A method and related device for identifying the installation locations of multiple outboard motors

Abstract

This application provides a method, apparatus, outboard motors, vessel, and storage medium for identifying the installation positions of multiple outboard motors. The multiple outboard motors include a main unit and slave units. The method includes: acquiring main unit positioning data and main unit orientation data of the main unit; acquiring slave unit positioning data of the slave units; and determining the relative positional relationship of the multiple outboard motors on the vessel based on the main unit positioning data, slave unit positioning data, and main unit orientation data. This relative positional relationship is used to display the multiple outboard motors in a topology diagram of the vessel system. The relative positions of the multiple outboard motors displayed in the topology diagram are the same as their relative positions on the vessel.

Description

Technical Field

[0001] This application relates to the field of marine systems technology, and more particularly to a method, apparatus, outboard motor, ship, and storage medium for identifying the installation locations of multiple outboard motors. Background Technology

[0002] A ship system topology diagram is typically used to show users which access devices are in the ship system and the connection relationships between them. When the access devices include multiple outboard motors, the topology diagram can display the same number of outboard motors, but it cannot show the relative positional relationships between the multiple outboard motors. Therefore, users cannot understand the installation location of multiple outboard motors on the ship through the topology diagram. Summary of the Invention

[0003] To overcome the problems existing in related technologies, this application provides a method, apparatus, outboard motor, vessel, and storage medium for identifying the installation locations of multiple outboard motors.

[0004] According to a first aspect of the embodiments of this application, a method for identifying the installation locations of multiple outboard motors is provided, the multiple outboard motors including a main unit and slave units, the method comprising:

[0005] Obtain the host's location data and host orientation data;

[0006] Obtain the slave device's location data;

[0007] Based on the host positioning data, the slave positioning data, and the host orientation data, the relative positional relationship of the multiple outboard motors on the ship is determined. The relative positional relationship is used to display the multiple outboard motors in the topology diagram of the ship system. The relative positions of the multiple outboard motors displayed in the topology diagram are the same as the relative positions of the multiple outboard motors on the ship.

[0008] According to a second aspect of the embodiments of this application, an apparatus is provided for identifying the installation positions of multiple outboard motors, the multiple outboard motors including a main unit and a slave unit, the apparatus comprising:

[0009] The first acquisition module is configured to acquire host positioning data and host orientation data of the host, and acquire slave positioning data of the slave device;

[0010] The first determining module is configured to determine the relative positional relationship of the multiple outboard motors on the ship based on the host positioning data, the slave positioning data, and the host orientation data; the relative positional relationship is used to display the multiple outboard motors in the topology diagram of the ship system; the relative positions of the multiple outboard motors displayed in the topology diagram are the same as the relative positions of the multiple outboard motors on the ship.

[0011] According to a third aspect of the embodiments of this application, an outboard motor is provided, the outboard motor comprising: a propeller; a motor for driving the propeller to rotate; and a processor connected to the motor, the processor being configured to execute the method for identifying the installation positions of multiple outboard motors as described in any embodiment of this application.

[0012] According to a fourth aspect of the embodiments of this application, a ship is provided, comprising: a hull; and an outboard motor as described in any embodiment of this application, wherein the outboard motor is mounted on the hull.

[0013] According to a fifth aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored, wherein when executed by a processor, the computer program implements the method for identifying the installation positions of multiple outboard motors as described in any embodiment of the present application.

[0014] The technical solutions provided by the embodiments of this application may include the following beneficial effects:

[0015] In this embodiment, by acquiring host positioning data, slave positioning data, and host orientation data, the position of the slave relative to the host is determined based on the host positioning data and slave positioning data. Then, using the host orientation data as a direction reference, the relative positional relationship of multiple outboard motors on the ship is determined. Since the relative positions between the multiple outboard motors shown in the topology diagram are the same as the relative positions of the multiple outboard motors on the ship, users can understand the installation positions of multiple outboard motors on the ship through the topology diagram.

[0016] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0017] The accompanying drawings, which are incorporated in and form part of this application, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application;

[0018] Figure 1 This application is a flowchart illustrating a method for identifying the installation positions of multiple outboard motors according to an exemplary embodiment;

[0019] Figure 2 This is a schematic diagram illustrating the relative positions of three outboard motors according to an exemplary embodiment of this application;

[0020] Figure 3 This is a schematic diagram showing the relative positions of three outboard motors according to an exemplary embodiment of this application;

[0021] Figure 4This is a flowchart illustrating another method for identifying the installation locations of multiple outboard motors according to an exemplary embodiment of this application;

[0022] Figure 5 This is a flowchart illustrating another method for identifying the installation locations of multiple outboard motors according to an exemplary embodiment of this application;

[0023] Figure 6 This is a flowchart illustrating another method for identifying the installation locations of multiple outboard motors according to an exemplary embodiment of this application;

[0024] Figure 7 This is a flowchart illustrating another method for identifying the installation locations of multiple outboard motors according to an exemplary embodiment of this application;

[0025] Figure 8 This is a flowchart illustrating another method for identifying the installation locations of multiple outboard motors according to an exemplary embodiment of this application;

[0026] Figure 9 It is a topology diagram of a ship system in related technologies;

[0027] Figure 10 This application illustrates a topology diagram of a ship system according to an exemplary embodiment.

[0028] Figure 11 This is a schematic diagram of a device for identifying the installation positions of multiple outboard motors according to an exemplary embodiment of this application;

[0029] Figure 12 This is a schematic diagram of another device for identifying the installation positions of multiple outboard motors according to an exemplary embodiment of this application;

[0030] Figure 13 This is a schematic diagram of an outboard motor according to an exemplary embodiment of this application;

[0031] Figure 14 This is a schematic diagram of a ship according to an exemplary embodiment of this application. Detailed Implementation

[0032] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0033] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0034] It should be understood that although the terms first, second, third, etc., may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0035] A vessel typically comprises a hull, a propulsion system, and a control system. The propulsion system includes the outboard motor and the battery that powers it, while the control system includes a steering wheel, remote control, and controller. The outboard motor, as the name suggests, is the propulsion engine mounted on the outside of the hull (ship's side), also known as an outboard motor, and is usually suspended on the outside of the stern plate. A typical outboard motor includes a propeller, an electric motor that drives the propeller, and a processor connected to the motor. Outboard motors are highly integrated and easy to install and purchase, making them the preferred power source for personal recreational boats, and they are also widely used in fishing, commercial operations, and government law enforcement.

[0036] A ship system topology diagram is typically used to show users which access devices are in the ship system and the connection relationships between them. When the access devices include multiple outboard motors, the topology diagram can display the same number of outboard motors, but it cannot show the relative positional relationships between the multiple outboard motors. Therefore, users cannot understand the installation location of multiple outboard motors on the ship through the topology diagram.

[0037] In response to this, this application proposes a method, apparatus, outboard motor, vessel, and storage medium for identifying the installation locations of multiple outboard motors, thereby solving the problem that topology diagrams cannot display the relative positional relationships between multiple outboard motors and facilitating users to understand the installation locations of multiple outboard motors on the vessel through topology diagrams.

[0038] The embodiments of this application will now be described in detail.

[0039] like Figure 1 As shown, Figure 1 This application illustrates a flowchart of a method for identifying the installation locations of multiple outboard motors according to an exemplary embodiment, comprising the following steps:

[0040] Step S101: Obtain the host positioning data and host orientation data of the host;

[0041] Step S102: Obtain the slave positioning data of the slave device;

[0042] Step S103: Based on the host positioning data, the slave positioning data, and the host orientation data, determine the relative positional relationship of the multiple outboard motors on the ship.

[0043] In this application, the outboard motor acting as the master in the ship system is responsible for acquiring the necessary data from other outboard motors and combining it with its own data to perform calculations and obtain results according to the target task. The slave outboard motors, on the other hand, need to provide their own data to the master. Each outboard motor is equipped with a processor, and the processors of different outboard motors can exchange information via a communication bus. Each outboard motor processor can act as both a sender and a receiver of information; when an outboard motor acts as the master, it acts as a receiver; when an outboard motor acts as a slave, it acts as a sender.

[0044] In some embodiments, the processor integrated into the outboard motor can be one or more electronic control units (ECUs). The ECU consists of a microcontroller (MCU), memory (ROM, RAM), input / output interface (I / O), analog-to-digital converter (A / D), and large-scale integrated circuits such as shaping and driving. The ECU has calculation and control functions. Of course, any processor that can perform the above functions is within the scope of protection of this application, and this application does not limit it here.

[0045] In some embodiments, the host positioning data and the slave positioning data can be the latitude and longitude data corresponding to the host and the slave, respectively. The relative positional relationship between the host and slave can be determined using these latitude and longitude data. For example, when the latitudes are the same, using the longitude of the host as the central reference value, the relative positional relationship between the host and slave can be determined by comparing their longitudes. For instance, if the host and slave are located at different degrees of east longitude, the position of the slave relative to the host can be determined by comparing their degrees.

[0046] In this application, the orientation of the outboard motor is typically aligned with the direction of propulsion, which in turn aligns with the direction the ship travels from stern to bow. For example, an outboard motor uses the rotation of its propeller blades in the water to convert engine power into propulsion, thus driving the ship. Therefore, the orientation of the outboard motor, the direction of propulsion, and the direction the ship travels from stern to bow should all be consistent. Consequently, the main engine orientation data can be used to indicate the direction of propulsion from the outboard motor, thereby indirectly determining the direction the ship travels from stern to bow.

[0047] In some embodiments, the orientation of the main engine is used as the positive center reference line. Based on this reference and combined with the slave engine's position relative to the main engine obtained in the preceding embodiments, the left-right position of the slave engine relative to the main engine can be determined under the main engine's orientation. Since the main engine's orientation is consistent with the direction of the ship from stern to bow, it is equivalent to obtaining the left-right position of the slave engine relative to the main engine on the ship, with the direction from stern to bow as the reference. For example, ... Figure 2 and Figure 3 As shown, the ship system includes three outboard motors. With the orientation of the main engine as the positive center reference line, it can be determined from the position of the main engine that slave motor I is located to the left of the main engine and slave motor II is located to the right of the main engine. Similarly, since the direction from the stern to the bow of the ship is consistent with the orientation of the outboard motors, when the user stands at the stern of the ship and looks towards the bow, slave motor I is located to the left of the main engine and slave motor II is located to the right of the main engine.

[0048] It should be noted that "left" and "right" here refer to directions relative to the direction from the stern to the bow of the ship. For example, taking the location of the main engine as the center point and the direction from the stern to the bow as the reference direction, if we consider this center point as the starting point of a vector and the direction from the stern to the bow as the direction of the vector, then the area falling within this vector, rotating clockwise from the starting point by 0 to 180 degrees, is determined as right, and the direction falling within this vector, rotating counterclockwise from the starting point by 0 to 180 degrees, is determined as left.

[0049] In this application, the obtained relative positional relationships can be combined with the topology diagram of the ship system to display multiple outboard motors, so that users can know the location distribution of the outboard motors on the ship through the topology diagram of the ship system, which is useful for outboard motor-related operations, such as maintenance, replacement, etc. of a certain outboard motor.

[0050] In this application, after multiple outboard motors are connected to the ship's system, an election strategy can be used to select one outboard motor as the master, while the remaining outboard motors are regarded as slaves.

[0051] In some embodiments, the election strategy may be to designate the outboard motor that connects to the communication bus first as the master, which can save time in selecting the master.

[0052] In some embodiments, the election strategy may utilize the device identification code in the device identification information. After all outboard motors are connected to the communication bus, each outboard motor can obtain the device identification codes of other outboard motors through the communication bus and compare them with its own device identification code. The outboard motor with the smallest device identification code is then identified as the master. In this way, even if the power supply is cut off and communication is restored, the same outboard motor can still be selected as the master according to this election strategy, without the time-consuming behavior of data retransmission or data re-collection caused by changing the master, which wastes user time and affects the user experience.

[0053] like Figure 4 The diagram shown is a flowchart illustrating another method for identifying the installation positions of multiple outboard motors according to an exemplary embodiment. Based on the aforementioned embodiments, this embodiment describes a process for determining the relative positional relationships of the multiple outboard motors on a vessel based on the main engine positioning data, the slave engine positioning data, and the main engine orientation data. The process includes the following steps:

[0054] Step S1031: Determine the orientation of the host based on the host's acceleration data;

[0055] Step S1032: Determine the stern-to-bow orientation of the vessel based on the orientation of the main engine;

[0056] Step S1033: Determine the relative positional relationship of the multiple outboard motors on the ship based on the main engine positioning data, the slave engine positioning data, and the orientation from the stern to the bow of the ship.

[0057] In some embodiments, the main engine orientation data may include the main engine's acceleration data or angular velocity data. Since the main engine's orientation is consistent with the direction of its propulsion, and the direction of the main engine's propulsion is equivalent to the direction of its acceleration, the acceleration data in the main engine orientation data can be used to determine the main engine's orientation, and thus determine the ship's orientation from stern to bow. For example, when the acceleration data shows a positive acceleration value in the due north direction, the main engine's orientation is due north. Since the direction of the main engine's propulsion is parallel to the ship's orientation from stern to bow, the current orientation of the ship from stern to bow is due north.

[0058] like Figure 5 The diagram shown is a flowchart illustrating another method for identifying the installation positions of multiple outboard motors according to an exemplary embodiment. Based on the foregoing embodiments, this embodiment describes a process for determining the orientation of the main engine based on its acceleration data, including the following steps:

[0059] Step S10311: Obtain host acceleration data collected by the host acceleration detection unit of the host;

[0060] Step S10312: Determine the orientation of the host based on the host acceleration data.

[0061] In some embodiments, the host acceleration detection unit may be an accelerometer.

[0062] In some embodiments, the host acceleration detection unit may be an inertial measurement unit (IMU). Of course, any device capable of obtaining acceleration data as described above is within the scope of protection of this application, and this application does not limit it here.

[0063] In some embodiments, the host's acceleration data can be preferentially collected by the host's built-in host acceleration detection unit and then directly acquired by the host's processor. Therefore, the host's processor does not need to perform additional communication to obtain data from other devices as the host's acceleration data, which can improve the efficiency of the host's processor in determining the host's orientation.

[0064] like Figure 6 The diagram shown is a flowchart illustrating another method for identifying the installation positions of multiple outboard motors according to an exemplary embodiment. Based on the foregoing embodiments, this embodiment describes a process for determining the orientation of the main engine based on the main engine's acceleration data, including the following steps:

[0065] Step S10312A: When the host acceleration data is available, determine the orientation of the host based on the host acceleration data;

[0066] Step S10312B: When the host acceleration data is unavailable, acquire the slave acceleration data collected by the slave acceleration detection unit of the slave device, and determine the orientation of the host device based on the slave acceleration data.

[0067] In some embodiments, the slave acceleration detection unit may be an accelerometer.

[0068] In some embodiments, the slave acceleration detection unit may be an inertial measurement unit (IMU). Of course, any device capable of obtaining acceleration data as described above is within the scope of protection of this application, and this application does not limit it here.

[0069] In some embodiments, the processor may determine whether host acceleration data is available based on at least one of the data format, numerical range, and communication status between the host acceleration detection unit and the host processor. For example, in the example of determining the usability of host acceleration data based on its data format, if the host acceleration data meets the preset data format, then the host acceleration data is considered usable; if the host acceleration data is garbled or intermittent, then the host acceleration data is considered unusable. As another example, in the example of determining the usability of host acceleration data based on its numerical range, if the host acceleration data meets the preset numerical range, then the host acceleration data is considered usable; if the host acceleration data exceeds the upper or lower limit of the range, then the host acceleration data is considered unusable. As yet another example, in the example of determining the usability of host acceleration data based on the communication status between the host acceleration detection unit and the host's processor, if the communication status between the host acceleration detection unit and the host's processor is normal, then the host acceleration data is considered usable; if the communication status between the host acceleration detection unit and the host's processor is abnormal, then host acceleration data cannot be obtained, and the obtained host acceleration data may be empty, thus the host acceleration data is considered unusable. When the host acceleration data is unavailable, the host and slave engines are usually oriented in the same direction. The host processor can obtain the slave acceleration data collected by the slave acceleration detection unit as backup data and determine the host orientation based on the slave acceleration data. This can avoid the inability to determine the host orientation when the host acceleration data is unavailable, thus affecting the display of the relative position of the outboard motor on the ship in the topology diagram.

[0070] like Figure 7 The diagram shown is a flowchart illustrating another method for identifying the installation positions of multiple outboard motors according to an exemplary embodiment. In this embodiment, steps S10311 and S10312 can be replaced with steps S10313 and S10314, based on the aforementioned embodiment.

[0071] Step S10313: The slave acceleration data collected by the slave acceleration detection unit of the slave device and sent to the master device is used as the acceleration data of the master device;

[0072] Step S10314: Determine the orientation of the host based on the acceleration data of the host.

[0073] In some embodiments, considering the different needs of users regarding the acquisition rate or range of acceleration data, the acceleration detection units of the master and slave devices are configured differently. For example, the user may set the accuracy of the master acceleration detection unit to be higher than that of the slave acceleration detection unit. When accuracy requirements are low, the user can configure the master's processor to prioritize acquiring slave acceleration data from the slave acceleration detection unit as the master's acceleration data. Similarly, the user may set the data acquisition rate of the master acceleration detection unit to be higher than that of the slave acceleration detection unit. When acquisition rate requirements are low, the user can configure the master's processor to prioritize acquiring slave acceleration data from the slave acceleration detection unit as the master's acceleration data. Finally, the user may set the range of acceleration data acquired by the master acceleration detection unit to be wider than that of the slave acceleration detection unit. When the range of acceleration data requirements are not significant, the user can configure the master's processor to prioritize acquiring slave acceleration data from the slave acceleration detection unit as the master's acceleration data.

[0074] In some embodiments, the topology diagram of the ship system can be formed from a top-down view of the ship. The display direction of the topology diagram from bottom to top can be the direction from the stern to the bow of the ship. In addition to displaying the number of outboard motors, the topology diagram further displays the position distribution of the outboard motors on the ship based on the left and right position information of the slave motors relative to the master motor. This makes it easy for users on the ship to identify the position of the outboard motors based on the topology diagram, which facilitates the user's identification of the position of the outboard motors on the ship and the corresponding control and detection needs.

[0075] like Figure 8 The diagram shown is a flowchart illustrating another method for identifying the installation locations of multiple outboard motors according to an exemplary embodiment. This embodiment, based on the foregoing embodiments, further includes the following steps:

[0076] Step S104: Obtain the model information of the multiple outboard motors.

[0077] The model information is used to display the model of the multiple outboard motors in the topology diagram of the ship system.

[0078] In this application, the model information of each outboard motor is unique.

[0079] In some embodiments, the topology diagram can display each outboard motor with icons and its corresponding model number, facilitating user matching of the model information on the topology diagram with the corresponding outboard motor on the actual vessel. For example, if a vessel system includes three outboard motors, model numbers 1, 2, and 3, then the relevant topology diagram would be as follows: Figure 9As shown, only the number of outboard motors can be displayed, not the relative positions between multiple outboard motors. However, in this embodiment, as shown... Figure 10 As shown, by obtaining the model information of the outboard motor, the outboard motor can be marked on the topology diagram. In combination with the topology diagram of the ship system in the aforementioned embodiment, it can be formed from the ship's top view. In this way, the topology diagram can show the relative positions of multiple outboard motors on the ship with the direction from the stern to the bow as the reference.

[0080] In addition, this application also provides a device for identifying the installation locations of multiple outboard motors.

[0081] like Figure 11 As shown, Figure 11 This application illustrates a schematic diagram of a device 1100 for identifying the installation positions of multiple outboard motors according to an exemplary embodiment. The multiple outboard motors include a main unit and slave units. The device 1100 includes the following modules:

[0082] The first acquisition module 1110 is configured to acquire host positioning data and host orientation data of the host, and acquire slave positioning data of the slave device;

[0083] The first determining module 1120 is configured to determine the relative positional relationship of the multiple outboard motors on the ship based on the host positioning data, the slave positioning data and the host orientation data;

[0084] The relative positional relationships are used to display the multiple outboard motors in the topology diagram of the ship system; the relative positions of the multiple outboard motors displayed in the topology diagram are the same as the relative positions of the multiple outboard motors on the ship.

[0085] In some embodiments, the host is the outboard motor that first connects to the communication bus; or, the device identification information of the outboard motor includes a device identification code, and the host is the outboard motor with the smallest device identification code among the plurality of outboard motors.

[0086] In some embodiments, the host orientation data includes the host's acceleration data.

[0087] The first determining module 1120 is further configured to determine the orientation of the main engine based on the acceleration data of the main engine; determine the orientation of the ship from stern to bow based on the orientation of the main engine; and determine the relative positional relationship of the multiple outboard motors on the ship based on the main engine positioning data, the slave engine positioning data, and the orientation of the ship from stern to bow.

[0088] In some embodiments, the first determining module 1120 is further configured to acquire host acceleration data collected by the host acceleration detection unit of the host, and determine the orientation of the host based on the host acceleration data.

[0089] In some embodiments, the first determining module 1120 is further configured to: when the host acceleration data is available, determine the orientation of the host based on the host acceleration data; when the host acceleration data is unavailable, acquire slave acceleration data collected by the slave acceleration detection unit of the slave device, and determine the orientation of the host based on the slave acceleration data.

[0090] In some embodiments, the first determining module 1120 is further configured to use the slave acceleration data collected by the slave acceleration detection unit of the slave device and sent to the host as the acceleration data of the host, and determine the orientation of the host based on the acceleration data of the host.

[0091] In some embodiments, the topology diagram of the ship system is used to characterize the connection relationships of various devices in the ship system and the relative positions of the multiple outboard motors on the ship from a top-down view of the ship.

[0092] like Figure 12 The diagram shown is a schematic representation of another apparatus 1100 for generating a topology map of a ship system according to an exemplary embodiment. This embodiment, based on the aforementioned embodiments, further includes the following modules:

[0093] The second acquisition module 1130 is configured to acquire the model information of the multiple outboard motors.

[0094] The model information is used to display the model of the multiple outboard motors in the topology diagram of the ship system.

[0095] In some embodiments, the topology diagram of the ship system is also used to display the models of the plurality of outboard motors.

[0096] Additionally, this application also provides an outboard motor. An exemplary embodiment of this application illustrates an outboard motor 1200, such as... Figure 13 As shown, the outboard motor 1200 includes: a propeller 1210, a motor 1220 for driving the propeller 1210 to rotate, and a processor 1230 connected to the motor 1220. The implementation process of the function and role of the processor 1230 is detailed in the implementation process of the corresponding steps in the above method, and will not be repeated here.

[0097] Additionally, this application also provides a vessel. According to an exemplary embodiment, this application illustrates a vessel 1300, such as... Figure 14As shown, the vessel 1300 includes a hull 1310, and the outboard motor 1200 described in the above embodiments of this application is mounted on the hull 1310. The specific implementation process of the function and role of the processor 1230 in the outboard motor is detailed in the corresponding steps of the above method, and will not be repeated here.

[0098] In addition, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method for identifying the installation positions of multiple outboard motors as described in any of the foregoing embodiments.

[0099] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0100] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this application according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0101] The foregoing has described specific embodiments of this application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired results. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0102] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention filed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not claimed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0103] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

[0104] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A method for identifying the installation locations of multiple outboard motors, characterized in that, The plurality of outboard motors includes main engines and slave engines, and the method includes: Obtain the host's location data and host orientation data; Obtain the slave device's location data; Based on the host positioning data, the slave positioning data, and the host orientation data, the relative positional relationship of the multiple outboard motors on the ship is determined. The relative positional relationship is used to display the multiple outboard motors in the topology diagram of the ship system. The relative positions of the multiple outboard motors displayed in the topology diagram are the same as the relative positions of the multiple outboard motors on the ship.

2. The method according to claim 1, characterized in that, The host machine is the outboard motor that was first connected to the communication bus; or, The equipment identification information of the outboard motor includes an equipment identification code, and the host is the outboard motor with the smallest equipment identification code among the multiple outboard motors.

3. The method according to claim 1, characterized in that, The host orientation data includes the host's acceleration data. Determining the relative positions of the multiple outboard motors on the vessel based on the host positioning data, the slave positioning data, and the host orientation data includes: The orientation of the host is determined based on the host's acceleration data; The stern-to-bow orientation of the vessel is determined based on the orientation of the main engine; The relative positions of the multiple outboard motors on the vessel are determined based on the main engine positioning data, the slave engine positioning data, and the stern-to-bow orientation of the vessel.

4. The method according to claim 3, characterized in that, Determining the orientation of the host based on the host's acceleration data includes: The host acceleration data collected by the host acceleration detection unit is obtained, and the orientation of the host is determined based on the host acceleration data.

5. The method according to claim 4, characterized in that, Determining the orientation of the host based on the host acceleration data includes: When the host acceleration data is available, the orientation of the host is determined based on the host acceleration data; When the host acceleration data is unavailable, the slave acceleration data collected by the slave acceleration detection unit of the slave device is acquired, and the orientation of the host device is determined based on the slave acceleration data.

6. The method according to claim 3, characterized in that, Determining the orientation of the host based on the host's acceleration data includes: The slave acceleration data collected by the slave acceleration detection unit and sent to the master is used as the acceleration data of the master. The orientation of the master is determined based on the acceleration data of the master.

7. The method according to claim 1, characterized in that, The topology diagram of the ship system is used to characterize the connection relationship of various devices in the ship system and the relative positions of the multiple outboard motors on the ship from a top-down view of the ship.

8. The method according to claim 1, characterized in that, The method further includes: Obtain the model information of the multiple outboard motors, which is used to display the model of the multiple outboard motors in the topology diagram of the ship system.

9. The method according to claim 8, characterized in that, The topology diagram of the ship system is also used to display the models of the multiple outboard motors.

10. A device for identifying the installation locations of multiple outboard motors, the multiple outboard motors including a main unit and slave units, the device comprising: The first acquisition module is configured to acquire host positioning data and host orientation data of the host, and acquire slave positioning data of the slave device; The first determining module is configured to determine the relative positional relationship of the multiple outboard motors on the ship based on the host positioning data, the slave positioning data, and the host orientation data. The relative positional relationships are used to display the multiple outboard motors in the topology diagram of the ship system; the relative positions of the multiple outboard motors displayed in the topology diagram are the same as the relative positions of the multiple outboard motors on the ship.

11. An outboard motor, characterized in that, The outboard motor includes: a propeller; a motor for driving the propeller to rotate; and a processor connected to the motor, the processor being used to perform the method for identifying the installation positions of multiple outboard motors as described in any one of claims 1 to 9.

12. A vessel comprising: The hull; and the outboard motor of claim 11, wherein the outboard motor is mounted on the hull.

13. A computer-readable storage medium, characterized in that, The readable storage medium stores a computer program that, when executed by a processor, implements the method for identifying the installation locations of multiple outboard motors as described in any one of claims 1 to 9.

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