Control method, steering device, water area propulsion device and related devices

Abstract

A method for controlling a steering device of a mobile device in waters, comprising: if it is detected that a steering control device has not received a user's steering input, a steering motor (501) in the steering device is not operating normally, and the steering angle of the steering device has changed, then determining that the steering device has been hit, wherein the steering control device is in communication connection with the steering device and is used to control the steering of the steering device; and controlling the steering device to shut down. The method can reduce the probability of damage to the steering system and improve driving safety.

Description

Technical Field

[0001] The present application relates to the field of steering control, and in particular to a control method, a steering device, a water area thruster, a water area propulsion system, a water area movable device, and a computer-readable storage medium. Background Art

[0002] Vessels, cars and other vehicles use steering devices (such as steering wheels, tillers, etc.) to achieve steering. Taking a ship as an example, the steering device communicates with power equipment such as outboard motors and controls the steering of the power equipment, thereby achieving ship heading control.

[0003] During the navigation of a ship, the outboard motor may be hit by external force. At this time, the steering system in the outboard motor may be damaged in the process of resisting the external force, causing the ship to be unable to navigate and steer normally, and the driving safety is low. Summary of the invention

[0004] In view of the above technical problems, the present application provides a control method, a steering device, a water area thruster, a water area propulsion system, a water area movable device and a computer readable storage medium. The technical solutions are as follows:

[0005] According to a first aspect of the present application, a control method is provided, which is applied to a steering device. The control method includes:

[0006] If it is detected that the steering device does not receive the user's steering input, the steering motor in the steering device does not operate normally, and the steering angle of the steering device changes, it is determined that the steering device is hit, wherein the steering device is communicatively connected with the steering device and is used to control the steering of the steering device;

[0007] The steering device is controlled to stop.

[0008] According to a second aspect of the present application, a steering device is provided, the steering device comprising:

[0009] A steering motor; and a processor, the processor communicating with the steering motor, the processor being used to execute the control method as described in the first aspect.

[0010] According to a third aspect of the present application, a water area thruster is provided, the water area thruster comprising:

[0011] A power mechanism; and a steering device as described in the second aspect, wherein the steering device communicates with the power mechanism.

[0012] According to a fourth aspect of the present application, a water area propulsion system is provided, the water area propulsion system comprising:

[0013] A direction control device; and the water area thruster described in the third aspect, wherein the water area thruster communicates with the direction control device.

[0014] According to a fifth aspect of the present application, a movable device in water area is provided, the movable device in water area comprising:

[0015] A movable body; and the water area propulsion system described in the fourth aspect, wherein the water area propulsion system is combined with the movable body.

[0016] According to a sixth aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the control method described in the first aspect is implemented.

[0017] The technical solution provided by the present application is that the steering system includes a steering device and a steering device. The steering device is connected to the steering device in communication and is used to control the steering of the steering device. If it is detected that the steering device does not receive the user's steering input, the steering motor in the steering device does not operate normally, and the steering angle of the steering device changes, it is determined that the steering device is hit, and the steering device is controlled to shut down. The technical solution of the present application can quickly detect external force impact and control the steering device to shut down in time. After the steering device is shut down, the steering force has been removed, so the steering device will not fight against the external impact force, and the steering device can be offset in the impact direction, thereby reducing the probability of damage to the steering system and improving driving safety.

[0018] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0020] Figure 1 is a schematic diagram of an application scenario of a steering wheel control of a related technology;

[0021] Figure 2 It is a flowchart of a control method according to an embodiment of the present application;

[0022] Figure 3 is a flow chart of a control method according to another embodiment of the present application;

[0023] Figure 4 is a flow chart of a control method according to another embodiment of the present application;

[0024] Figure 5 is a schematic structural diagram of the steering device provided by the present application;

[0025] Figure 6 It is a schematic diagram of the structure of the water propulsion device provided by this application;

[0026] Figure 7 It is a structural schematic diagram of the water propulsion system provided by this application;

[0027] Figure 8 It is a schematic diagram of the structure of the movable equipment in water area provided by this application. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be described in detail below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field should fall within the scope of protection of this application.

[0029] See also Figure 1 First, we will introduce the application scenarios of steering control devices in related technologies. Ships, cars and other vehicles can achieve steering by controlling the steering devices equipped on them. Figure 1 , Figure 1 Taking the steering control device as a steering wheel as an example, the connection between the steering wheel 101 on the ship and the outboard motor 102 is an electrical connection. When the driver turns the steering wheel 101, the system can make the outboard motor 102 rotate with the rotation of the steering wheel 101 through wire control, thereby realizing the steering of the ship.

[0030] During the navigation of the ship, the outboard motor 102 may be hit by an external force. At this time, the steering system in the outboard motor 102 may be damaged in the process of resisting the external force, resulting in the inability of the ship to navigate and steer normally, and the driving safety is low.

[0031] It is understandable that the above introduction to the application scenarios of the direction control device for controlling steering is only an exemplary display. In actual application, the application scenarios can be flexibly selected according to the needs of the designer and are not limited to this.

[0032] In view of the above problems, an embodiment of the present application provides a control method for a steering device. The control method of the embodiment of the present application can quickly detect external force impact and promptly control the steering device to stop, so that the steering device is offset in the direction of impact, thereby reducing the probability of damage to the steering system and improving driving safety. Figure 2As shown, the method comprises the following steps:

[0033] S201: if it is detected that the steering device does not receive the user's steering input, the steering motor in the steering device does not operate normally, and the steering angle of the steering device changes, it is determined that the steering device is hit, wherein the steering device is communicatively connected with the steering device and is used to control the steering of the steering device;

[0034] As an example, the direction control device includes a steering wheel or a tiller. It is worth noting that in practical applications, the direction control device does not exclude the existence of devices other than a steering wheel and a tiller. For example, the direction control device can also be a remote control device that can remotely control the steering of the steering device, and this application does not specifically limit this.

[0035] As an example, when the steering control device is a steering wheel, an angle sensor for detecting the rotation angle of the steering wheel itself can be installed in the steering wheel. When the driver turns the steering wheel, the angle sensor in the steering wheel can detect the rotation angle of the steering wheel. Therefore, it can be detected in the following way that the steering wheel has not received the user's steering input: if it is detected that the angle value output by the steering wheel angle sensor has not changed, it is determined that the steering wheel has not received the user's steering input; if it is detected that the angle value output by the steering wheel angle sensor has changed, it is determined that the steering wheel has received the user's steering input. It is worth noting that the above-mentioned detection method for whether the steering wheel receives the steering input is only an exemplary display. In actual applications, other detection methods other than the angle value detection output by the steering wheel angle sensor are not excluded, and no specific limitation is made to this.

[0036] As an example, when the steering control device is a tiller handle (the tiller handle may also be called a handgrip or a tiller rod), a force sensor for detecting changes in the position of the tiller handle itself may be installed in the tiller handle. When the driver moves the tiller handle, the force sensor in the tiller handle can detect the changes in the position of the tiller handle. Therefore, it can be detected in the following way that the tiller handle has not received the user's steering input: if it is detected that the output value of the force sensor of the tiller handle has not changed, it is determined that the tiller handle has not received the user's steering input; if it is detected that the output value of the force sensor of the tiller handle has changed, it is determined that the tiller handle has received the user's steering input.

[0037] As an example, a value of zero output by the force sensor may indicate that the output value of the force sensor has not changed; a value of non-zero output by the force sensor may indicate that the output value of the sensor has changed.

[0038] As an example, the force sensor of the tiller can include at least the following two types:

[0039] In the first type, the force sensor of the tiller handle may be a torque sensor, and the output value of the force sensor of the tiller handle may be a torque value output by the torque sensor.

[0040] In the second type, the force sensor of the tiller handle may be a pressure sensor, and the output value of the force sensor of the tiller handle may be a pressure value output by the pressure sensor.

[0041] It is worth noting that the above-mentioned detection method of whether the tiller handle receives steering input is only an exemplary display. In actual application, other detection methods besides detecting the output value of the force sensor of the tiller handle are not excluded, and no specific limitation is made to this.

[0042] Whether the steering motor in the steering device is operating normally can be detected in many ways. As an example, the following four ways can be used to detect that the steering motor is not operating normally:

[0043] In the first way, if it is detected that the absolute value of the bus current of the steering motor is less than the first threshold, it is determined that the steering motor is not operating normally. Among them, the bus current can be detected by the bus current sampling circuit inside the motor controller in the steering device. The absolute value of the bus current is less than the first threshold, which can be understood as the absolute value of the bus current tends to 0. It can be understood that when the absolute value of the bus current tends to 0, it means that the current motor controller does not output a control signal to control the operation of the steering motor, and the operation of the steering motor is caused by external force. Therefore, this situation can be determined as the steering motor is not operating normally.

[0044] The second way is that if it is detected that the absolute value of the three-phase current of the steering motor is less than the second threshold, it is determined that the steering motor is not operating normally. Among them, the three-phase current can be detected by the three-phase current sampling circuit inside the motor controller in the steering device. The absolute value of the three-phase current is less than the second threshold, which can be understood as the absolute value of the three-phase current tends to 0. It can be understood that when the absolute value of the three-phase current tends to 0, it means that the current motor controller does not output a control signal to control the operation of the steering motor, and the operation of the steering motor is caused by external force. Therefore, this situation can be determined as the steering motor is not operating normally.

[0045] In the third way, if it is detected that the Hall value change of the steering motor does not conform to the first preset change rule, it is determined that the steering motor is not operating normally. As an example, the Hall value can be determined by the sampling value of the Hall sensor in the steering motor. The Hall sensor is provided in the steering motor to detect the rotor position of the steering motor. For example, three Hall sensors can be provided in the steering motor. The Hall sensor can output high level and low level. The sampling value of the high level can be recorded as 1, and the sampling value of the low level can be recorded as 0. When the sampling value combination of the three Hall sensors is "110", the corresponding Hall value can be 6. That is, different sampling value combinations of the three Hall sensors can correspond to different Hall values. It is worth noting that the above-mentioned method for determining the Hall value of the steering motor is only an exemplary display. In practical applications, other determination methods are not excluded, and there is no specific limitation on this. It can be understood that when the steering motor is operating normally, the Hall value output by the Hall sensor changes continuously according to the preset change rule. If the steering motor is operating under the action of external force, the Hall value output by the Hall sensor will not change according to the preset change rule. Based on this, the operating state of the steering motor can be judged according to the change of the Hall value. As an example, the preset change rule corresponding to the Hall value of the steering motor can be: when the steering motor rotates clockwise, the Hall value switches continuously in the order of 6, 4, 5, 1, 3, and 2. When the Hall value changes according to this rule, it can be considered that the Hall value change conforms to the preset change rule, and it can be determined that the steering motor is operating normally; when the Hall value does not change according to this rule, it can be considered that the Hall value change does not conform to the preset change rule, and it can be determined that the steering motor is not operating normally. It is worth noting that the above preset change rule corresponding to the Hall value of the steering motor is only an exemplary display. In actual applications, other preset change rules are not excluded, and no specific limitation is made to this.

[0046] In the fourth mode, if it is detected that the back electromotive force change of the steering motor does not conform to the second preset change rule, it is determined that the steering motor is not operating normally. As an example, the back electromotive force of the steering motor can refer to the voltage that acts in the opposite direction during the process of converting mechanical energy into electrical energy when the steering motor is operating normally. When the steering motor is powered on and operating normally, the magnetic field generated by the rotor of the steering motor interacts with the magnetic field of the stator of the steering motor, and a potential in the stator winding is induced in the direction opposite to the current input to the steering motor. This potential is the back electromotive force. The back electromotive force of the steering motor can be measured in a variety of ways, for example, by measuring the feedback current of the stator winding of the steering motor to calculate the back electromotive force. The magnitude of the back electromotive force is proportional to the speed of the steering motor during normal operation. A back electromotive force threshold can be set. When the back electromotive force of the steering motor is greater than or equal to the back electromotive force threshold, the back electromotive force change of the steering motor conforms to the second preset change rule, and it can be determined that the steering motor is in a normal operating state. When the back electromotive force of the steering motor is less than the back electromotive force threshold, the back electromotive force change of the steering motor does not conform to the second preset change rule, and it can be determined that the steering motor is not operating normally. It is worth noting that the above-mentioned preset change law corresponding to the change of the back electromotive force of the steering motor is only an exemplary display. In practical applications, the existence of other preset change laws is not excluded. For example, the back electromotive force is a three-phase sinusoidal signal. By comparing the values ​​of the three-phase sinusoidal signal, one cycle of the three-phase sinusoidal signal can be divided into 6 areas. When the order of the signals in these 6 areas satisfies 645132, it is considered that the back electromotive force satisfies the second preset change law. There is no specific limitation on this.

[0047] In summary, if one of the following four conditions is met: the absolute value of the bus current is less than the threshold, the absolute value of the three-phase current is less than the threshold, the change of the Hall value does not conform to the preset change law, and the change of the back electromotive force does not conform to the preset change law, it can be determined that the steering motor is not operating normally.

[0048] It is worth noting that the above-mentioned detection methods for whether the steering motor is operating normally are only exemplary. In practical applications, other detection methods besides the above four methods are not excluded, and no specific limitation is made to this.

[0049] As an example, there are multiple situations in which the steering angle of the steering device changes, and one of the situations may include: the change amount of the steering angle of the steering device is greater than a change threshold.

[0050] As an example, the value range of the change threshold corresponding to the change in the steering angle of the steering device can be 3-10 degrees. Taking the steering device of a ship as an example, when the ship is sailing in the water, in addition to the situation where the steering device is offset due to impact, it may also be offset at a smaller angle when it is impacted by waves. If the change threshold corresponding to the change in the steering angle of the steering device is set too small, it may be misjudged that the offset of the steering device is caused by impact when the steering device is only impacted by waves but not impacted. If the change threshold corresponding to the change in the steering angle of the steering device is set too large, the steering system may not shut down to respond when the steering device is obviously impacted and offset. In order to prevent the change threshold from being set too small and causing misjudgment or the change threshold from being set too large and causing untimely response, 3-10 degrees can be selected according to experience, for example, 5 degrees can be selected as the value of the change threshold.

[0051] The steering angle of the steering device can be detected in a variety of ways. For example, the steering angle of the steering device can be detected in the following two ways:

[0052] In a first manner, the steering angle of the steering device collected by a steering angle sensor of the steering device may be obtained.

[0053] The second method is to obtain the rotation angle of the steering motor in the steering device when the steering angle sensor of the steering device fails, and determine the steering angle of the steering structure according to the rotation angle of the steering motor and the reduction ratio of the reduction mechanism in the steering device.

[0054] In the second method mentioned above, there may be multiple ways to obtain the rotation angle of the steering motor in the steering device. As an example, the Hall value of the steering motor may be obtained through a Hall sensor, and the Hall value is correlated with the rotation angle of the steering motor; the rotation angle of the steering motor may be determined based on the Hall value and the correlation.

[0055] It is worth noting that the above-mentioned method of detecting the steering angle of the steering device and the method of obtaining the rotation angle of the steering motor in the steering device are only exemplary displays. In practical applications, other detection methods and acquisition methods are not excluded, and no specific limitation is made to this.

[0056] S202: Control the steering device to stop.

[0057] Controlling the steering device to stop may be controlling the steering motor to stop running, for example, stopping outputting a driving signal to the steering motor so that the steering motor stops working.

[0058] Considering that after the steering device is shut down, after the impact on the steering device is eliminated, the steering device needs to be started again for normal steering, then it is necessary to first determine whether the impact on the steering device has been eliminated. For this problem, there are many ways to determine whether the impact on the steering device has been eliminated. As an example, one of the methods may include: starting the timing after the steering device is shut down, if the shutdown time of the steering device is greater than or equal to the preset shutdown time, it is determined that the impact on the steering device has been eliminated; if the shutdown time of the steering device is less than the preset shutdown time, it is determined that the impact on the steering device has not been eliminated. The preset shutdown time can be obtained through experience, or obtained through experiments, etc., which is not limited here.

[0059] It is worth noting that the above-mentioned judgment method for whether the impact on the steering device has been eliminated is only an exemplary display. In practical applications, other judgment methods are not excluded. For example, it is also possible to monitor whether the steering angle of the steering device changes within a preset time. If the steering angle of the steering device is still changing within the preset time, it is determined that the impact on the steering device has not been eliminated; if the steering angle of the steering device has not changed within the preset time, it is determined that the impact on the steering device has been eliminated. Therefore, there is no specific limitation on the judgment method for whether the impact on the steering device has been eliminated.

[0060] As an example, when it is determined that the steering device is hit, an impact signal may be generated. As an example, the impact signal may be a continuously output signal or an instantaneously output signal, and the specific implementation of the impact signal is not limited.

[0061] As an example, a collision signal may be sent to a power mechanism that communicates with a steering device to shut down the power mechanism. By generating and sending a collision signal to promptly and effectively shut down the power mechanism that communicates with a steering device, damage to the power mechanism that may be caused by a collision can be avoided, further ensuring the safety of the system.

[0062] For example, after the steering device is stopped, if it is detected that the steering control device receives the user's steering input, the impact signal is cleared. In this way, after the shutdown, if the user operates the steering control device again, the state of the steering device being impacted is cleared in time to quickly start the steering system to achieve normal steering.

[0063] As an example, the steering device can be a mechanism used to perform steering in water propulsion devices such as outboard motors and pod propulsion devices, and the power device can be a mechanism used to provide power in water propulsion devices such as outboard motors and pod propulsion devices. For example, the power mechanism can include a drive motor and a propeller.

[0064] The technical solution provided by the embodiment of the present application is that the steering system includes a steering device and a steering device. The steering device is connected to the steering device in communication and is used to control the steering of the steering device. If it is detected that the steering device does not receive the user's steering input, the steering motor in the steering device does not operate normally, and the steering angle of the steering device changes, it is determined that the steering device is hit, and the steering device is controlled to shut down. The technical solution of the present application can quickly detect external force impact and control the steering device to shut down in time. After the steering device is shut down, the steering force has been removed, so the steering device will not fight against the external impact force, and the steering device can be offset in the impact direction, thereby reducing the probability of damage to the steering system and improving driving safety.

[0065] Taking into account the related art, when the steering device is hit by external force, the probability of damage to the steering device is high and the driving safety is low; and, before the steering device is hit, there is a mapping relationship between the rotation angle of the steering control device and the steering angle of the steering device. When the steering device is hit and stops, the steering angle of the steering device changes due to the impact, but the rotation angle of the steering device may not change accordingly. The original mapping relationship between the rotation angle of the steering control device and the steering angle of the steering device may be changed, so that after the steering device is hit and stops, the steering control device is turned to its extreme angle, and the steering device cannot be turned to the extreme angle corresponding to the steering control device, resulting in poor control experience and low safety.

[0066] See also Figure 3 In response to the above problems, the present application provides another control method of the embodiment. The control method is applied to the electric steering scenario, which can quickly detect that the steering device is hit by external force, and promptly control the steering device to stop, so that the steering device is offset in the direction of the impact, reducing the probability of damage to the steering system and improving driving safety. At the same time, it can also ensure that when the steering device is hit and stops, after the steering control device is turned to the extreme angle of the steering control device, the steering device can be turned to the extreme angle corresponding to the extreme angle of the steering control device, thereby improving the control experience and control safety. Figure 3 As shown, the method comprises the following steps:

[0067] S301: If it is detected that the steering device does not receive the user's steering input, the steering motor in the steering device does not operate normally, and the steering angle of the steering device changes, it is determined that the steering device is hit, wherein the steering device is in communication with the steering device and is used to control the steering of the steering device;

[0068] S302, controlling the steering device to stop;

[0069] S303, determining a new steering angle range of the steering device according to the steering angle change of the steering device;

[0070] As an example, the turning limit angle of the steering device may be redetermined according to the steering angle change amount, and the new turning angle range may be determined by the redetermined turning limit angle.

[0071] Taking the steering control device as a steering wheel as an example, the steering angle correction of the steering wheel can be determined according to the steering angle change, and then the first rotation limit angle of the steering wheel is adjusted based on the rotation angle correction to obtain the third rotation limit angle, and the second rotation limit angle of the steering wheel is adjusted according to the rotation angle correction to obtain the fourth rotation limit angle. Among them, the first rotation limit angle and the second rotation limit angle are the angles of the extreme positions to which the steering wheel is rotated in two opposite directions respectively. The new rotation angle range can be determined by the third rotation limit angle and the fourth rotation limit angle, and thus, the new rotation angle range of the steering wheel can be adjusted by the steering angle correction, so that the rotation angle range of the steering wheel changes accordingly according to the change in the steering angle change, thereby enhancing the accuracy of the rotation angle range adjustment. For example, assuming that the rotation limit angles of the steering wheel are -360° and 360°, its rotation angle range is [-360°, 360°], and assuming that the rotation stroke of the steering device is [-45°, 45°]. Then, when the steering device is not hit, when the steering device is at 0°, the steering wheel should also be at 0°; and assuming that after the steering device is hit, the steering device turns from 0° to 10°, that is, the steering angle change of the steering device is 10°, then the steering wheel rotation angle correction should be -80°, then the steering wheel rotation limit angle can be adjusted to -440° and 280° according to the rotation angle correction, and the corresponding new rotation angle range is [-440°, 280°]. At this time, when the steering device is at 0°, the steering wheel should be at -80°.

[0072] As an example, the above-mentioned rotation limit angle adjustment method can be to add the first rotation limit angle of the steering wheel to the rotation angle correction amount to obtain the third rotation limit angle, and add the second rotation limit angle to the rotation angle correction amount to obtain the fourth rotation limit angle. It is worth noting that the above-mentioned adjustment method of the rotation limit angle in the embodiment of the present application is only an exemplary display. In actual application, the adjustment method of the rotation limit angle does not exclude adjustment methods other than the above-mentioned method, and there is no specific limitation on this.

[0073] S304, re-establishing a mapping relationship between the rotation amount of the direction control device and the steering angle of the steering device according to the new steering angle range;

[0074] For example, assuming that the original steering wheel angle range is [-360°, 360°], and the steering device angle range is [-45°, 45°], there is a mapping relationship between [-360°, 360°] and [-45°, 45°]. After the steering wheel angle range is adjusted, a new angle range of [-380°, 340°] is obtained. Then, the mapping relationship is re-established according to the new angle range [-380°, 340°], that is, the new mapping relationship is [-380°, 340°] corresponding to [-45°, 45°].

[0075] S305: After the steering device stops, if it is detected that the steering control device receives the steering input, control the steering device to steer according to the mapping relationship.

[0076] For example, assuming that the new mapping relationship is that the new steering wheel angle range [-380°, 340°] corresponds to the new steering device angle range [-45°, 45°], the steering device can be controlled according to the mapping relationship. For example, when the steering wheel angle is -380°, the steering device is controlled to have a steering angle of -45°.

[0077] In this embodiment, S301-S302 and the aforementioned Figure 2 S201 - S202 in the illustrated embodiment are similar and will not be described in detail here.

[0078] It should be noted that the order of S302 and S303 is not limited.

[0079] In the embodiment of the present application, after the collision is eliminated, the steering device and the steering device can perform steering operations with an updated mapping relationship, avoiding the situation where the steering device cannot be turned to the extreme angle corresponding to the extreme angle of the steering device along with the steering device, which is beneficial to improving driving safety.

[0080] Taking into account the related art, when the steering device is hit by external force, the probability of damage to the steering device is high and the driving safety is low; and, before the steering device is hit, there is a mapping relationship between the rotation angle of the steering control device and the steering angle of the steering device. When the steering device is hit and stops, the steering angle of the steering device changes due to the impact, but the rotation angle of the steering device may not change accordingly. The original mapping relationship between the rotation angle of the steering control device and the steering angle of the steering device may be changed, so that after the steering device is hit and stops, the steering control device is turned to its extreme angle, and the steering device cannot be turned to the extreme angle corresponding to the steering control device, resulting in poor control experience and low safety.

[0081] See also Figure 4In response to the above problems, the present application also provides another control method of the embodiment. The control method is applied to the electric steering scenario, which can quickly detect that the steering device is hit by external force, and promptly control the steering device to stop, so that the steering device is offset in the direction of the impact, reducing the probability of damage to the steering system and improving driving safety. At the same time, it can also ensure that when the steering device is hit and stops, after the steering control device is turned to the extreme angle of the steering control device, the steering device can be turned to the extreme angle corresponding to the extreme angle of the steering control device, thereby improving the control experience and control safety. Figure 4 As shown, the method comprises the following steps:

[0082] S401: If it is detected that the steering device does not receive the user's steering input, the steering motor in the steering device does not operate normally, and the steering angle of the steering device changes, it is determined that the steering device is hit, wherein the steering device is communicatively connected with the steering device and is used to control the steering of the steering device;

[0083] S402, controlling the steering device to stop;

[0084] S403. After the steering device stops, if it is detected that the steering control device receives the steering input, the steering device is controlled to rotate a target stroke to reach a target angle, where the target angle is the angle indicated by the steering input, and the target stroke is determined based on the steering angle change of the steering device and the target angle.

[0085] As an example, after the steering device stops, if it is detected that the steering device receives the user's steering input, the steering device can be controlled to rotate the target stroke to reach the target angle. The target angle can be the angle indicated by the user's steering input, and the target stroke can be determined according to the steering angle change of the steering device and the target angle. For example: suppose that before the steering device is hit, when the steering device is turned to 45°, the steering device should be turned to the position of 10°, and when the steering device is turned to 90°, the steering device should be turned to the position of 20°. Now suppose that the steering device is turned to 45°, and because the steering device is hit, the steering device does not turn to the position of 10° under the impact, but turns to the position of 5°. Then, after the steering device stops, if it is detected that the steering device is turned to the position of 90°, the steering device needs to be turned by 15° (target stroke) in total, not 10°, so that the steering device can be turned to the position of 20° (target angle), and the 15° is determined according to the steering angle change of the steering device (i.e., 5°) and the target angle (i.e., 20°).

[0086] In this embodiment, S401-S402 and the aforementioned Figure 2S201 - S202 in the illustrated embodiment are similar and will not be described in detail here.

[0087] In the embodiment of the present application, after the collision is eliminated, since the steering angle of the steering device is corrected, the steering operation of the steering control device and the steering device can be performed according to the original mapping relationship, thereby avoiding the problem of mismatch between the steering angles of the steering control device and the steering device, which is beneficial to improving driving safety.

[0088] Corresponding to the above method embodiment, as a specific application, the above embodiment can be applied to a steering device for implementation. Therefore, the present application also provides a steering device, see Figure 5 As shown, the steering device may include: a steering motor 501; and a processor 502, which communicates with the steering motor 501, and is suitable for controlling any steering wheel and steering device applicable to the control method described above in this application, and the processor 502 is used to execute the control method described in any of the above embodiments.

[0089] It is worth pointing out that each embodiment of the control method described above can be applied to the process in which the processor determines that the power device is hit and controls the power device to shut down.

[0090] See also Figure 6 The present application also provides a water area propulsion device, which includes a power mechanism 601; and the steering device 602 described in the above embodiment, and the steering device 602 communicates with the power mechanism 601. The water area propulsion device can be a power device that can provide power in water, such as an outboard motor and a pod propulsion device, which is not limited here.

[0091] See also Figure 7 The present application also provides a water area propulsion system, which includes a direction control device 701; and the water area propeller 702 described in the above embodiment, and the water area propeller 702 communicates with the direction control device 701. The direction control device 701 and the water area propeller 702 can be connected by wire for communication. For example, when the direction control device 701 is a steering wheel or a tiller, the steering wheel or the tiller can be connected to the water area propeller 702 through a bus. The direction control device 701 and the water area propeller 702 can also communicate by wireless connection. For example, when the direction control device 701 is a remote control device, the remote control device can communicate with the water area propeller 702 through wireless connection methods such as Bluetooth and WiFi.

[0092] See also Figure 8 The present application also provides a movable device in water areas, which includes a movable body 801; and the water area propulsion system 802 described in the above embodiment, and the water area propulsion system 802 is combined with the movable body 801.

[0093] As an example, movable equipment in water areas can be various types of water transportation vehicles such as commercial ships, passenger ships, yachts, fishing boats, sailboats, civilian ships, etc., and can also be water area inspection equipment, water area management equipment, water area environment monitoring equipment and other equipment that can be moved in water areas. This application does not make any specific restrictions on this.

[0094] The present application also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the control method described in any of the above embodiments is implemented.

[0095] The computer-readable storage medium may be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc., without being specifically limited thereto.

[0096] The above is only a specific implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A control method, applied to a steering device, characterized in that: The control method comprises: If it is detected that the steering device does not receive the user's steering input, the steering motor in the steering device does not operate normally, and the steering angle of the steering device changes, it is determined that the steering device is hit, wherein the steering device is communicatively connected with the steering device and is used to control the steering of the steering device; Controlling the steering device to stop, wherein the steering device stops including stopping outputting a driving signal to a steering motor of the steering device so that the steering motor stops working; After the steering device stops, if it is detected that the steering control device receives the steering input, the steering device is controlled to rotate a target stroke to reach a target angle, the target angle being the angle indicated by the steering input, and the target stroke being determined according to the steering angle change of the steering device and the target angle, or Determine a new steering angle range of the steering device according to the steering angle change of the steering device; re-establish a mapping relationship between the rotation amount of the steering device and the steering angle of the steering device according to the new steering angle range; after the steering device stops, if it is detected that the steering device receives the steering input, control the steering of the steering device according to the mapping relationship.

2. The control method according to claim 1, characterized in that: The direction control device comprises a steering wheel or a tiller.

3. The control method according to claim 1, characterized in that: The direction control device is a steering wheel, and detecting that the direction control device does not receive a steering input from a user includes: If it is detected that the angle value output by the angle sensor of the steering wheel does not change, it is determined that the steering wheel does not receive the steering input.

4. The control method according to claim 1, characterized in that: The direction control device is a tiller, and the detecting that the direction control device does not receive a steering input from a user comprises: If it is detected that the output value of the force sensor of the tiller arm does not change, it is determined that the tiller arm does not receive the steering input.

5. The control method according to claim 4, characterized in that: The force sensor is a torque sensor, and the output value is a torque value; or, the force sensor is a pressure sensor, and the output value is a pressure value.

6. The control method according to claim 1, characterized in that: It is detected that the steering motor is not operating normally, including: If it is detected that the absolute value of the bus current of the steering motor is less than the first threshold value, it is determined that the steering motor is not operating normally, or If it is detected that the absolute value of the three-phase current of the steering motor is less than the second threshold value, it is determined that the steering motor is not operating normally, or If it is detected that the Hall value change of the steering motor does not conform to the first preset change rule, it is determined that the steering motor is not operating normally, or If it is detected that the change of the back electromotive force of the steering motor does not conform to the second preset change rule, it is determined that the steering motor is not operating normally.

7. The control method according to claim 1, characterized in that: The steering angle of the steering device is detected by any one of the following methods: Acquire the rotation angle of the steering motor, and determine the steering angle according to the rotation angle and a reduction ratio, where the reduction ratio is the reduction ratio of a reduction mechanism in the steering device; or The steering angle collected by a steering angle sensor in the steering device is obtained.

8. The control method according to claim 1, characterized in that: If it is detected that the steering device does not receive the steering input of the user, the steering motor in the steering device does not operate normally, and the steering angle of the steering device changes, then it is determined that the steering device is hit, including: If it is detected that the steering device does not receive the user's steering input, the steering motor in the steering device does not operate normally, and the steering angle change of the steering device is greater than the change threshold, it is determined that the steering device is hit.

9. The control method according to claim 8, characterized in that: The value range of the change threshold is 3-10 degrees.

10. The control method according to claim 1, characterized in that: The control method further comprises: When it is determined that the steering device is subjected to an impact, an impact signal is generated.

11. The control method according to claim 10, characterized in that: The control method further comprises: The impact signal is sent to a power mechanism to shut down the power mechanism, the power mechanism being in communication with the steering device.

12. The control method according to claim 10, characterized in that: The control method further comprises: After the steering device is stopped, if it is detected that the steering control device receives the steering input, the collision signal is cleared.

13. A steering device, characterized in that: The steering device comprises: Steering motor; and A processor, wherein the processor communicates with the steering motor, and the processor is used to execute the control method described in any one of claims 1-12.

14. A water propeller, characterized in that: The water propulsion device comprises: Power mechanism; and The steering device of claim 13, wherein the steering device is in communication with the power mechanism.

15. A water propulsion system, characterized in that: The water propulsion system comprises: steering gear; and The water propeller of claim 14, wherein the water propeller communicates with the direction control device.

16. A movable device in water area, characterized in that: The movable equipment in the water area includes: A movable body; and The water area propulsion system as described in claim 15 is combined with the movable body.

17. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the control method described in any one of claims 1 to 12 is implemented.

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