used to prompt the user to operate the downward tilting control to calibrate the angle sensor. For example, the movable body of the water-based mobile device is equipped with a display device or speaker, and the tilting device can be connected to the display device or speaker. The calibration prompt message can be displayed on the display interface of the display device or played through the speaker, but is not limited to these methods.

[0084] Furthermore, when the user operates the downward tilting control, it can respond to the calibration command and control the tilting device to tilt downward, so that the tilting angle output by the angle sensor when the tilting device is at its lowest position is used as the new calibration zero point.

[0085] In this embodiment, considering that the zero point of the angle sensor is not calibrated, a method is provided to determine whether the lifting device has lifted to the lowest position without relying on the zero point calibration of the angle sensor. During the downward lifting process of the lifting device, the lifting angle can be detected simultaneously using the angle sensor; the difference between any two lifting angles among multiple consecutively read lifting angles is checked to see if it is less than a first preset difference; if so, it is determined that the lifting device has lifted to the lowest position, and a new calibration zero point is determined based on the multiple lifting angles. That is, during the turning process of the lifting device, when the lifting angle output by the angle sensor fluctuates within a small range, it can be determined that the lifting device has lifted to the lowest position.

[0086] It is understood that the first preset difference can be set according to the actual application scenario, and this embodiment does not impose any restrictions on it.

[0087] Taking a steering device as an example: In response to determining that the angle sensor is not calibrated, a calibration prompt message can be output; the calibration prompt message is used to prompt the user to operate the steering control to calibrate the angle sensor. For example, the movable body of the water-based mobile device is equipped with a display device or a speaker, and the steering device can be connected to the display device or speaker, etc. The calibration prompt message can be displayed on the display interface of the display device, or played through the speaker, but is not limited to these.

[0088] Furthermore, when the user operates the steering control, the steering device can be controlled to steer in response to a calibration command, thereby obtaining the limit steering angles output by the angle sensors at the two extreme positions of the steering device; and then a new calibration zero point can be determined based on the limit steering angles. For example, the average value between the limit steering angles corresponding to the two extreme positions can be calculated, and then the average value can be used as the new calibration zero point.

[0089] In this embodiment, considering that the zero point of the angle sensor may not be calibrated, a method is provided to determine whether the steering device has turned to its limit position without relying on the zero point calibration of the angle sensor. During the steering process, the angle sensor is used to simultaneously detect the steering angle; it is then detected whether the difference between any two steering angles among multiple consecutive readings from the angle sensor is less than a second preset difference; if so, the steering device is determined to have turned to its limit position, and the steering angle output by the angle sensor at this time is obtained as the limit steering angle. In other words, if the steering angle output by the angle sensor fluctuates within a small range during the steering process, it can be determined that the steering device has turned to its limit position.

[0090] It is understood that the second preset difference can be specifically set according to the actual application scenario, and this embodiment does not impose any restrictions on it.

[0091] In some embodiments, for a lifting device, if the angle sensor is not calibrated, it is impossible to effectively identify whether the lifting angle of the lifting device is entering or exiting the limit, thus preventing the automatic limit protection function from being completed through normal control logic. If the lifting device continues to execute the lifting command, there is a risk of physical damage to the mechanical limit structure. Therefore, the angle sensor calibration detection method in this application embodiment further includes: in response to determining that the angle sensor is not calibrated, a lifting control scheme for when the angle sensor is not calibrated can be entered.

[0092] To facilitate the reader's understanding, the structure of the lifting device is described here by way of example.

[0093] like Figures 8 to 10 As shown, the lifting device includes a clamp 1, a lifting bracket 20, and a limiting bracket 30. The clamp 1 is provided with a lifting main shaft 11 and a sliding groove 12. The sliding groove 12 includes a sliding section 121, a limiting section 122, and an unlocking section 123. The groove depth of the sliding section 121 is less than the groove depth of the limiting section 122, and the groove depth of the limiting section 122 is less than the groove depth of the unlocking section 123. The lifting bracket 20 is connected to the lifting main shaft 11 and is configured to lift relative to the clamp 1. The lifting bracket 20 is used to engage with the main unit 201 of the water propulsion device 200. Figure 2 (As shown) Connection. The limiting bracket 30 includes a bracket body 31 and a limiting shaft 32. One end of the bracket body 31 is rotatably connected to the lifting bracket 20, and the other end is connected to the limiting shaft 32. The limiting shaft 32 is configured to slide relative to the bracket body 31 in a direction parallel to the lifting main shaft 11. The end of the limiting shaft 32 is also slidably engaged with the slide groove 12. One end of the limiting section 122 is set as a locking position W1, and the other end of the limiting section 122 is connected to the unlocking section 123, which is used to allow the limiting shaft 32 to disengage from the locking position W1 and enter the unlocking section 123 under the action of a driving force.

[0094] like Figures 11 to 12 As shown, and see also Figure 1 and Figure 2 In some implementations, the clamp 1 includes two clamping ears 10, which are spaced apart and opposite to each other. Correspondingly, two sliding grooves 12 are provided, located on opposite sides of the two clamping ears 10. A lifting bracket 20 is at least partially installed between the two clamping ears 10, allowing the two ends of the lifting main shaft 11 to pass through the lifting bracket 20 and be rotatably mounted on the two clamping ears 10. This allows the lifting bracket 20 to rotate around the axis of the lifting main shaft 11 under a driving force, thereby causing the lifting bracket 20 to lift relative to the two clamping ears 10. Simultaneously, the lifting bracket 20 is also connected to the main unit 201 of the water propulsion device 200. When the lifting bracket 20 lifts, it drives the main unit 201 of the water propulsion device 200 to move, causing the main unit 201 to adopt different postures relative to the movable body 301.

[0095] The support body 31 is located between two clamping ears 10, and the support body 31 includes a first end 311 and a second end 312. Limiting shafts 32 are installed on both sides of the first end 311 of the support body 31 near the two clamping ears 10. The limiting shafts 32 are parallel to the axis of the lifting main shaft 11, and the end of the limiting shaft 32 near the slide groove 12 is slidably fitted into the slide groove 12. This not only allows the two clamping ears 10 to support the support body 31 from both sides, but also allows the first end 311 of the support body 31 to move relative to the slide groove 12 via the limiting shaft 32. Specifically, a bushing 321 is provided at the end of the limiting shaft 32 near the slide groove 12. The outer diameter of the bushing 321 is larger than the outer diameter of the limiting shaft 32, and the outer diameter of the bushing 321 is smaller than the minimum groove width of the slide groove 12. The bushing 321 is made of flexible material and abuts against the wall of the slide groove 12, thereby the bushing 321 plays a role in shock absorption and buffering of the movement of the limiting shaft 32 in the slide groove 12.

[0096] The second end 312 of the support body 31 is rotatably connected to the lifting support 20 via a rotating shaft 22. The rotating shaft 22 is parallel to the axis of the lifting main shaft 11, and both ends of the rotating shaft 22 are fixed to opposite sides of the lifting support 20, so that the rotating shaft 22 is fixed relative to the lifting support 20. The second end 312 of the support body 31 is provided with a through hole 3120 for the rotating shaft 22 to pass through, so that the second end 312 of the support body 31 is rotatably mounted on the rotating shaft 22, so that the second end 312 of the support body 31 can rotate around the axis of the rotating shaft 22.

[0097] Specifically, the lifting bracket 20 is provided with an ear plate 21, which has a through hole 210 for the rotating shaft 22 to pass through. The ear plate 21 is located approximately at the middle position of the rotating shaft 22, and a torsion spring 23 is fitted at the middle position of the rotating shaft 22.

[0098] The torsion spring 23 provides a force to the support body 31 relative to the lifting bracket 20, causing the support body 31 to open relative to the lifting bracket 20 under the tension of the torsion spring 23. That is, the opening direction of the support body 31 relative to the rotation shaft 22 is opposite to the rotation direction of the lifting bracket 20 relative to the rotation shaft 22. This forces the limiting shaft 32 to also open relative to the lifting bracket 20 as the support body 31 opens. As a result, the limiting shaft 32 always has a tendency to abut against the outside when the lifting bracket 20 is lifted or released, so that the outer peripheral surface of the limiting shaft 32 slides against the inner wall of the slide groove 12. The inner wall of the slide groove 12 guides the sliding of the limiting shaft 32.

[0099] Thus, when the lifting bracket 20 is lifted under the action of a driving force, which can be provided by a power device or human power and applied to the lifting bracket 20, the lifting bracket 20 can be lifted relative to the movable body 301. The driving force mentioned in the following description is the same as the current driving force. The lifting bracket 20 drives the bracket body 31 to move with the lifting bracket 20 through the rotating shaft 22 fixedly connected to it. At this time, the limiting shaft 32 provided on the first end 311 of the bracket body 31 is limited by the limiting effect of the slide groove 12 and moves approximately along a fixed trajectory, causing the second end 312 of the bracket body 31 to rotate around the axis of the rotating shaft 22, thereby causing the bracket body 31 to change its posture relative to the lifting bracket 20. During the posture change of the bracket body 31 relative to the lifting bracket 20, the bracket body 31 can limit the lifting angle of the lifting bracket 20, making the lifting process of the lifting bracket 20 smoother. The lifting angle of the lifting bracket 20 is the angle by which the free end of the lifting bracket 20 rotates from the position abutting against the clamp 1 around the rotating shaft 22 to the position separated from the clamp 1. Simultaneously, when the lifting bracket 20 is lifted under a driving force, the lifting bracket 20 drives the bracket body 31 to move along with it via the rotating shaft 22, which is fixedly connected to it. This causes the limiting shaft 32 to move within the slide groove 12 towards the lifting direction of the lifting bracket 20 until it abuts against the inner wall of the slide groove 12. As the lifting bracket 20 continues to lift, the limiting shaft 32 slides upwards against the inner wall of the slide groove 12. The inner wall of the slide groove 12 directly guides the sliding of the limiting shaft 32.

[0100] When the lifting bracket 20 is released and falls back under its own gravity, the bracket body 31 also falls back under its own gravity, causing the limiting shaft 32 to move within the slide groove 12 in the direction of the lifting bracket 20's fall until it abuts against the inner wall of the slide groove 12. As the bracket body 31 continues to fall, the limiting shaft 32 remains pressed against the inner wall of the slide groove 12 and slides downwards. The inner wall of the slide groove 12 directly guides the sliding of the limiting shaft 32.

[0101] like Figure 10 , Figures 13 to 14As shown, in some implementation methods, the limiting section 122 is inclined, one end of the limiting section 122 is connected to the sliding section 121, and the other end of the limiting section 122 is set as a locking position W1, which is a locking groove that is recessed away from the sliding section 121. When the lifting device 100 lifts under the action of a driving force, the lifting device 100 causes the limiting shaft 32 to enter the limiting section 122 from the sliding section 121. Since the groove depth of the sliding section 121 is less than the groove depth of the limiting section 122, the end of the limiting shaft 32 moves axially toward the bottom of the sliding groove 12. The end of the limiting shaft 32 always abuts against the bottom of the sliding groove 12, preventing the limiting shaft 32 from moving from the limiting section 122 to the sliding section 121. Thus, after the driving force is removed, the lifting device 100 moves the limiting shaft 32 along the limiting section 122 to the locking position W1 under its own gravity and locks, so that the lifting device 100 can still maintain the lifting state after the load is released.

[0102] It is worth noting that both the sliding section 121 and the limiting section 122 are partial sections of the slide groove 12. The slide groove 12 is a groove formed by slotting inward from the side of the clamping ear 10 facing the limiting shaft 32. The groove depth of the slide groove 12 refers to the vertical distance from the side of the clamping ear 10 facing the limiting shaft 32 to the bottom of the slide groove 12. Correspondingly, the groove depth of the sliding section 121 is the vertical distance from the side of the clamping ear 10 facing the limiting shaft 32 to the bottom of the slide groove 12 corresponding to the sliding section 121, and the groove depth of the limiting section 122 is the vertical distance from the side of the clamping ear 10 facing the limiting shaft 32 to the bottom of the slide groove 12 corresponding to the limiting section 122.

[0103] Simultaneously, the unlocking section 123 is connected to the higher end of the limiting section 122. When the lifting device 100 needs to be unlocked, the lifting device 100 continues to lift under the action of a driving force, causing the limiting shaft 32 to self-lock at position W1 (e.g., Figure 10 (As shown) After disengaging, it is transported to the unlocking section 123. Because the groove depth of the limiting section 122 is less than that of the unlocking section 123, the end of the limiting shaft 32 moves axially toward the bottom of the sliding groove 12. The end of the limiting shaft 32 always abuts against the bottom of the sliding groove 12, preventing the limiting shaft 32 from moving from the unlocking section 123 to the limiting section 122. The limiting shaft 32 then impacts the bottom of the groove in the unlocking section 123, producing an impact sound, thus alerting the outside world that the unlocking action has been completed. In this way, after the unlocking action is completed, the driving force is removed, and the lifting device 100, under its own gravity, moves the limiting shaft 32 from the unlocking section 123 to the sliding section 121, and continues to slide down along the sliding section 121 to complete the release action.

[0104] It is worth noting that the unlocking section 123 is a part of the slide groove 12. As mentioned above, the groove depth of the unlocking section 123 is the vertical distance from the side of the clamping ear 10 facing the limiting shaft 32 to the bottom of the slide groove 12 corresponding to the unlocking section 123.

[0105] In summary, the lifting device 100 of this application provides a groove 12 on the clamping ear 10, so that the limiting shaft 32 is slidably fitted in the groove 12, and the end of the limiting shaft 32 can slide relative to the groove 12 along its axial direction. Meanwhile, the groove depth of the sliding section 121 is less than the groove depth of the limiting section 122. After the limiting shaft 32 enters the limiting section 122 from the sliding section 121, the end of the limiting shaft 32 moves axially to the bottom of the limiting section 122, thus limiting the lifting device 100. The groove depth of the limiting section 122 is less than the groove depth of the unlocking section 123. After the limiting shaft 32 enters the unlocking section 123 from the limiting section 122 under the lifting action of a driving force, the end of the limiting shaft 32 moves axially to the bottom of the unlocking section 123, thus quickly unlocking the lifting device 100. It is only necessary to slightly lift the lifting device 100 to unlock it, without the need to set an additional unlocking switch to release the lifting device 100.

[0106] Please combine Figure 12 The limiting bracket 30 also includes an elastic element 322, which is elastically connected between the limiting shaft 32 and the bracket body 31, and is used to drive the end face of the limiting shaft 32 to abut against the bottom wall of the slide groove 12. In one embodiment, the first end 311 of the bracket body 31 has two extending protrusions 313 on both sides, and the extending protrusions 313 extend from the first end 311 of the bracket body 31 away from the second end 312 of the bracket body 31. The extending protrusions 313 have mounting holes 3130, and the limiting shaft 32 is partially received in the mounting holes 3130. The end of the limiting shaft 32 away from the slide groove 12 is provided with a support plate 323 and an elastic element 322, and the support plate 323 is fixed to the end of the limiting shaft 32 away from the slide groove 12. The elastic element 322 is sleeved on the outer periphery of the limiting shaft 32, with one end connected to the bracket body 31 and the other end elastically abutting against and connected to the support plate 323. It applies an elastic force along the axial direction to the limiting shaft 32, causing the limiting shaft 32 to elastically return to its axial position towards the bottom of the slide groove 12. It is worth noting that the elastic element 322 can be a rectangular spring, etc.

[0107] Please combine Figure 12 , Figure 13 and Figure 14The limiting section 122 is connected to the unlocking section 123, and a first support surface P1 is provided between the limiting section 122 and the unlocking section 123. The first support surface P1 is used to prevent the limiting shaft 32 from entering the limiting section 122 from the unlocking section 123. In one embodiment, since the groove depth of the limiting section 122 is less than the groove depth of the unlocking section 123, a stepped surface is formed at the connection between the limiting section 122 and the unlocking section 123, and this stepped surface is the first support surface P1. The first support surface P1 is set approximately perpendicular to the bottom wall of the unlocking section 123, that is, the first support surface P1 is approximately parallel to the axial direction of the limiting shaft 32. Under the action of a driving force, the limiting shaft 32 slides from the limiting section 122 to the bottom wall of the unlocking section 123 along the axial direction under the action of the elastic force provided by the elastic element 322, so that the limiting shaft 32 is resisted by the first support surface P1 and cannot fall back to the limiting section 122 after the driving force is removed.

[0108] Please combine Figure 12 , Figure 13 and Figure 14 The unlocking section 123 includes a guide ramp P4, which connects the unlocking section 123 and the sliding section 121. The guide ramp P4 guides the limiting shaft 32 from the unlocking section 123 into the sliding section 121. In one embodiment, the guide ramp P4 extends obliquely outward from the unlocking section 123 to the sliding section 121. The guide ramp P4 is set as a plane or a curved surface, so that when the limiting shaft 32, which has moved to the unlocking section 123, slides down under the gravity of the lifting device 100, the guide ramp P4 guides the limiting shaft 32 to move quickly from the unlocking section 123 to the sliding section 121, thereby realizing the rapid release and subsequent fall of the lifting device 100.

[0109] The guide slope P4 intersects with the first support surface P1, ensuring that after the limiting shaft 32 moves past the first support surface P1, it moves directly to contact the guide slope P4, and the guide slope P4 quickly guides the limiting shaft 32 to slide down.

[0110] Please combine Figure 12 , Figure 13 and Figure 14The sliding section 121 is connected to the limiting section 122, and a second support surface P2 is provided between the sliding section 121 and the limiting section 122. The second support surface P2 is used to prevent the limiting shaft 32 from entering the sliding section 121 from the limiting section 122. In one embodiment, since the groove depth of the limiting section 122 is greater than the groove depth of the sliding section 121, a stepped surface is formed at the connection between the limiting section 122 and the sliding section 121, which is the second support surface P2. The second support surface P2 is set approximately perpendicular to the bottom wall of the limiting section 122. Under the action of a driving force, the limiting shaft 32 slides from the sliding section 121 to the second support surface P2. Under the action of the elastic force provided by the elastic element 322, the limiting shaft 32 slides axially toward the bottom wall of the limiting section 122, so that the limiting shaft 32 is resisted by the second support surface P2 and cannot fall back to the sliding section 121 after the driving force is removed.

[0111] Please combine Figure 12 , Figure 13 and Figure 14 A third support surface P3 is provided at the end of the limiting section 122 away from the unlocking section 123. When the limiting shaft 32 is locked in the limiting section 122, the third support surface P3 abuts against the outer peripheral surface of the limiting shaft 32. In one embodiment, the location of the third support surface P3 is designated as the locking position W1. The third support surface P3 is arranged in an arc shape and is adapted to the shape of the bushing 321 of the limiting shaft 32, so that when the limiting shaft 32 moves to the point where the outer peripheral surface of the bushing 321 abuts against the third support surface P3, the limiting shaft 32 can be locked precisely at the locking position W1, preventing the limiting shaft 32 from disengaging from the locking position W1 or wobbling within the locking position W1 under the action of external force.

[0112] Furthermore, the third support surface P3 intersects with the second support surface P2, and the third support surface P3 is smoothly connected to the second support surface P2, so that the limiting shaft 32 can slide along the second support surface P2 to abut against the third support surface P3 after the driving force is removed, and lock at the stop position W1.

[0113] Specifically, the third support surface P3 is set approximately perpendicular to the bottom wall of the limiting section 122 so that the extension direction of the third support surface P3 is the same as the axial direction of the limiting shaft 32, thereby increasing the contact area between the third support surface P3 and the limiting shaft 32 and improving the stability of the limiting shaft 32 at the locking position W1.

[0114] Please combine Figure 12 , Figure 13 and Figure 14A first transition wall P5 is provided on the side of the limiting section 122 away from the sliding section 121, and a second transition wall P6 is provided on the side of the unlocking section 123 away from the sliding section 121. The first transition wall P5 and the second transition wall P6 are connected to guide the limiting shaft 32 from the limiting section 122 to the unlocking section 123. In one embodiment, the first transition wall P5 is disposed opposite to the second support surface P2, and one end of the first transition wall P5 is smoothly connected to the third support surface P3. The second transition wall P6 is disposed opposite to the guide slope P4, and the second transition wall P6 is smoothly connected to the end of the first transition wall P5 away from the third support surface P3, so that the third support surface P3, the first transition wall P5 and the second transition wall P6 are connected end to end in sequence, thereby guiding the limiting shaft 32 to move along a preset path when the lifting device 100 is unlocked, thereby realizing the unlocking of the lifting device 100.

[0115] Specifically, the first transition wall P5 and the second transition wall P6 are coplanar, and the limiting shaft 32 can move smoothly from the first transition wall P5 to the second transition wall P6, which can improve the stability of the limiting shaft 32 when it enters the unlocking section 123 from the limiting section 122.

[0116] Thus, when the lifting device 100 is unlocked, the limiting shaft 32 is disengaged from the third support surface P3 under the action of a driving force and slides close to the first transition wall P5 toward the unlocking section 123. Since the first transition wall P5 and the second transition wall P6 are smoothly connected, the limiting shaft 32 can be guided to move close to the first transition wall P5 and the second transition wall P6 to the unlocking section 123, thereby realizing the unlocking of the lifting device 100.

[0117] Please combine Figure 13 and Figure 14 And see Figure 12 The sliding section 121 includes a first sidewall P7. When the limiting shaft 32 moves within the sliding section 121 toward the limiting section 122, the first sidewall P7 abuts against the outer peripheral surface of the limiting shaft 32, guiding the limiting shaft 32 to move within the sliding section 121 toward the limiting section 122. In one embodiment, the trajectory of the sliding section 121 is approximately inclined, and the higher end of the sliding section 121 is located on the side of the lower end of the sliding section 121 closer to the rotation shaft 22, so that the sliding section 121 is inclined from bottom to top toward the position of the rotation shaft 22.

[0118] The first sidewall P7 is the inner sidewall of the sliding section 121. The first sidewall P7 is arranged along the extension direction of the sliding section 121 and is located on the side of the sliding section 121 away from the rotation axis 22. Thus, when the lifting device 100 lifts, the second end 312 of the support body 31 rotates upward around the rotation axis 22, causing the first end 311 of the support body 31 to move upward relative to the rotation axis 22. Under the tension of the torsion spring 23 installed on the rotation axis 22, the support body 31 also opens relative to the lifting support 20, forcing the limiting shaft 32 to also open relative to the lifting support 20 as the support body 31 opens. That is, the opening direction of the support body 31 relative to the rotation axis 22 is opposite to the rotation direction of the lifting support 20 relative to the rotation axis 22, so that the limiting shaft 32 always has a tendency to abut outward. Under this tendency, the limiting shaft 32 moves toward the first sidewall P7 until the limiting shaft 32 abuts against the first sidewall P7. The lifting device 100 continues to lift, and the first end 311 of the support body 31 continues to move upward relative to the rotating shaft 22. The limiting shaft 32 slides upward close to the first side wall P7 in the sliding section 121, and the first side wall P7 acts as a stop for the limiting shaft 32, ensuring the stability of the lifting device 100 when it lifts and preventing it from shaking.

[0119] Please combine Figure 12 and Figure 13 And see Figure 14The sliding section 121 includes a second sidewall P8. When the limiting shaft 32 moves away from the unlocking section 123 within the sliding section 121, the second sidewall P8 abuts against the outer peripheral surface of the limiting shaft 32, guiding the limiting shaft 32 to move away from the unlocking section 123 within the sliding section 121. In one embodiment, the second sidewall P8 is the inner sidewall of the sliding section 121 and is disposed opposite to the first sidewall P7. The second sidewall P8 is disposed along the extending direction of the sliding section 121 and is located on the side of the sliding section 121 closest to the rotating shaft 22. Thus, when the lifting device 100 is released, the second end 312 of the support body 31 rotates downward around the rotating shaft 22, causing the first end 311 of the support body 31 to move downward relative to the rotating shaft 22. Under the tension of the torsion spring 23 installed on the rotating shaft 22, the support body 31 also opens relative to the lifting bracket 20, forcing the limiting shaft 32 to also open relative to the lifting bracket 20 as the support body 31 opens. That is, the opening direction of the support body 31 relative to the rotating shaft 22 is opposite to the rotation direction of the lifting bracket 20 relative to the rotating shaft 22, so that the limiting shaft 32 always has a tendency to abut outward. Under this tendency, the limiting shaft 32 moves toward the second side wall P8 until the limiting shaft 32 abuts against the second side wall P8. The lifting device 100 continues to fall under its own gravity, and the first end 311 of the support body 31 continues to move downward relative to the rotating shaft 22. The limiting shaft 32 slides downward close to the second side wall P8 in the sliding section 121, and the second side wall P8 acts as a stop for the limiting shaft 32, ensuring the stability of the lifting device 100 when it is released and preventing it from shaking.

[0120] Please combine Figure 15 and Figure 16 The lifting device 100 further includes a drive assembly 40, which is connected to the clamp 1 and the lifting bracket 20, and is used to provide power for lifting the lifting bracket 20 relative to the clamp 1; exemplaryly, the fixed end of the drive assembly 40 is rotatably connected to the clamp 1. In one embodiment, a mounting base 13 is also provided between the two clamping ears 10, and the mounting base 13 is connected to the end of the clamping ear 10 away from the lifting main shaft 11. One end of the drive assembly 40 is mounted on the mounting base 13, and the other end is connected to the lifting bracket 20, for providing a driving force to lift the lifting bracket 20 around the lifting main shaft 11.

[0121] Further, the drive assembly 40 includes a lifting base shaft 43, a telescopic mechanism 41, and an actuator 42. The lifting base shaft 43 is rotatably disposed on the clamp 1 away from the lifting main shaft 11. One end of the telescopic mechanism 41 is connected to the lifting base shaft 43, and the other end is rotatably abutted against the lifting bracket 20. The actuator 42 is connected to the telescopic mechanism 41 and is used to drive the telescopic mechanism 41 to extend or retract. In one embodiment, the lifting base shaft 43 and the lifting main shaft 11 have the same axial direction, and one end of the lifting base shaft 43 passes through the mounting base 13 and is rotatably connected to a clamp 10. The other end of the lifting base shaft 43 is rotatably installed in the mounting base 13. The end of the telescopic mechanism 41 away from the lifting main shaft 11 allows the lifting base shaft 43 to pass through, so that the telescopic mechanism 41 can rotate around the axis of the lifting base shaft 43. When the lifting bracket 20 is lifted, the telescopic mechanism 41 can move synchronously, so that the telescopic mechanism 41 always maintains its abutting effect on the lifting bracket 20.

[0122] The telescopic mechanism 41 includes a cylinder 411 and a telescopic rod 412, which is telescopically installed inside the cylinder 411. For example, the telescopic rod 412 abuts against the lifting bracket 20 and rotatably engages with the lifting bracket 20. The end of the telescopic rod 412 near the lifting main shaft 11 is located outside the cylinder 411, and a connecting sleeve 413 for mounting a connecting shaft 44 is provided at the end. The connecting shaft 44 is rotatably housed within the connecting sleeve 413. The connecting shaft 44 is aligned with the axis of the lifting main shaft 11, and both ends of the connecting shaft 44 pass through the connecting sleeve 413. One end of the connecting shaft 44 is mounted on the ear plate 21, and the other end is mounted on the lifting bracket 20. When the telescopic mechanism 41 drives the lifting bracket 20 to lift, the telescopic mechanism 41 can rotate around the axis of the connecting shaft 44, thereby deflecting the telescopic mechanism 41 relative to the lifting bracket 20 to cooperate with the lifting action of the lifting bracket 20.

[0123] The actuator 42 is installed on the outside of the telescopic mechanism 41 and can move synchronously with the telescopic mechanism 41. The actuator 42 is used to adjust the telescopic rod 412's extension and retraction amount, thereby adjusting the lifting height of the lifting bracket 20 that is lifted by the telescopic rod 412.

[0124] In particular, in another embodiment, the driving force can also be provided by human power, and the lifting bracket 20 is driven to move by human power pushing and pulling.

[0125] Please combine Figure 16The telescopic mechanism 41 is configured as a hydraulic telescopic mechanism, and the actuator 42 is configured as an oil pump motor. The oil pump motor is used to adjust the amount of oil in the hydraulic telescopic mechanism to adjust the telescopic length of the hydraulic telescopic mechanism. In one embodiment, the telescopic mechanism 41 is hydraulically driven, which provides better stability during operation and ensures that the lifting device 100 is not prone to shaking during the lifting process. The actuator 42 is connected to the telescopic mechanism 41 by pipeline and can exchange hydraulic oil with the telescopic mechanism 41. Thus, the actuator 42 controls the amount of oil in the cylinder 411 of the telescopic mechanism 41 to adjust the telescopic distance of the telescopic rod 412 of the telescopic mechanism 41.

[0126] Please combine Figure 17 The lifting device 100 also includes an angle sensor 50. The angle sensor 50 is coupled to the lifting bracket 20 and the telescopic rod 412, and is used to sense the relative rotation of the telescopic rod 412 and the lifting bracket 20. For example, the angle sensor 50 includes a magnetic part 51 and a sensing part 52. The sensing part 52 moves with the lifting bracket 20, and the magnetic part 51 moves with the telescopic rod 412. The sensing part 52 is used to sense the magnetic displacement of the magnetic part 51. For example, please refer to... Figure 10 The lifting device also includes a housing 60 disposed on the lifting bracket 20. The sensing part 51 and the magnetic part 52 are both disposed within the housing 60. The sensing part 51 is fixed within the housing 60, and the magnetic part 52 is rotatably adapted to the housing 60. In one embodiment, the housing 60 can be sealed by filling with sealant or adding a sealing ring at the opening. In this embodiment, the angle sensor 50 is disposed inside the lifting bracket 20, which does not affect the appearance; and the sensing part 51 and the magnetic part 52 are both disposed within the housing 60, resulting in good sealing within the cavity; furthermore, the relative positions of the sensing part 51 and the magnetic part 52 are fixed, so that the angle detection accuracy of the angle sensor is not affected by the installation.

[0127] For example, such as Figure 8 , Figure 10 , Figure 13 , Figure 14 and Figure 17 As shown, when the angle sensor 50 is not calibrated, it is impossible to know which of the sliding section 121, the limiting section 122, and the unlocking section 123 the lifting device is in. If the lifting device 100 is currently in the limiting section 122, and the user wants the water propeller to lift downwards, the limiting shaft 32 will collide with the second support surface P2 of the limiting section 122, which poses a risk of physical damage to the clamp 1.

[0128] To address the aforementioned issues, this application provides two solutions, which are illustrated below.

[0129] In the first solution, addressing the aforementioned problem, the steps of the aforementioned tilting control scheme in response to the determination that the angle sensor is not calibrated include: in response to the determination that the angle sensor is not calibrated, if a downward tilting command is received, controlling the tilting device to tilt upwards until a target duration is reached, the target duration being used to tilt the tilting device upwards to a preset high position to release the limit of the tilting device; after reaching the target duration, controlling the tilting device to tilt downwards according to the downward tilting command. This embodiment achieves, in the case of an angle sensor not calibrated and a downward tilting command received, by forcibly tilting upwards for a sufficient time, ensuring that the limit is released regardless of whether the tilting is in a limit protection state, thereby protecting the limit structure of the tilting device from damage.

[0130] In some embodiments, when the angle sensor is not calibrated, the calibration detection method further includes: setting a pre-stored limit indicator to indicate a limit state. The processor of the lifting device can set the pre-stored limit indicator to indicate a limit state, which indicates that the lifting device cannot normally perform a downward lifting action. Downward lifting requires entering a special protection mode. This special protection mode refers to first controlling the lifting device to lift upward to release the limit of the lifting device, and then controlling the lifting device to lift downward. Normal upward lifting control means that upon receiving an upward lifting command, the lifting device can be controlled to lift upward according to that command.

[0131] In some embodiments, when the angle sensor is not calibrated, if a downward tilting command is received, the tilting device is controlled to tilt upwards until a target duration is reached. The target duration is used to tilt the tilting device upwards to a preset high position to release the limit of the tilting device. The preset high position is any position between the position where the tilting device can begin to tilt downwards after exiting the limit and the highest tilting position. For example, please refer to [reference needed]. Figure 8 , Figure 10 , Figure 13 and Figure 14 The preset high-position indicator limit axis 32 is located at any position in the unlocking section 123.

[0132] For example, if the angle sensor fails and the limit indicator is set to indicate the limit state, and a downward lifting command is received, the lifting device can be controlled to lift upward until the target duration is reached.

[0133] The process of determining the target duration is illustrated here.

[0134] In one possible implementation, considering that the lifting speed of the lifting device slows down when the voltage of the power supply to the lifting device decreases, the same stroke will take longer. Therefore, upon receiving a downward lifting command, the lifting device can determine the target duration based on the current voltage of its power supply, thereby controlling the lifting device to lift upward until the target duration is reached, thus releasing the lifting device's limit.

[0135] For example, the current voltage is negatively correlated with the target duration; that is, the higher the voltage and the faster the lifting speed, the shorter the target duration; and vice versa.

[0136] For example, considering that the time required for the lifting device to lift from the lowest position to the preset high position varies under different voltages, the correspondence between voltage and total lifting time can be determined experimentally and stored in the lifting device. In practical applications, the lifting device can determine the target time based on the current voltage and the pre-stored correspondence between voltage and total lifting time. The target time is the time required to lift from the lowest position to the preset high position under the current voltage, thus ensuring that the lifting device releases its limit after lifting for the target time.

[0137] Furthermore, to improve the efficiency of limit release, the lifting angle of the lifting device last detected by the angle sensor before calibration can be used as a reference, assuming that the lifting device is at this reference position when the angle sensor is determined to be uncalibrated. In practical applications, the lifting device can determine the target duration based on the current voltage, the pre-stored voltage, the correspondence between the total lifting time and the adjustment parameters. The total lifting time indicates the time required for the lifting device to lift from the lowest position to the preset high position under different voltages. The adjustment parameters indicate the difference between the lifting angle of the lifting device last detected by the angle sensor before calibration and the lifting angle when the lifting device is at its lowest position. The greater the difference, the farther the lifting device is from the lowest position, and the shorter the target duration.

[0138] In another possible implementation, considering that the total lifting time varies depending on the total stroke of the lifting device, the total lifting time also varies. The total stroke is the distance traveled by the lifting device from the lowest position to the highest position. Therefore, the lifting device can determine the target time based on its total stroke. Since the total stroke of the lifting device is fixed, the target time can be predetermined and stored in the lifting device, without waiting for a downward lifting command, which improves the efficiency of limit release. The target time is the time required for the lifting device to lift from the lowest position to the highest position under the current total stroke, thus ensuring that the lifting device releases the limit after the target upward lifting time.

[0139] For example, the target duration is positively correlated with the total trip duration; that is, the higher the total trip duration, the longer the target duration, and vice versa.

[0140] Furthermore, to improve the efficiency of the limit release, the lifting angle of the lifting device last detected by the angle sensor before calibration can be used as a reference, assuming that the lifting device is in this reference position when the angle sensor is determined to be uncalibrated. In practical applications, the lifting device can determine the target duration based on the total stroke and adjustment parameters. The adjustment parameters indicate the difference between the lifting angle of the lifting device last detected by the angle sensor before calibration and the lifting angle when the lifting device is in its lowest position. The greater the difference, the farther the lifting device is from its lowest position, and the shorter the target duration.

[0141] In another possible implementation, the target duration can be determined by combining the current voltage of the power supply to the lifting device and the total stroke of the lifting device; the current voltage is negatively correlated with the target duration, and the target duration is positively correlated with the total stroke.

[0142] For example, assuming the lifting device is at its lowest position when the angle sensor is not calibrated, the target duration can be determined, for instance, based on the total stroke, the current voltage, and the pre-stored correspondence between the voltage and the total lifting time. Alternatively, the lifting angle of the lifting device last detected before the angle sensor was determined to be uncalibrated can be used as a reference. Assuming the lifting device is at that reference position when the angle sensor is uncalibrated, the target duration can be determined, for instance, based on the total stroke, the current voltage, the pre-stored correspondence between the voltage and the total lifting time, and adjustment parameters.

[0143] In some embodiments, the calibration detection method further includes: during the period when the lifting device is controlled to lift upwards until the target duration is reached, if a control command is received, determining the control level of the control command; if the control level of the control command is higher than the control level of the downward lifting command, controlling the lifting device to stop lifting upwards and executing the control command; if the control level of the control command is lower than the control level of the downward lifting command, blocking the control command and continuing to control the lifting device to lift upwards until the target duration is reached.

[0144] For example, control commands with a higher control level than the start-up command include, but are not limited to, shutdown commands and stop-start-up commands.

[0145] In some embodiments, after the target duration is reached, for example, see [link to relevant documentation]. Figure 8 , Figure 10 , Figure 13 , Figure 14 and Figure 18The limiting shaft 32 of the lifting device 100 may be in any position in the unlocking section 123; then the processor 70 of the lifting device 100 can control the lifting device 100 to lift downward according to the downward lifting command, so that the limiting shaft 32 of the lifting device 100 slides from the unlocking section 123 into the sliding section 121.

[0146] For example, to improve the accuracy of the lifting control, after the target time is reached, the lifting device can change the pre-stored limit indicator from indicating a limit-locked state to indicating a limit-released state. Then, in response to the pre-stored limit indicator indicating a limit-released state, the lifting device controls itself to lift downwards according to the downward lifting command. The limit-released state indicates that the lifting device can normally perform the lifting action, at which point it can be controlled to normally perform either upward or downward lifting actions.

[0147] In some embodiments, with Figure 8 , Figure 10 , Figure 13 and Figure 14 For example, when the pre-stored limit indicator indicates that the limit has been released, the corresponding limit shaft 32 of the lifting device 100 may be in any position in the unlocking section 123 or the sliding section 121. If an upward lifting command is received in this case, the lifting device can be controlled to lift upward according to the upward lifting command. After lifting upward, if the lifting state management is not performed, the lifting device 100 may perform actions such as downward lifting or upward lifting, causing the limit shaft 32 of the lifting device 100 to slide from the sliding section 121 back into the limit section 122. At this time, if normal lifting is performed directly, the limit shaft 32 of the lifting device 100 may get stuck in the limit section 122. Therefore, when the pre-stored limit indicator indicates that the limit has been released, if an upward lifting command is received, the lifting device can be controlled to lift upward according to the upward lifting command. After lifting upward, the limit indicator can be changed from indicating that the limit has been released to indicating the limit, so as to prevent the limit shaft 32 from hitting the second support surface P2 between the sliding section 121 and the limit section 122 when the lifting device executes the downward lifting command again.

[0148] by Figure 8 , Figure 10 , Figure 13 and Figure 14 For example, when the pre-stored limit indicator indicates that the limit has been released, the corresponding limit shaft 32 of the lifting device 100 may be in any position in the unlocking section 123 or the sliding section 121. If a downward lifting command is received in this case, the lifting device 100 can be directly controlled to lift downward according to the downward lifting command, without the risk of hitting the limit.

[0149] In the second solution, the steps of the aforementioned lifting control scheme in response to determining that the angle sensor is not calibrated include: in the event of angle sensor failure, in response to determining that the angle sensor is not calibrated, if a lifting command is received, acquiring the lifting state of the lifting device detected by the limit switch; based on the lifting state, controlling the lifting device to perform corresponding lifting according to the lifting command. This enables lifting control based on the indication of the limit switch, avoiding physical damage to the mechanical limiting structure in the event of angle sensor failure, and protecting the limiting structure of the lifting device from damage. In this embodiment, the limit switch is installed on the lifting device, and the limit switch is used to detect the lifting state of the lifting device, which includes a limiting state and a non-limiting state.

[0150] To facilitate the reader's understanding, the structure of a limit switch is illustrated here.

[0151] Please see Figure 19 and Figure 20 The lifting device 100 is equipped with a limit switch 90, which is used to detect the lifting state of the lifting device. The limit switch 90 can be installed in the limit bracket 30, thereby sensing which of the following sections the limit shaft 32 is in: sliding section 121, limit section 122, and unlocking section 123. Alternatively, please refer to... Figure 19 , Figure 22 and Figure 23 Part of the limit switch 90 is installed on the limit bracket 30, and the other part is installed in the sliding section 121, the limit section 122 and the unlocking section 123 respectively, so that it can sense which section of the sliding section 121, the limit section 122 and the unlocking section 123 the limit shaft 32 is in.

[0152] Specifically, when the limit shaft 32 abuts against the limit section 122, the lifting state detected by the limit switch 90 is the limit state; when the limit shaft 32 abuts against the unlock section 123 or the sliding section 121, the lifting state detected by the limit switch 90 is the non-limit state.

[0153] In one possible implementation, the limit switch 90 includes a magnetic element 91 and a sensing element 92 that cooperate with the magnetic element 91. One of the magnetic element 91 and the sensing element 92 is located on the side of the limiting shaft 32 away from the slide groove 12, and the other is located on the bracket body 31. The sensing element 92 includes a first sensing element 921 and a second sensing element 922, which are spaced apart. The spaced arrangement of the first sensing element 921 and the second sensing element 922 results in different distances from the magnetic element 91, thereby allowing the lifting state of the lifting device to be accurately determined based on the distance. When the limiting shaft 32 is in different sections of the sliding section 121, the limiting section 122, and the unlocking section 123, the distance between the magnetic element 91 and the sensing element 92 is different, causing the magnetic field sensed by the sensing element 92 to change. As a result, the first sensing element 921 and the second sensing element 922 output different electrical signals. Therefore, the lifting state of the lifting device can be determined as either in a limited state or a non-limited state based on the electrical signals output by the first sensing element 921 and the second sensing element 922.

[0154] In one example, please refer to Figure 20 Taking the example of a magnetic element 91 being disposed on the side of the limiting shaft 32 away from the slide groove and a sensing element 92 being disposed on the bracket body 31: When the limiting shaft 32 is in different sections of the sliding section 121, the limiting section 122 and the unlocking section 123, the distance between the magnetic element 91 and the first sensing element 921, and between the magnetic element 91 and the second sensing element 922 will change, and the magnetic field sensed by the first sensing element 921 and the second sensing element 922 will change, thereby the first sensing element 921 and the second sensing element 922 will output different electrical signals.

[0155] Assuming that when the magnetic component 91 is close to the sensor 92, the sensor 92 outputs an ON signal; and when the magnetic component 91 is away from the sensor 92, the sensor 92 outputs an OFF signal. Please refer to [link to relevant documentation]. Figure 21 , Figure 21 This diagram illustrates the distances between the magnetic element 91 and the first sensing element 921 and the second sensing element 922, respectively, and the signal outputs of the first sensing element 921 and the second sensing element 922, when the limiting shaft 32 is in different sections of the sliding section 121, the limiting section 122, and the unlocking section 123. Please refer to... Figure 21 In (1), when the limiting shaft 32 abuts against the sliding section 121, the magnetic component 91 is relatively close to both the first sensing element 921 and the second sensing element 922, and the electrical signals output by the first sensing element 921 and the second sensing element 922 are ON and ON, respectively. Please refer to [link to relevant documentation]. Figure 21In (2), when the limiting shaft 32 abuts against the limiting section 122, the magnetic element 91 is relatively close to the first sensing element 921, but relatively far from the second sensing element 922. The electrical signals output by the first sensing element 921 and the second sensing element 922 are ON and OFF, respectively. Please refer to [link to relevant documentation]. Figure 21 In (3), when the limiting shaft 32 abuts against the unlocking section 123, the magnetic component 91 is relatively far away from the first sensing element 921 and the second sensing element 922 respectively, and the electrical signals output by the first sensing element 921 and the second sensing element 922 are OFF and OFF respectively.

[0156] Alternatively, when the magnetic element 91 approaches the sensing element 92, the sensing element 92 outputs an OFF signal; when the magnetic element 91 moves away from the sensing element 92, the sensing element 92 outputs an ON signal. When the limiting shaft 32 abuts against the sliding section 121, the electrical signals output by the first sensing element 921 and the second sensing element 922 are OFF and OFF, respectively. When the limiting shaft 32 abuts against the limiting section 122, the electrical signals output by the first sensing element 921 and the second sensing element 922 are OFF and ON, respectively. When the limiting shaft 32 abuts against the unlocking section 123, the electrical signals output by the first sensing element 921 and the second sensing element 922 are ON and ON, respectively.

[0157] In another possible implementation, please refer to Figure 22 as well as Figure 23 The limit switch 90 includes a magnet 93 disposed opposite to the limit switch 30 and three inductive switches 94 cooperating with the magnet 93. The magnet 93 is disposed on the limit bracket 30, and the three inductive switches 94 are respectively disposed in three sections of the slide groove 12. When the limit shaft 32 is in different sections of the sliding section 121, the limit section 122, and the unlocking section 123, the magnet 93 will approach different inductive switches 94. When the magnet 93 approaches one of the inductive switches 94, the contacts inside the inductive switch 94 will attract each other under the action of the magnetic field of the magnet 93, thereby making the sensing circuit inside the inductive switch 94 in the connected state. That is, by detecting the conduction status of the three inductive switches 94, it can be determined which section of the sliding section 121, the limit section 122, and the unlocking section 123 the limit shaft 32 is in, thereby determining whether the lifting state of the lifting device 100 is in the limit state or the non-limit state.

[0158] If the angle sensor 50 is not calibrated, the lifting device 100 can use the limit switch 90 to detect the lifting status of the lifting device 100.

[0159] In one possible implementation, for a limit switch comprising a magnetic element disposed opposite to the limit switch and a sensing element cooperating with the magnetic element, the aforementioned step of obtaining the lifting state of the lifting device detected by the limit switch may include: obtaining a first signal output by a first sensing element and a second signal output by a second sensing element, and then determining the lifting state based on the combination of the first and second signals. For example, please refer to... Figure 8 , Figure 10 , Figure 20 and Figure 21 The combination of the first and second signals can determine which segment of the sliding section 121, the limiting section 122, and the unlocking section 123 the limiting shaft 32 abuts against. If the limiting shaft 32 abuts against the limiting section 122, the lifting state is the limiting state; if the limiting shaft 32 abuts against the unlocking section 123 or the sliding section 121, the lifting state is the non-limiting state.

[0160] For example, please refer to [further details]. Figure 8 , Figure 10 , Figure 20 and Figure 21 If the first signal and the second signal are ON and ON respectively, it indicates that the limiting shaft 32 abuts against the sliding section 121; if the first signal and the second signal are ON and OFF respectively, it indicates that the limiting shaft 32 abuts against the limiting section 122; if the first signal and the second signal are OFF and OFF respectively, it indicates that the limiting shaft 32 abuts against the unlocking section 123.

[0161] In another possible implementation, for a limit switch comprising a magnet positioned opposite to the limit switch and three inductive switches cooperating with the magnet, the aforementioned step of obtaining the lifting state of the lifting device detected by the limit switch may include: obtaining three signals output by the three inductive switches; and determining the lifting state based on the three signals. For example, please refer to... Figure 8 , Figure 10 , Figure 22 and Figure 23 This allows us to determine which of the three signals is the circuit-on signal, thus identifying which of the three segments—sliding section 121, limiting section 122, and unlocking section 123—the limiting shaft 32 is abutting. If the limiting shaft 32 abuts against the limiting section 122, the lifting state is the limiting state; if the limiting shaft 32 abuts against the unlocking section 123 or the sliding section 121, the lifting state is the non-limiting state.

[0162] In some embodiments, after obtaining the lifting state of the lifting device detected by the limit switch, the lifting device can be controlled to perform corresponding lifting according to the lifting command based on the lifting state.

[0163] In the first possible implementation, if the lifting state is a limit state, i.e., the limit shaft of the lifting device abuts against the limit section; the lifting command includes an upward lifting command, the execution of which will cause the limit shaft of the lifting device to move from the limit section to the unlocking section, without any risk of physical damage to the limit during the process. Therefore, based on the lifting state, controlling the lifting device to perform the corresponding lifting according to the lifting command includes: based on the limit state, controlling the lifting device to lift upward according to the upward lifting command.

[0164] In the second possible implementation, if the lifting state is a limited state, i.e., the limiting shaft of the lifting device abuts against the limited section; the lifting command includes a downward lifting command. Since the limiting shaft of the lifting device is in the limited section, the execution of this downward lifting command will cause the limiting shaft of the lifting device to move from the limited section to the sliding section. A second support surface is provided between the sliding section and the limited section. This second support surface is used to prevent the limiting shaft from entering the sliding section from the limited section, thus posing a risk of physical damage to the limiting. Therefore, based on the lifting state, the lifting device is controlled to perform corresponding lifting according to the lifting command, including: based on the limited state, controlling the lifting device to lift upward and acquiring the lifting state of the lifting device detected by the limit switch; when the lifting state changes to a non-limited state, controlling the lifting device to lift downward according to the downward lifting command. This embodiment realizes that when a downward lifting command is received in the limited state, the limiting is released by forced upward lifting, thereby protecting the limiting structure of the lifting device from damage.

[0165] Furthermore, the calibration and testing method also includes: during the upward tilting of the tilting device, if a control command is received, the control level of the control command is determined; if the control level of the control command is higher than the control level of the downward tilting command, the tilting device is stopped from tilting upward and the control command is executed; if the control level of the control command is lower than the control level of the downward tilting command, the control command is blocked and the tilting device continues to tilt upward.

[0166] For example, control commands with a higher control level than the start-up command include, but are not limited to, shutdown commands and stop-start-up commands.

[0167] In the third possible implementation, if the lifting state is a non-limited state, i.e., the limiting shaft of the lifting device abuts against the unlocking section or sliding section, there is no risk of physical damage to the limiting position regardless of whether an upward or downward lifting command is executed. Therefore, if the lifting state is a non-limited state and the lifting command is an upward lifting command, then based on the lifting state, the lifting device is controlled to perform the corresponding lifting according to the lifting command, including: based on the non-limited state, controlling the lifting device to lift upward according to the upward lifting command. If the lifting state is a non-limited state and the lifting command is a downward lifting command, then based on the lifting state, the lifting device is controlled to perform the corresponding lifting according to the lifting command, including: based on the non-limited state, controlling the lifting device to lift downward according to the downward lifting command.

[0168] In some embodiments, the calibration detection method further includes: if a tilting command is received when the angle sensor is not calibrated, the source mechanism that issued the tilting command can be identified, and the tilting command includes an upward tilting command and a downward tilting command; if the source mechanism meets preset conditions, the tilting device is controlled to tilt according to the tilting command; otherwise, the tilting command is blocked.

[0169] For example, the sources of the tilting command are typically the following four types: (1) a button on the tilting device; (2) a button on the rudder connected to the water propulsion unit; (3) a button on a display screen connected to the water propulsion unit, which is located on the movable body of the water-based mobile device; (4) a button on a remote control box connected to the water propulsion unit, which is located on the movable body of the water-based mobile device; and (5) a button on the mobile terminal of the water-based mobile device, such as a mobile phone. Among these, the display screen and the remote control box are generally located at the head of the movable body (such as the control room at the bow of the ship), while the water propulsion unit is generally located at the stern of the movable body, and the two are far apart; the mobile terminal is held by the user, and the user's location is relatively random and may not be on the water propulsion unit; if the tilting command originates from the display screen, the remote control box, or the mobile terminal in the event of angle sensor failure, it will be difficult for the user to observe the tilting status of the water propulsion unit. Therefore, the preset condition can be that the source organization issuing the tilting command is on a whitelist. Whitelisted source organizations include: (1) buttons on the tilting device; and (2) buttons on the rudder connected to the water propulsion unit. Since the whitelisted source organizations are relatively close to the water propulsion unit, users can directly observe the tilting status of the water propulsion unit and promptly implement corresponding countermeasures, thus improving safety. Of course, for tilting commands from whitelisted source organizations, the calibration and detection method provided in this application embodiment can be used.

[0170] In some embodiments, the mechanical structure of the lifting device may also be coated with limit indicator marks. These limit indicator marks indicate the lifting state of the lifting device, which includes a limited state and a non-limited state. For example, the limit indicator marks include a first indicator mark and a second indicator mark; wherein the first indicator mark indicates that the lifting device is in the limited state, and the second indicator mark indicates that the lifting device is in the released limited state. Figure 8 , Figure 10 , Figure 13 and Figure 14 For example, as the limiting shaft 32 of the lifting device 100 is in different sections of the limiting section 122, unlocking section 123, or sliding section 121, the lifting device points to different display marks. When the limiting shaft 32 of the lifting device 100 is in the limiting section 122, the lifting device points to the first display mark; when the limiting shaft 32 of the lifting device 100 is in the unlocking section 123 or the sliding section 121, the lifting device 100 points to the second display mark. Thus, the user can manually confirm whether the machine is in a limited state based on the limiting display marks.

[0171] 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 is also within the scope of this specification.

[0172] In an exemplary embodiment, the computer of this application also provides a non-transitory computer-readable storage medium including computer instructions, which can be executed by the processor of the device to perform the calibration and detection method described in any of the above embodiments. For example, 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.

[0173] 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.

[0174] 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 description of the above embodiments is 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 specification should not be construed as a limitation of this application.

Claims

1. A calibration and detection method for an angle sensor, characterized in that, The calibration and testing method includes: The pre-stored calibration zero point of the angle sensor is obtained; the angle sensor is used to obtain the attitude angle of the attitude adjustment device. Determine whether the angle sensor has been calibrated based on the relationship between the calibration zero point and the preset range; When the attitude adjustment device is a tilting device, in response to determining that the angle sensor is not calibrated, a calibration prompt message is output; the calibration prompt message is used to prompt the user to operate the downward tilting control to calibrate the angle sensor; In response to a calibration command, the tilting device is controlled to tilt downwards, so that the tilting angle output by the angle sensor when the tilting device is in its lowest position is used as the new calibration zero point.

2. The calibration and testing method according to claim 1, characterized in that, The step of determining whether the angle sensor has been calibrated based on the relationship between the calibration zero point and the preset range includes: If the calibration zero point is not within the preset range, the angle sensor is determined to be uncalibrated. If the calibration zero point is within the preset range, the angle sensor is determined to be calibrated.

3. The calibration and testing method according to claim 2, characterized in that, If the calibration zero point is within the preset range, the calibration detection method further includes: The extreme attitude angle output by the angle sensor is obtained when the attitude adjustment device is in the extreme position; Obtain the difference between the extreme attitude angle and the calibration zero point; If the difference meets a preset condition, the angle sensor is determined to be calibrated; otherwise, the angle sensor is determined to be uncalibrated.

4. The calibration and testing method according to claim 3, characterized in that, The attitude adjustment device includes a steering device; The step of determining that the angle sensor has been calibrated when the difference meets a preset condition includes: When the extreme attitude angle is less than the calibration zero point and the difference is less than a first threshold, it is determined that the angle sensor has been calibrated. The first threshold is determined based on the steering travel of the steering device and the error parameters of the angle sensor.

5. The calibration and testing method according to claim 3, characterized in that, The attitude adjustment device includes a steering device; The step of determining that the angle sensor has been calibrated when the difference meets a preset condition includes: When the extreme attitude angle is greater than the calibration zero point and the difference is less than the second threshold, it is determined that the angle sensor has been calibrated. The second threshold is determined based on the steering travel of the steering device and the error parameters of the angle sensor.

6. The calibration and testing method according to claim 3, characterized in that, The posture adjustment device includes a tilting device; The step of determining that the angle sensor has been calibrated when the difference meets a preset condition includes: When the extreme attitude angle is less than the calibration zero point and the difference is less than the third threshold, it is determined that the angle sensor has been calibrated. The third threshold is determined based on the error parameters of the angle sensor.

7. The calibration and testing method according to claim 3, characterized in that, The posture adjustment device includes a tilting device; The step of determining that the angle sensor has been calibrated when the difference meets a preset condition includes: When the extreme attitude angle is greater than the calibration zero point and the difference is less than the fourth threshold, it is determined that the angle sensor has been calibrated. The fourth threshold is determined based on the lifting stroke of the lifting device and the error parameters of the angle sensor.

8. A calibration and detection method for an angle sensor, characterized in that, The angle sensor is used to acquire the attitude angle of the attitude adjustment device; the calibration and detection method includes: The extreme attitude angle output by the angle sensor is obtained when the attitude adjustment device is in the extreme position; The angle sensor is determined to be calibrated based on the difference between the extreme attitude angle and the pre-stored calibration zero point of the angle sensor. When the attitude adjustment device is a tilting device, in response to determining that the angle sensor is not calibrated, a calibration prompt message is output; the calibration prompt message is used to prompt the user to operate the downward tilting control to calibrate the angle sensor; In response to a calibration command, the tilting device is controlled to tilt downwards, so that the tilting angle output by the angle sensor when the tilting device is in its lowest position is used as the new calibration zero point.

9. The calibration and testing method according to claim 8, characterized in that, The attitude adjustment device includes a steering device; The step of determining whether the angle sensor has been calibrated based on the difference between the extreme attitude angle and the pre-stored calibration zero point of the angle sensor includes: When the extreme attitude angle is less than the calibration zero point and the difference is less than the first threshold, it is determined that the angle sensor has been calibrated. The first threshold is determined based on the steering travel of the steering device and the error parameters of the angle sensor. Otherwise, it is determined that the angle sensor is not calibrated.

10. The calibration and testing method according to claim 8, characterized in that, The attitude adjustment device includes a steering device; The step of determining whether the angle sensor has been calibrated based on the difference between the extreme attitude angle and the pre-stored calibration zero point of the angle sensor includes: When the extreme attitude angle is greater than the calibration zero point and the difference is less than the second threshold, it is determined that the angle sensor has been calibrated. The second threshold is determined based on the steering travel of the steering device and the error parameters of the angle sensor. Otherwise, it is determined that the angle sensor is not calibrated.

11. The calibration and testing method according to claim 8, characterized in that, The attitude adjustment device includes a tilting device. The step of determining whether the angle sensor has been calibrated based on the difference between the extreme attitude angle and the pre-stored calibration zero point of the angle sensor includes: When the extreme attitude angle is less than the calibration zero point and the difference is less than the third threshold, the angle sensor is determined to be calibrated, and the third threshold is determined based on the error parameter of the angle sensor; otherwise, the angle sensor is determined to be uncalibrated.

12. The calibration and testing method according to claim 8, characterized in that, The attitude adjustment device includes a tilting device. The step of determining whether the angle sensor has been calibrated based on the difference between the extreme attitude angle and the pre-stored calibration zero point of the angle sensor includes: When the extreme attitude angle is greater than the calibration zero point and the difference is less than the fourth threshold, it is determined that the angle sensor has been calibrated. The fourth threshold is determined based on the lifting stroke of the lifting device and the error parameter of the angle sensor. Otherwise, it is determined that the angle sensor has not been calibrated.

13. The calibration and testing method according to any one of claims 1 to 3, 6 to 8, 11, and 12, characterized in that, When the attitude adjustment device is a tilting device, the calibration zero point of the tilting device indicates the lowest position of the tilting device; When the attitude adjustment device is a steering device, the calibration zero point of the steering device indicates the middle position of the steering device.

14. The calibration and testing method according to claim 1 or 8, characterized in that, The step of using the tilting angle output by the angle sensor when the tilting device is in its lowest position as the new calibration zero point includes: During the process of controlling the lifting device to lift downwards, the lifting angle is simultaneously detected by the angle sensor; The difference between any two of the multiple tilt angles continuously read by the angle sensor is less than a first preset difference. If so, determine that the lifting device is lifted downward to the lowest position, and determine the new calibration zero point according to the multiple lifting angles.

15. The calibration and testing method according to any one of claims 1 to 5, 8 to 10, characterized in that, When the attitude adjustment device is a steering device, the calibration and detection method further includes: In response to determining that the angle sensor is not calibrated, a calibration prompt message is output; the calibration prompt message is used to prompt the user to operate the steering control to calibrate the angle sensor; In response to a calibration command, the steering device is controlled to steer, so as to obtain the limit steering angles output by the angle sensor when the steering device is at two limit positions. The new calibration zero point is determined based on the stated limit steering angle.

16. The calibration and testing method according to claim 15, characterized in that, The step of controlling the steering device to turn in response to a calibration command, and obtaining the limit steering angles output by the angle sensor at two limit positions of the steering device, includes: During the process of controlling the steering device to turn, the steering angle is detected simultaneously using the angle sensor; The difference between any two steering angles among a plurality of steering angles continuously read by the angle sensor is less than a second preset difference. If so, determine that the steering device has turned to the limit position, and obtain the steering angle output by the angle sensor at this time as the limit steering angle.

17. The calibration and testing method according to claim 15, characterized in that, The step of determining the new calibration zero point based on the extreme steering angle includes: Calculate the average value between the extreme steering angles corresponding to the two extreme positions; The mean value is used as the new calibration zero point.

18. The calibration and testing method according to any one of claims 1 to 3, 6 to 8, 11, and 12, characterized in that, When the attitude adjustment device is a tilting device, the calibration and detection method further includes: In response to determining that the angle sensor is not calibrated, a tilting control scheme is entered when the angle sensor is not calibrated.

19. The calibration and testing method according to claim 18, characterized in that, The tilting control scheme in response to determining that the angle sensor is not calibrated and entering the state when the angle sensor is not calibrated includes: In response to determining that the angle sensor is not calibrated, if a downward tilting command is received, the tilting device is controlled to tilt upward until a target duration is reached. The target duration is used to tilt the tilting device upward to a preset high position to release the limit of the tilting device. After the target duration is reached, the lifting device is controlled to lift downwards according to the downward lifting command.

20. The calibration and testing method according to claim 19, characterized in that, The target duration is determined based on the current voltage of the power supply to the lifting device.

21. The calibration and testing method according to claim 20, characterized in that, The current voltage is negatively correlated with the target duration.

22. The calibration and testing method according to claim 20, characterized in that, The target duration is determined based on the current voltage and the pre-stored correspondence between the voltage and the total lifting time; wherein, the total lifting time indicates the time required for the lifting device to lift from the lowest position to the preset high position under different voltages.

23. The calibration and testing method according to claim 22, characterized in that, The target duration is determined based on the current voltage, the pre-stored voltage and the total lifting duration, and adjustment parameters; the adjustment parameters indicate the difference between the lifting angle of the lifting device last detected by the angle sensor before failure and the lifting angle when the lifting device is in the lowest position.

24. The calibration and testing method according to claim 19, characterized in that, The target duration is determined based on the total stroke of the lifting device, which is the stroke traveled by the lifting device from the lowest position to the highest position, and the preset high position includes the highest position.

25. The calibration and testing method according to claim 24, characterized in that, The target duration is positively correlated with the total trip duration.

26. The calibration and testing method according to claim 24, characterized in that, The target duration is determined based on the total travel and adjustment parameters; the adjustment parameters indicate the difference between the lifting angle of the lifting device last detected before the angle sensor failed and the lifting angle when the lifting device is in the lowest position.

27. The calibration and testing method according to claim 19, characterized in that, In the event of angle sensor failure, the calibration detection method further includes: Set the pre-stored limit indicator to indicate the limit status.

28. The calibration and testing method according to claim 27, characterized in that, After reaching the target duration, the calibration and detection method further includes: The pre-stored limit indicator is changed from indicating the limit state to indicating the limit has been released.

29. The calibration and testing method according to claim 28, characterized in that, The calibration and testing method further includes: When the pre-stored limit indicator is in the state of indicating that the limit has been released, if an upward lifting command is received, the lifting device is controlled to lift upward according to the upward lifting command, and the limit indicator is changed from the state of indicating that the limit has been released to the state of indicating that the limit has been released. If the downward lifting command is received, the lifting device is controlled to lift downward according to the downward lifting command.

30. The calibration and testing method according to claim 19, characterized in that, The calibration and testing method further includes: In the event of the angle sensor failure, if a tilting command is received, the source mechanism that issued the tilting command is identified, and the tilting command includes the downward tilting command. When the source mechanism meets the preset conditions, the lifting device is controlled to lift according to the lifting command; Otherwise, disable the lifting command.

31. The calibration and testing method according to claim 19, characterized in that, The calibration and testing method further includes: During the period when the lifting device is controlled to lift upwards until the target duration is reached, if a control command is received, the control level of the control command is determined. If the control level of the control command is higher than the control level of the downward tilting command, the tilting device is controlled to stop tilting upward and the control command is executed; If the control level of the control command is lower than the control level of the downward tilting command, the control command is blocked, and the tilting device continues to tilt upward until the target duration is reached.

32. The calibration and testing method according to claim 19, characterized in that, The mechanical structure of the lifting device is also coated with a limit indicator mark, which is used to indicate the lifting state of the lifting device, including a limit state and a non-limit state.

33. The calibration and testing method according to claim 18, characterized in that, The lifting device further includes a limit switch for detecting the lifting state of the lifting device, the lifting state including a limit state and a non-limit state; the lifting control scheme in response to determining that the angle sensor is not calibrated, and entering the case where the angle sensor is not calibrated, includes: In response to determining that the angle sensor is not calibrated, if a tilting command is received, the tilting state of the tilting device detected by the limit switch is acquired; Based on the aforementioned lifting state, the lifting device is controlled to perform the corresponding lifting according to the lifting command.

34. The calibration and testing method according to claim 33, characterized in that, The lifting state is the limit state, and the lifting command includes an upward lifting command; based on the lifting state, controlling the lifting device to perform corresponding lifting according to the lifting command includes: Based on the aforementioned limit state, the lifting device is controlled to lift upwards according to the upward lifting command.

35. The calibration and testing method according to claim 33, characterized in that, The lifting state is the limit state, and the lifting command includes a downward lifting command; based on the lifting state, controlling the lifting device to perform corresponding lifting according to the lifting command includes: Based on the limit state, the lifting device is controlled to lift upwards, and the lifting state of the lifting device detected by the limit switch is obtained; When the tilting state changes to the non-limited state, the tilting device is controlled to tilt downward according to the downward tilting command.

36. The calibration and testing method according to claim 35, characterized in that, The step of controlling the lifting device to lift upwards based on the limiting state includes: During the upward tilting process of the tilting device, if a control command is received, the control level of the control command is determined. If the control level of the control command is higher than the control level of the downward tilting command, the tilting device is controlled to stop tilting upward and the control command is executed; If the control level of the control command is lower than the control level of the downward tilting command, the control command is blocked, and the tilting device continues to tilt upward.

37. The calibration and testing method according to claim 33, characterized in that, The lifting state is the non-limited state, the lifting command includes an upward lifting command, and the step of controlling the lifting device to perform corresponding lifting according to the lifting command based on the lifting state includes: Based on the non-limited state, the lifting device is controlled to lift upward according to the upward lifting command.

38. The calibration and testing method according to claim 33, characterized in that, The lifting state is the non-limited state, the lifting command includes a downward lifting command, and the step of controlling the lifting device to perform corresponding lifting according to the lifting command based on the lifting state includes: Based on the non-limited state, the lifting device is controlled to lift downward according to the downward lifting command.

39. The calibration and testing method according to claim 33, characterized in that, The lifting device also includes: The fixture is provided with a lifting spindle and a sliding groove. The sliding groove includes a sliding section, a limiting section and an unlocking section. The groove depth of the sliding section is less than the groove depth of the limiting section and the groove depth of the limiting section is less than the groove depth of the unlocking section. A tilting bracket, which is connected to the tilting main shaft and configured to tilt relative to the clamp, is used to connect to the outboard motor main unit; A limiting bracket, comprising a bracket body and a limiting shaft, wherein one end of the bracket body is rotatably connected to the lifting bracket, and the other end is connected to the limiting shaft, the limiting shaft being configured to slide relative to the bracket body in a direction parallel to the lifting main shaft, and the end of the limiting shaft also slidingly engaging with the slide groove; One end of the limiting section is set as a locking position, and the other end of the limiting section is connected to the unlocking section, so that the limiting shaft can be disengaged from the locking position and enter the unlocking section under the action of a driving force. When the limiting shaft abuts against the limiting section, the lifting state is the limiting state; When the limiting shaft abuts against the unlocking section or the sliding section, the lifting state is the non-limiting state.

40. The calibration and testing method according to claim 39, characterized in that, The limit switch includes a magnetic component and a sensing component that cooperate with the magnetic component. One of the magnetic component and the sensing component is located on the side of the limiting shaft away from the slide groove, and the other is located on the bracket body. The sensing component includes a first sensing element and a second sensing element. The step of obtaining the tilting state of the tilting device detected by the limit switch includes: Acquire the first signal output by the first sensing element and the second signal output by the second sensing element; The lifting state is determined based on the combination of the first signal and the second signal.

41. The calibration and testing method according to claim 39, characterized in that, The limit switch includes a magnet arranged opposite to the limit bracket and three inductive switches that cooperate with the magnet. The magnet is located on the limit bracket and the three inductive switches are respectively located in three sections of the slide groove. The step of obtaining the tilting state of the tilting device detected by the limit switch includes: Obtain the three signals output by the three inductive switches; The lifting state is determined based on the three signals.

42. A posture adjustment device, characterized in that, include: An angle sensor is used to detect the tilting angle of the machine; processor; and A memory, wherein executable instructions that can run on the processor are stored in the memory; When the processor executes the executable instructions, it implements the steps in the calibration and detection method as described in any one of claims 1 to 41.

43. The attitude adjustment device according to claim 42, characterized in that, When the posture adjustment device includes a lifting device; the lifting device includes: The fixture is provided with a lifting spindle and a sliding groove. The sliding groove includes a sliding section, a limiting section and an unlocking section. The groove depth of the sliding section is less than the groove depth of the limiting section and the groove depth of the limiting section is less than the groove depth of the unlocking section. A tilting bracket, which is connected to the tilting main shaft and configured to tilt relative to the clamp, is used to connect to the outboard motor main unit; A limiting bracket, comprising a bracket body and a limiting shaft, wherein one end of the bracket body is rotatably connected to the lifting bracket, and the other end is connected to the limiting shaft, the limiting shaft being configured to slide relative to the bracket body in a direction parallel to the lifting main shaft, and the end of the limiting shaft also slidingly engaging with the slide groove; One end of the limiting section is set as a locking position, and the other end of the limiting section is connected to the unlocking section, so that the limiting shaft can disengage from the locking position and enter the unlocking section under the action of a driving force.

44. The attitude adjustment device according to claim 43, characterized in that, The limiting section is connected to the unlocking section, and a first support surface is provided between the limiting section and the unlocking section. The first support surface is used to prevent the limiting shaft from entering the limiting section from the unlocking section.

45. The attitude adjustment device according to claim 43, characterized in that, The sliding section is connected to the limiting section, and a second support surface is provided between the sliding section and the limiting section. The second support surface is used to prevent the limiting shaft from entering the sliding section from the limiting section.

46. ​​The attitude adjustment device according to claim 43, characterized in that, The unlocking section includes a guide ramp, and the unlocking section and the sliding section are connected by the guide ramp. The guide ramp is used to guide the limiting shaft from the unlocking section into the sliding section.

47. The attitude adjustment device according to claim 43, characterized in that, The limiting bracket also includes an elastic element, which is elastically connected between the limiting shaft and the bracket body, and is used to drive the end face of the limiting shaft to abut against the bottom wall of the slide groove.

48. The attitude adjustment device according to claim 43, characterized in that, A third support surface is provided at the end of the limiting section away from the unlocking section. When the limiting shaft is stopped in the limiting section, the third support surface abuts against the outer peripheral surface of the limiting shaft.

49. The attitude adjustment device according to claim 43, characterized in that, A first transition wall is provided on the side of the limiting section away from the sliding section, and a second transition wall is provided on the side of the unlocking section away from the sliding section. The first transition wall is connected to the second transition wall to guide the limiting shaft to move from the limiting section to the unlocking section.

50. The attitude adjustment device according to claim 43, characterized in that, The sliding section includes a first sidewall. When the limiting shaft moves toward the limiting section within the sliding section, the first sidewall abuts against the outer peripheral surface of the limiting shaft to guide the limiting shaft to move toward the limiting section within the sliding section.

51. The attitude adjustment device according to claim 43, characterized in that, The sliding section includes a second sidewall. When the limiting shaft moves away from the unlocking section within the sliding section, the second sidewall abuts against the outer peripheral surface of the limiting shaft to guide the limiting shaft to move away from the unlocking section within the sliding section.

52. The attitude adjustment device according to claim 43, characterized in that, The attitude adjustment device further includes: A drive assembly, wherein the fixed end of the drive assembly is rotatably connected to the clamp, and the output end of the drive assembly is provided with a telescopic rod that abuts against the lifting bracket and rotatably engages with the lifting bracket; and The angle sensor is coupled to the lifting bracket and the telescopic rod, and is used to sense the relative rotation of the telescopic rod and the lifting bracket.

53. The attitude adjustment device according to claim 52, characterized in that, The angle sensor includes a magnetic part and a sensing part. The sensing part moves with the tilting bracket, and the magnetic part moves with the telescopic rod. The sensing part is used to sense the magnetic change of the magnetic part.

54. The attitude adjustment device according to claim 53, characterized in that, The lifting device further includes a housing disposed on the lifting bracket, wherein the sensing part and the magnetic part are both disposed inside the housing, the sensing part is fixed inside the housing, and the magnetic part is rotatably adapted to the housing.

55. The attitude adjustment device according to claim 43, characterized in that, The lifting device also includes a limit switch, which is used to detect the lifting state of the lifting device, including a limit state and a non-limit state. When the limiting shaft abuts against the limiting section, the lifting state is the limiting state; When the limiting shaft abuts against the unlocking section or the sliding section, the lifting state is the non-limiting state.

56. The attitude adjustment device according to claim 55, characterized in that, The limit switch includes a magnetic component and a sensing component that are disposed opposite to each other. One of the magnetic component and the sensing component is located on the side of the limiting shaft away from the slide groove, and the other is located on the bracket body. The sensing component includes a first sensing element and a second sensing element.

57. The attitude adjustment device according to claim 55, characterized in that, The limit switch includes a magnet arranged opposite to the limit bracket and three inductive switches that cooperate with the magnet. The magnet is located on the limit bracket, and the three inductive switches are respectively located in three sections of the slide groove.

58. The attitude adjustment device according to claim 43, characterized in that, When the lifting device lifts upward to a preset high position to release the limit, the preset high position is located in the unlocking section.

59. A water propulsion device, characterized in that, include: Host; and The attitude adjustment device according to any one of claims 42 to 58, wherein the attitude adjustment device is connected to the host.

60. A water-based mobile device, characterized in that, include: Movable body; as well as The water propulsion device of claim 59, wherein the water propulsion device is mounted on the movable body.

61. 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 calibration and testing method according to any one of claims 1 to 41.

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