Method and related equipment for obtaining posture data of water body

Abstract

The present application provides a method for obtaining the attitude data of a water vehicle, a thruster, a water device and a computer-readable storage medium. The method includes: obtaining the first acquisition data of the previous acquisition cycle output by the inertial measurement sensor, the second acquisition data of the previous acquisition cycle output by the global navigation satellite system and the first acquisition data of the next acquisition cycle output by the inertial measurement sensor in two adjacent acquisition cycles; calculating the data error based on the first acquisition data of the previous acquisition cycle and the second acquisition data of the previous acquisition cycle; calculating the attitude data based on the data error and the first acquisition data of the next acquisition cycle. The method of the present application corrects the first acquisition data of the inertial measurement sensor based on the second acquisition data of the global navigation satellite system, thereby obtaining the attitude data of the water vehicle, which can improve the accuracy of the attitude data of the water vehicle.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to a method for acquiring posture data of a water body, a thruster, a water body movable device, and a computer-readable storage medium. Background Art

[0002] Ships and other mobile devices in waters can be equipped with inertial measurement sensors to obtain the attitude data of the hull, so as to realize functions such as automatic driving, assisted driving or obstacle avoidance based on the attitude data of the hull. In the related art, the attitude data of the hull obtained by the inertial measurement sensor has the problem of low accuracy. Summary of the invention

[0003] In view of this, one of the purposes of the present application is to provide a method for obtaining posture data of a water body carrier, a thruster, a water body movable device and a computer-readable storage medium.

[0004] In the first aspect, an embodiment of the present application provides a method for acquiring attitude data of a water body. The method comprises: acquiring the first acquisition data of the previous acquisition cycle output by the inertial measurement sensor, the second acquisition data of the previous acquisition cycle output by the global navigation satellite system, and the first acquisition data of the next acquisition cycle output by the inertial measurement sensor in two adjacent acquisition cycles; calculating the data error based on the first acquisition data of the previous acquisition cycle and the second acquisition data of the previous acquisition cycle; and calculating the attitude data based on the data error and the first acquisition data of the next acquisition cycle.

[0005] In a second aspect, an embodiment of the present application provides a propeller, wherein the propeller comprises a processor, and the processor is used to execute the method for acquiring posture data of a water body vehicle described in the first aspect.

[0006] In a third aspect, an embodiment of the present application provides a mobile device for use in a water area, wherein the mobile device for use in a water area comprises a water area carrier and the propeller according to the second aspect, wherein the propeller is arranged on the water area carrier.

[0007] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium. The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the method for obtaining the posture data of the water body described in the first aspect is implemented.

[0008] In the method for obtaining the attitude data of the water vehicle, the thruster, the water movable device and the computer-readable storage medium of the embodiments of the present application, the first collected data of the inertial measurement sensor is corrected based on the second collected data of the global navigation satellite system to obtain the attitude data of the water vehicle, which can improve the accuracy of the attitude data of the water vehicle.

[0009] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0011] Figure 1 A schematic diagram of the structure of a movable device for water area according to one embodiment of the present application.

[0012] Figure 2 This is a schematic structural diagram of the connection between the lifting device and the clamp in a thruster according to an embodiment of the present application.

[0013] Figure 3 This is a schematic diagram of the module connections of a movable device in water area according to one embodiment of the present application.

[0014] Figure 4 This is a schematic diagram of module connections of a mobile device in water area according to another embodiment of the present application.

[0015] Figure 5 A schematic diagram of a coordinate system of a water body according to an embodiment of the present application.

[0016] Figure 6 A flowchart of a method for maintaining the direction of a water vehicle based on a single propeller according to an embodiment of the present application.

[0017] Figure 7a A schematic diagram of the steering position of a propeller according to an embodiment of the present application.

[0018] Figure 7b This is a schematic diagram of the steering position of a propeller according to another embodiment of the present application.

[0019] Figure 7c This is a schematic diagram of the steering position of a propeller according to yet another embodiment of the present application.

[0020] Figure 8a This is a schematic diagram of a scenario in which a propeller outputs thrust according to an embodiment of the present application.

[0021] Figure 8b This is a schematic diagram of a scenario in which a propeller outputs thrust according to another embodiment of the present application.

[0022] Figure 9aThis is a schematic diagram of a scenario in which a propeller outputs thrust according to another embodiment of the present application.

[0023] Figure 9b This is a schematic diagram of a scenario in which a propeller outputs thrust according to another embodiment of the present application.

[0024] Fig.10a This is a schematic diagram of a scenario in which a propeller outputs thrust according to another embodiment of the present application.

[0025] Fig.10b This is a schematic diagram of a scenario in which a propeller outputs thrust according to another embodiment of the present application.

[0026] Fig.10c This is a schematic diagram of a scenario in which a propeller outputs thrust according to another embodiment of the present application.

[0027] Fig.10d This is a schematic diagram of a scenario in which a propeller outputs thrust according to another embodiment of the present application.

[0028] Fig.11a This is a schematic diagram of a scenario in which a propeller outputs thrust according to another embodiment of the present application.

[0029] Fig.11b This is a schematic diagram of a scenario in which a propeller outputs thrust according to another embodiment of the present application.

[0030] Fig.12a This is a schematic diagram of a scenario in which a propeller outputs thrust according to another embodiment of the present application.

[0031] Figure 12b This is a schematic diagram of a scenario in which a propeller outputs thrust according to another embodiment of the present application.

[0032] Fig.13 This is a schematic diagram of a scenario in which a propeller according to an embodiment of the present application generates different thrusts when it is in different steering positions.

[0033] Fig.14 This is a schematic diagram of a motion scene of a movable device in water area when a direction keeping function is turned on according to an embodiment of the present application.

[0034] Fig.15a A schematic diagram of a coordinate system when an inertial measurement sensor and a water body carrier are relatively fixed according to an embodiment of the present application.

[0035] Fig.15b A schematic diagram of a coordinate system of an inertial measurement sensor according to an embodiment of the present application when the inertial measurement sensor moves relative to a water body.

[0036] Fig.16 A flowchart of a method for obtaining posture data of a water body according to an embodiment of the present application.

[0037] Fig.17 A schematic diagram of the connection between a computer-readable storage medium and a processor according to an embodiment of the present application. DETAILED DESCRIPTION

[0038] Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numerals in different drawings represent the same or similar elements.

[0039] See also Figure 1 The present application provides a movable device 100 for water areas. The movable device 100 for water areas may be any type of water transportation vehicle such as a commercial ship, a passenger ship, a yacht, a fishing boat, a sailboat, a civilian ship, or may be any water area inspection equipment, water area management equipment, water area environment monitoring equipment, or other equipment capable of operating in water areas, and the present application does not limit this.

[0040] The water area movable device 100 comprises a water area carrier 20 and a propeller 10 disposed on the water area carrier 20. The propeller 10 is a device capable of providing power in a water area environment. The propeller 10 comprises a steerable member capable of rotating around a steering axis S( Figure 2 In one example, the steerable member may include a propulsion device 11 in the propeller 10. In this case, the propeller 10 may be an outboard motor, a rotatable pod propeller, a towing motor, etc. In another example, the steerable member may include a rudder blade. In this case, the propeller 10 includes a rudder blade and a propulsion device 11 that are independent of each other. For example, the propeller 10 may be an inboard motor used in combination with a rudder blade, wherein the rudder blade and the inboard motor are independent of each other. For example, when the propeller 10 is an outboard motor or a towing motor, the propeller 10 may be installed at the bow, stern, side, etc. of the water body carrier 20. For example, when the propeller 10 is a device including a rudder blade and an inboard motor or a rotatable pod propeller 10, the propeller 10 may be installed at the bottom of the water body carrier 20, etc.

[0041] See also Figure 1 and Figure 2 , taking the propeller 10 as an outboard motor as an example for schematic illustration, the propeller 10 includes a clamp 15 and a main body. The clamp 15 is used to fix the main body on the water body 20, for example, to fix the main body on the stern of the water body 20. The main body includes a propulsion device 11, a steering device 12, a tilting device 13 and a housing 14. The propulsion device 11, the steering device 12, and the tilting device 13 are all connected to the housing 14.

[0042] The propulsion device 11 includes a propulsion motor 111 and a propeller 112. The propeller 112 is mounted on the output shaft of the propulsion motor 111. When the propulsion motor 111 rotates, the propeller 112 is driven to rotate to output thrust. The propulsion motor 111 can output a first torque and a second torque with different directions. By switching the first torque and the second torque, the rotation direction of the propeller can be changed so that the propeller has two thrust output directions, thereby pushing the water body 20 forward or backward.

[0043] The steering device 12 includes a steering shaft 121, a reduction assembly 122 and a steering motor 123 connected in sequence. The steering motor 123 drives the steering shaft 121 to rotate left and right relative to the housing 14 through the reduction assembly 122. Since the housing 14 is rotated to fit the steering shaft 121, and the propulsion device 11 is relatively fixed to the housing 14, when the steering motor 123 drives the steering shaft 121 to rotate relative to the housing 14 through the reduction assembly 122, the propulsion device 11 can be rotated relative to the steering axis S, thereby changing the direction of the propulsion device 11, changing the direction of the thrust provided by the propulsion device 11, and then driving the water body 20 to turn. Further, the steering device 12 can also include a steering angle sensor (not shown), which can be used to detect the steering angle of the propulsion device 11.

[0044] The tilting device 13 includes a tilting shaft 131, a tilting bracket 132 and a tilting driving assembly 15. The tilting bracket 132 is connected to the clamp 15 for relative rotation via the tilting shaft 131, and the tilting driving assembly 15 is used to drive the tilting bracket 132 to rotate relative to the clamp 15. Since the tilting bracket 132 and the propulsion device 11 are relatively fixed in the tilting direction, the tilting bracket 132 can drive the propulsion device 11 to rotate relative to the tilting axis Q to achieve the tilting of the propulsion device 11. Furthermore, the tilting device 13 can also include a tilting angle sensor (not shown), which can be used to detect the tilting angle of the propulsion device 11.

[0045] See also Figure 3 and Figure 4 , the propeller 10 also includes a processor 16. The processor 16 is housed inside the housing 14. The processor 16 is electrically connected to the propulsion device 11, the steering device 12, and the tilting device 13. For example, the processor 16 can be electrically connected to the propulsion motor 111, the steering motor 123, the steering angle sensor, the tilting drive assembly 15, and the tilting angle sensor. The processor 16 can receive signals fed back by the propulsion motor 111, the steering motor 123, the steering angle sensor, the tilting drive assembly 15, and the tilting angle sensor, and can also output instructions to the propulsion device 11, the steering device 12, and the tilting device 13, so that the propulsion device 11, the steering device 12, and the tilting device 13 perform actions corresponding to the instructions.

[0046] Please continue reading Figure 3 and Figure 4 The water movable device 100 may further include a control device 30 , an inertial measurement sensor 40 and a global navigation satellite system 50 .

[0047] The control device 30 is used to receive the user's operation to send a control instruction corresponding to the user's operation to the propeller 10, and the control instruction includes, for example, a forward gear instruction, a reverse gear instruction, a steering instruction, etc. For example, the control device 30 can be electrically connected to the processor 16 to send the control instruction to the processor 16. The control device 30 can include, for example, a steering wheel, a tiller, a remote control controller, a wireless joystick, a display screen, etc.

[0048] The inertial measurement sensor 40 can detect and output the first acquisition data, and the first acquisition data can be used to characterize the posture of the steerable member or the water body 20. The inertial measurement sensor 40 can be electrically connected to the processor 16 to provide the first acquisition data to the processor 16. In the embodiment of the present application, the inertial measurement sensor 40 can be a three-axis inertial measurement sensor, a six-axis inertial measurement sensor, or a nine-axis inertial measurement sensor. When the inertial measurement sensor 40 is a three-axis inertial measurement sensor, the inertial measurement sensor 40 can be a three-axis magnetometer, and accordingly, the first acquisition data is magnetometer data. When the inertial measurement sensor 40 is a six-axis inertial measurement sensor, the inertial measurement sensor can include a three-axis magnetometer and a three-axis gyroscope, and accordingly, the first acquisition data includes magnetometer data and gyroscope data. When the inertial measurement sensor 40 is a nine-axis inertial measurement sensor, the inertial measurement sensor 40 can include a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer, and accordingly, the first acquisition data includes accelerometer data, gyroscope data, and magnetometer data. The three-axis accelerometer is used to detect the acceleration of the roll, pitch, and yaw axes of the target object (i.e., accelerometer data). The unit of acceleration is usually m / s. 2 By integrating the acceleration of each axis, the linear velocity of each axis can be obtained; the gyroscope is used to detect the angular velocity of the roll axis, pitch axis, and yaw axis of the target object (i.e., gyroscope data). The unit of angular velocity is usually rad / s. By integrating the angular velocity of each axis, the angle rotated by each axis within the integration time can be obtained; the magnetometer is used to detect the magnetic field magnitude of the roll axis, pitch axis, and yaw axis of the target object. The unit of the magnetic field magnitude is usually μT. Based on the magnetic field magnitude of each axis, the inverse tangent function is used to calculate the direction data of the target object in the world coordinate system (i.e., magnetometer data), that is, the deflection angle of each axis of the target object relative to the world coordinate system.

[0049] The global navigation satellite system 50 can detect and output the second collected data, and the second collected data includes the position, navigation speed, heading angle and other operating parameters of the water movable device 100. The global navigation satellite system 50 can be electrically connected to the processor 16 to provide the second collected data to the processor 16. The global navigation satellite system 50 can be any one of the BeiDou Navigation Satellite System (BDS), the Global Positioning System (GPS), the Global Navigation Satellite System (GLONASS), and the Galileo Navigation Satellite System (Galileo), and the present application does not limit this.

[0050] like Figure 3 As shown, the inertial measurement sensor 40 and the global navigation satellite system 50 can be directly set on the water body 20. At this time, the inertial measurement sensor 40 and the global navigation satellite system 50 are relatively fixed to the water body 20, and the data output by the inertial measurement sensor 40 and the global navigation satellite system 50 are detection data for the water body 20. In this setting mode, the detection data of the water body 20 can be directly obtained without conversion, which can reduce the amount of calculation required by the processor 16. Figure 4 As shown, the inertial measurement sensor 40 and the global navigation satellite system 50 can be arranged in the propeller. This arrangement can make the function of the propeller 10 more abundant, which is conducive to improving the integration of the propeller 10. Further, in the case where the steerable member includes the propulsion device 11, in order to facilitate the circuit connection between the inertial measurement sensor 40 and the global navigation satellite system 50 and the processor 16, the inertial measurement sensor 40 and the global navigation satellite system 50 can be arranged inside the housing 14. Since the housing 14 and the propulsion device 11 are fixedly connected, the inertial measurement sensor 40 and the global navigation satellite system 50 will move relative to the water body carrier 20 with the rotation (steering or tilting) of the propulsion device 11, and the data output by the inertial measurement sensor 40 and the global navigation satellite system 50 is the detection data for the propulsion device 11. In this embodiment, the first collected data is the attitude data of the propulsion device 11, and the first collected data needs to be converted to obtain the attitude data of the water body carrier 20.

[0051] Based on the aforementioned water area movable device 100, the present application also provides a method for maintaining the direction of a water area vehicle 20 based on a single propeller 10. The method can be executed by the aforementioned processor 16. Figure 5In the three-axis coordinate system of the water body 20, the X axis represents the roll axis, the Y axis represents the pitch axis, and the Z axis represents the yaw axis. The midline plane of the water body 20 is a plane perpendicular to the Y axis and passing through the axis of the X axis. The direction of the water body 20 can be understood as Figure 5 The positive direction of the X-axis shown in , can also be called the bow direction. The direction of the water body carrier 20 can be represented by the posture data of the water body carrier 20, wherein the posture data indicates the deflection angle of the X-axis relative to the world coordinate system. It should be pointed out that the method of the present application is not only applicable to the case where the water body carrier 20 is only equipped with one propeller 10, but also applicable to the case where the water body carrier 20 is equipped with multiple (such as two, three, four, etc.) propellers 10. For the case where the water body carrier 20 is equipped with multiple propellers 10, during the period when the direction keeping function is enabled, the processor 16 only enables one propeller 10 among the multiple propellers 10 to perform direction keeping control. Among them, the one propeller 10 can be any one propeller 10 among the multiple propellers 10. Alternatively, for the case where the water body carrier 20 is equipped with multiple propellers 10, during the period when the direction keeping function is enabled, the processor 16 can also enable some or all of the propellers 10 among the multiple propellers 10 to perform direction keeping control, and the part or all of the propellers 10 can execute the direction keeping method of the present application. In addition, the direction keeping of the present application can be understood as static direction keeping, rather than dynamic direction keeping, that is, the direction keeping of the present application requires that the thrust of the propeller 10 is committed to causing the water body vehicle 20 to maintain its direction, but does not require that it is also committed to causing the water body vehicle 20 to change its position. For the situation where it is required to cause the water body vehicle 20 to maintain its direction and change its position at the same time, or even to change its position along a predetermined route, this situation should be understood as dynamic direction keeping.

[0052] See also Figure 6 The method for maintaining the direction of the water body 20 based on a single propeller 10 in the embodiment of the present application includes:

[0053] 01: In response to the direction keeping instruction, the direction of the current water area carrier 20 is used as the target direction;

[0054] 02: Control the steerable member to rotate around the steering axis S to a predetermined position and maintain it at the predetermined position. When the propeller 10 is at the predetermined position, the thrust of the propeller 10 can cause the water body 20 to turn;

[0055] 03: Control the thruster 10 to generate the target thrust so as to keep the water body 20 in the target direction.

[0056] Specifically, the direction keeping function can be triggered in a variety of ways. As an example, the user can trigger the direction keeping function by operating the control device 30. For example, a direction keeping button is provided on the remote control box, and the user presses the direction keeping button, and the control device 30 generates a direction keeping instruction and sends the direction keeping instruction to the processor 16 in the thruster 10. The processor 16 responds to the direction keeping instruction and starts to execute the direction keeping control. As another example, the thruster 10 may be provided with a direction keeping button, and the direction keeping button is electrically connected to the processor 16. After the user presses the direction keeping button, the processor 16 detects the user's operation and generates a direction keeping instruction accordingly. The processor 16 responds to the direction keeping instruction and starts to execute the direction keeping control.

[0057] The target direction may be the direction in which the water body vehicle 20 is currently located when the processor 16 receives the direction keeping instruction. The processor 16 may obtain the current first collected data from the inertial measurement sensor 40 to determine the posture data of the water body vehicle 20 based on the first collected data, and use the direction indicated by the posture data as the target direction.

[0058] When the processor 16 performs the direction keeping control, it first controls the steerable member to rotate around the steering axis S to a predetermined position, and keeps the steerable member at the predetermined position. In other words, during the direction keeping control, when the steerable member has rotated to the predetermined position, unless it is affected by external factors (such as waves, obstacles, etc.), causing the steerable member to deviate from the predetermined position, otherwise, the processor 16 will no longer control the steerable member to rotate, and the steering angle of the steerable member remains unchanged. It should be noted that the predetermined position can be a position that has been set before the propeller 10 leaves the factory. The predetermined position can be one or more. When there are multiple predetermined positions, if the user enables the direction keeping function, the processor 16 can determine a predetermined position of a target from multiple predetermined positions, and control the propulsion device 11 to rotate to the predetermined position of the target. It can be understood that in the case where the steerable member includes the propulsion device 11, different types of water movable device 100 have different shapes of water carrier 20. In actual use, when the propulsion device 11 rotates to the predetermined position, the propulsion device 11 may interfere with the water carrier 20. Therefore, before the propeller 10 leaves the factory, a plurality of predetermined positions can be pre-stored inside the propeller 10, and the processor 16 can select a suitable predetermined position based on the type of the water carrier 20; or, before the propeller 10 leaves the factory, a plurality of predetermined positions can be pre-stored inside the propeller 10, and when the user enables the direction keeping function, the user can select a predetermined position from a plurality of predetermined positions, and the propeller 10 performs direction keeping control based on the predetermined position selected by the user. In this way, it can be ensured that when the propeller 10 is applied to a variety of water carriers 20, the direction keeping function can be performed normally, thereby improving the scene adaptability of the propeller 10. It should be pointed out that, with the understanding of the "predetermined position" here, the various "predetermined" parameters mentioned in other embodiments of the present application can be understood as parameters that have been set before leaving the factory, and will not be repeated below.

[0059] After the processor 16 controls the steerable member to rotate around the steering axis S to a predetermined position and maintains the predetermined position, the processor 16 may start to control the propeller 10 to generate a target thrust, specifically, to control the propulsion device 11 to generate a target thrust, so as to urge the water body 20 to maintain the target direction based on the target thrust. Of course, considering that it does not take too long for the steerable member to rotate to the predetermined position, the simultaneous steering and target thrust output of the propeller will not have much impact on the direction keeping process, therefore, the simultaneous execution of the two actions of the processor 16 controlling the steerable member to rotate to the predetermined position and the processor 16 controlling the propulsion device 11 to generate the target thrust is also allowed.

[0060] The target thrust includes thrust direction and thrust magnitude. The thrust direction is first described below.

[0061] The thrust direction is related to the position of the steerable member and the direction of the torque of the propulsion motor 111. Specifically, the predetermined position of the steerable member needs to satisfy that when the steerable member is in the predetermined position, the thrust generated by the propulsion device 11 can cause the water body 20 to turn, that is, the target thrust needs to be able to provide a steering torque for the water body 20. The direction of the torque of the propulsion motor 111 needs to satisfy that the final thrust direction can cause the water body 20 to rotate in a direction close to the target direction.

[0062] Regarding the predetermined position, the steerable member includes a propulsion device 11 as an example for explanation. Figures 7a to 7c , as an example, the predetermined position may be located between the reference position P0 and the extreme position P2, and deviate from the reference position P0. It should be pointed out that in the various embodiments of the present application, unless otherwise specified, "located between..." should be understood to include endpoint values. Among them, the reference position P0 is the position where the axis of the thrust direction of the propulsion device 11 passes through the center point of the water body 20, wherein the center point is the intersection of the rotation axis around which the water body 20 rotates and the roll axis of the water body 20 when the water body 20 rotates in situ. The extreme position P2 is the maximum position to which the propulsion device 11 can rotate compared to the reference position P0. In one embodiment of the present application, the rotation of the propulsion device 11 to the reference position P0 can be understood as the steering angle of the propulsion device 11 being 0°, and the rotation of the propulsion device 11 to the extreme position P2 can be understood as the steering angle of the propulsion device 11 being the maximum steering angle. In particular, in Figures 7a to 7c In the example shown, when the propulsion device 11 rotates to the reference position P0, the direction of the thrust generated by the propulsion device 11 is parallel to the centerline plane of the water body 20, and the axis of the direction passes through the center point of the water body 20. At this time, the thrust cannot provide a steering torque for the water body 20. Therefore, it is necessary to set the predetermined position to deviate from the reference position P0 so that the water body 20 can turn. Similarly, when the propulsion device 11 rotates to the reference position P0, the axis of the thrust direction of the propulsion device 11 passes through the center point of the water body 20, but the thrust direction is not parallel to the centerline plane of the water body 20, the predetermined position is also set to deviate from the reference position P0 so that the water body 20 can turn.

[0063] like Figures 7a to 7cAs shown, there are multiple positions between the reference position P0 and the extreme position P2. The predetermined position can be any position between the reference position P0 and the extreme position P2 (except the reference position P0). As an example, the predetermined position can be located between the reference position P0 and the equally divided position P1, and deviate from the equally divided position P1. Among them, the equally divided position P1 is the center position between the reference position P0 and the extreme position P2. For example, assuming that the steering angle corresponding to the reference position P0 is 0°, and the steering angle corresponding to the extreme position P2 is 100°, the steering angle corresponding to the equally divided position P1 is 50°. As another example, the predetermined position can be any position between the equally divided position P1 and the extreme position P2. For example, the predetermined position can be located at the equally divided position P1; or, the predetermined position can be located at the extreme position P2.

[0064] The number of extreme positions P2 can be one or two. Figures 7a to 7c As shown, when the number of extreme positions P2 is two, the two extreme positions P2 are located at opposite sides of the reference position P0, wherein one extreme position P2 is closer to the port side of the water body 20 than the reference position P0, and the other extreme position P2 is closer to the starboard side than the reference position P0. The steering angles corresponding to the two extreme positions P2 can be distinguished by positive and negative signs. For example, the steering angle corresponding to the reference position P0 is 0°, the steering angle corresponding to one extreme position P2 is -100°, and the steering angle corresponding to the other extreme position P2 is 100°. Specifically, the steering angle corresponding to the extreme position P2 that is closer to the port side of the water body 20 (hereinafter referred to as close to the port side) than the reference position P0 can be set to a negative value, and the steering angle corresponding to the extreme position P2 that is closer to the starboard side of the water body 20 (hereinafter referred to as close to the starboard side) than the reference position P0 can be set to a positive value; or, the steering angle corresponding to the extreme position P2 close to the starboard side can be set to a negative value, and the steering angle corresponding to the extreme position P2 close to the port side can be set to a positive value, and the present application does not impose any restrictions on this.

[0065] The total steering stroke (i.e., steering angle range) of the propulsion device 11 includes various situations. Figure 7a As an example, the steering stroke (i.e., the total steering stroke) of the propulsion device 11 from one extreme position P2 to another extreme position P2 around the steering axis S is less than 180°, that is, the angle difference between the two extreme positions P2 is less than 180°. Figure 7b As another example, the steering stroke of the propulsion device 11 from one extreme position P2 to another extreme position P2 around the steering axis S is equal to 180°, that is, the angle difference between the two extreme positions P2 is equal to 180°. Figure 7cAs another example, the steering stroke of the propulsion device 11 from one extreme position P2 to another extreme position P2 around the steering axis S is greater than 180°, that is, the angle difference between the two extreme positions P2 is greater than 180°. It can be understood that the greater the total steering stroke of the propulsion device 11, the greater the freedom of movement of the propulsion device 11, and more points of sensitivity can be provided to prompt the water body carrier 20 to move, which is helpful for the functional expansion of the propeller 10. In particular, for the case where the total steering stroke is greater than or equal to 180°, when the user enables the direction keeping function, if the predetermined position is at a position corresponding to a steering angle of 180°, the thrust generated by the propeller 10 at this time can only prompt the water body carrier 20 to turn, and will not prompt the water body carrier 20 to move forward or backward. In this way, the water body carrier 20 can change direction by rotating in situ without changing the position of the water body carrier 20 in the water area, so that the position and direction of the water body carrier 20 can be kept synchronously, which is conducive to improving the user experience. However, it should also be understood that the greater the total steering stroke of the propulsion device 11, the higher the structural design requirements for the propeller 10, and the risk of collision between two adjacent propellers 10 in the multi-propeller 10 scenario will increase. Therefore, in actual application scenarios, propellers 10 with a steering stroke greater than or equal to 180° are mostly towing motors with a relatively simple structure and a lower rated power. However, due to the limitation of its rated power, the types of water carriers 20 that can be used by towing motors are mostly ships with smaller size and weight. Based on this, the propeller 10 can also be designed to have a steering stroke less than 180°. At this time, the rated power of the propeller 10 is higher than that of the towing motor, and the types of water carriers 20 that the propeller 10 can be applied to are also more, which is conducive to improving the scene adaptability of the propeller 10.

[0066] for Figure 7a to Figure 7b The propulsion device 11 shown has three total steering strokes. Correspondingly, in order to keep the subsequent direction of the water body 20 in the target direction, it is necessary to further set the direction of the torque of the propulsion motor 111. At this time, the thrust direction of the target thrust output by the propulsion device 11 has the following forms. Among them, the subsequent direction of the water body 20 can be understood as the real-time direction of the water body 20 after the processor 16 receives the direction keeping instruction.

[0067] In an example, combine Figures 7a to 7c , Figure 8a and Figure 8b , the total steering stroke of the propulsion device 11 may be less than 180°, equal to 180° or greater than 180°, but the steering angle corresponding to the predetermined position is less than 90° (in this case, the steering stroke of the propulsion device 11 rotating from the reference position around the steering axis S to the predetermined position is less than 90°), and the predetermined position is closer to the port side of the water body 20 than the reference position P0. In this case, Figure 8aAs shown, if the subsequent direction of the water body carrier 20 is offset from the target direction toward the port side of the water body carrier 20 to the starboard side (according to Figure 8a The thrust direction of the target thrust should be a direction that can push the water body 20 forward (the torque direction of the propulsion motor 111 in the propulsion device 11 matches the forward gear at this time), so that a counterclockwise steering torque can be provided to the water body 20 to make the water body 20 rotate counterclockwise and return to the target position. Figure 8b As shown, if the subsequent direction of the water body carrier 20 is offset from the target direction toward the starboard side of the water body carrier 20 to the port side (according to Figure 8b As shown in the perspective, that is, offset in the counterclockwise direction), the thrust direction of the target thrust should be a direction that can cause the water body 20 to move backward (at this time, the direction of the torque of the propulsion motor 111 in the propulsion device 11 matches the reverse gear), thereby providing a clockwise steering torque for the water body 20 to make the water body 20 rotate clockwise and return to the target position.

[0068] In another example, combine Figures 7a to 7c , Figure 9a and Figure 9b , the total steering stroke of the propulsion device 11 may be less than 180°, equal to 180° or greater than 180°, but the steering angle corresponding to the predetermined position is less than 90° (in this case, the steering stroke of the propulsion device 11 rotating from the reference position around the steering axis S to the predetermined position is less than 90°), and the predetermined position is closer to the starboard side of the water body 20 than the reference position P0. Figure 9a As shown, if the subsequent direction of the water body carrier 20 is offset from the target direction toward the port side of the water body carrier 20 to the starboard side (according to Figure 9a As shown in the perspective, that is, offset in the clockwise direction), the thrust direction of the target thrust should be a direction that can cause the water body 20 to move backward (at this time, the direction of the torque of the propulsion motor 111 in the propulsion device 11 matches the reverse gear), so that a counterclockwise steering torque can be provided for the water body 20 to make the water body 20 rotate counterclockwise and return to the target position. Figure 9b As shown, if the subsequent direction of the water body carrier 20 is offset from the target direction toward the starboard side of the water body carrier 20 to the port side (according to Figure 9b As shown in the perspective, that is, offset in the counterclockwise direction), the thrust direction of the target thrust should be a direction that can propel the water body 20 forward (at this time, the direction of the torque of the propulsion motor 111 in the propulsion device 11 matches the forward gear), thereby providing a clockwise steering torque for the water body 20 to make the water body 20 rotate clockwise and return to the target position.

[0069] In another example, combine Figure 7b , Figure 7c , Figures 10a to 10d , the total steering stroke of the propulsion device 11 can be equal to 180° or greater than 180°, but the steering angle corresponding to the predetermined position is equal to 90° (at this time, the steering stroke of the propulsion device 11 rotating from the reference position around the steering axis S to the predetermined position is equal to 90°), and the thrust generated by the propulsion device 11 in the predetermined position only causes the water body 20 to turn. At this time, if Fig.10a and 10c As shown, if the subsequent direction of the water body carrier 20 is offset from the target direction toward the port side of the water body carrier 20 to the starboard side (according to Fig.10a and Fig.10c As shown in the perspective, that is, offset in the clockwise direction), no matter the predetermined position is closer to the port side or starboard side of the water body 20 than the reference position P0, the thrust direction of the target thrust is always directed to the starboard side of the water body 20, thereby providing a counterclockwise steering torque for the water body 20 to make the water body 20 rotate counterclockwise and return to the target position. It should be pointed out that although Fig.10a and Fig.10c In the examples shown, the thrust direction of the target thrust is directed to the starboard side of the water body 20, but in the two examples, the torque directions of the propulsion motor 111 in the propulsion device 11 are opposite, that is, Fig.10a In the example shown, the direction of the torque of the propulsion motor 111 matches the forward gear. Fig.10c In the example shown, the direction of the torque of the propulsion motor 111 matches the reverse gear. Fig.10b and 10d As shown, if the subsequent direction of the water body carrier 20 is offset from the target direction toward the starboard side of the water body carrier 20 to the port side (according to Fig.10b and Fig.10d As shown in the perspective, that is, offset in the counterclockwise direction), no matter the predetermined position is closer to the port side or starboard side of the water body 20 than the reference position P0, the thrust direction of the target thrust is always directed to the port side of the water body 20, thereby providing a clockwise steering torque for the water body 20 to make the water body 20 rotate clockwise and return to the target position. It should be pointed out that although Fig.10b and Fig.10d In the examples shown, the thrust direction of the target thrust is directed to the port side of the water body 20, but in the two examples, the torque directions of the propulsion motor 111 in the propulsion device 11 are opposite, that is, Fig.10b In the example shown, the direction of the torque of the propulsion motor 111 matches the reverse gear. Fig.10d In the example shown, the direction of the torque of the propulsion motor 111 matches the forward gear.

[0070] In addition, for Figures 10a to 10d In the example shown, considering that when the propulsion device 11 is in a position with a steering angle of 180°, the excessive tilting angle of the propulsion device 11 may cause the water body 20 to roll over. Therefore, in this case, the tilting angle of the propulsion device 11 needs to be limited to below the tilting angle threshold, wherein the tilting angle threshold is less than the maximum angle to which the propulsion device 11 can be tilted. As an example, the tilting angle threshold may be 70%, 62%, 50%, etc. of the maximum tilting angle, which may be determined according to the characteristic parameters such as the mass and size of the water body 20, and the present application does not impose any restrictions on this. In this way, the tilting angle is limited to prevent the water body 20 from rolling over due to the propulsion device 11 tilting too high, thereby ensuring the safety of the user driving the movable device 100 in the water area.

[0071] In another example, see Figure 7c , Fig.11a and Fig.11b , the total steering stroke of the propulsion device 11 is greater than 180°, the steering angle corresponding to the predetermined position is greater than 90°, and the predetermined position is closer to the port side of the water body 20 than the reference position P0. Fig.11a As shown, if the subsequent direction of the water body carrier 20 is offset from the target direction toward the port side of the water body carrier 20 to the starboard side (according to Fig.11a The thrust direction of the target thrust should be a direction that can cause the water body 20 to move backward (the direction of the torque of the propulsion motor 111 in the propulsion device 11 matches the forward gear at this time), so that a counterclockwise steering torque can be provided to the water body 20 to make the water body 20 rotate counterclockwise and return to the target position. Fig.11b As shown, if the subsequent direction of the water body carrier 20 is offset from the target direction toward the starboard side of the water body carrier 20 to the port side (according to Fig.11b As shown in the perspective, that is, offset in the counterclockwise direction), the thrust direction of the target thrust should be the direction that can propel the water body 20 forward (at this time, the direction of the torque of the propulsion motor 111 in the propulsion device 11 matches the reverse gear), thereby providing a clockwise steering torque for the water body 20 to make the water body 20 rotate clockwise and return to the target position.

[0072] In another example, see Figure 7c , Fig.12a and Figure 12b , the total turning stroke of the propulsion device 11 is greater than 180°, the turning angle corresponding to the predetermined position is greater than 90°, and the predetermined position is closer to the starboard side of the water body 20 than the reference position P0. Fig.12aAs shown, if the subsequent direction of the water body carrier 20 is offset from the target direction toward the port side of the water body carrier 20 to the starboard side (according to Fig.12a The thrust direction of the target thrust should be the direction that can push the water body 20 forward (the direction of the torque of the propulsion motor 111 in the propulsion device 11 matches the reverse gear at this time), so that a counterclockwise steering torque can be provided to the water body 20 to make the water body 20 rotate counterclockwise and return to the target position. Figure 12b As shown, if the subsequent direction of the water body carrier 20 is offset from the target direction toward the starboard side of the water body carrier 20 to the port side (according to Figure 12b As shown in the perspective, that is, offset in the counterclockwise direction), the thrust direction of the target thrust should be a direction that can cause the water body 20 to retreat (at this time, the direction of the torque of the propulsion motor 111 in the propulsion device 11 matches the forward gear), thereby providing a clockwise steering torque for the water body 20 to make the water body 20 rotate clockwise and return to the target position.

[0073] In particular, for the case where the total turning stroke of the propulsion device 11 shown in 7a is less than 180°, the predetermined position can be selected as the extreme position P2. Fig.13 , Fig.13 In the left figure, the steering angle of the propulsion device 11 is θ1, the target thrust of the propulsion device 11 is F1, the component of the target thrust F1 on the X-axis is F11, and the component on the Y-axis is F12; Fig.13 In the right figure, the steering angle of the propulsion device 11 is θ2, the target thrust of the propulsion device 11 is F2, the component of the target thrust F2 on the X-axis is F21, and the component on the Y-axis is F22. Among them, θ1 is smaller than θ2, and the directions of F1 and F2 are different, but the magnitude is the same. Comparing the two figures, it can be seen that F21 is smaller than F11, and F22 is larger than F12. In other words, when the steering angle is larger, the lateral propulsion component of the target thrust generated by the propulsion device 11 is larger, and the forward propulsion component is smaller. The smaller the forward propulsion component output by the propulsion device 11, the water body carrier 20 can move in a manner close to rotating in place without deviating too much from the current position. Based on this, the predetermined position can be selected as the extreme position P2. Since the steering angle of the propulsion device 11 is the largest at the extreme position P2, the forward propulsion component of the propulsion device 11 can be minimized to the greatest extent, thereby reducing the position movement of the water body carrier 20, which is conducive to improving the user experience.

[0074] Similarly, for Figure 7cIn the case where the total steering stroke of the propulsion device 11 shown is greater than 180°, the predetermined position should be selected as a position where the steering angle approaches 180°. For example, the predetermined position is selected as a position where the steering angle is 180.5°, 181°, 185°, etc. In this way, the propulsion device 11 can output a smaller forward propulsion component, and the water body 20 can operate in a manner close to rotating in situ without deviating too much from the current position, which is conducive to improving the user experience.

[0075] There are several options for determining the target thrust.

[0076] In one example, the thrust magnitude is a predetermined thrust value, and the processor 16 can directly control the propulsion device 11 to generate the target thrust of the predetermined thrust value without first calculating the thrust value. In this way, the processor 16 can control the propulsion device 11 to output the thrust of the target magnitude without complicated thrust value calculation, and the response speed to the direction keeping instruction is faster. In the embodiment of the present application, further, since the processor 16 controls the propulsion device 11 to generate the thrust of the target magnitude specifically by controlling the operating parameters of the propulsion motor 111, and different propellers 10 may use different propulsion motors 111 and propellers 112, there is a situation where the same operating parameters are used but the thrust magnitude output by the propulsion device 11 is different. Based on this, the step of controlling the propulsion device 11 to generate the target thrust may include: first, based on the mapping relationship between the thrust magnitude and the operating parameters of the propeller 10, determining the target operating parameters corresponding to the predetermined thrust value, and then controlling the propulsion device 11 to operate with the target operating parameters to generate the target thrust. The mapping relationship between thrust magnitude and operating parameters is pre-calibrated data, which can be pre-stored in the thruster 10 to facilitate the call of the processor 16. The operating parameters can be, for example, power, current, voltage and other parameters, which are not limited in this application.

[0077] In another example, the propeller 10 has pre-stored predetermined operating parameters, and the step of controlling the propulsion device 11 to generate the target thrust may include: directly controlling the propulsion device 11 to operate with the predetermined operating parameters to generate the target thrust. The predetermined operating parameters may be predetermined power, current, voltage and other parameters, which are not limited in this application. In this way, the processor 16 can control the propulsion device 11 to output the target thrust without performing complex thrust value calculations, and the response speed to the direction keeping instruction is faster.

[0078] In another example, the processor 16 may first calculate the target thrust, and then control the propulsion device 11 to generate the calculated target thrust. That is, before the step of controlling the propulsion device 11 to generate the target thrust, the method of the embodiment of the present application further includes: calculating the target thrust required by the propulsion device 11 to keep the water body 20 in the target direction.

[0079] For the solution in which the processor 16 first calculates the target thrust and then controls the propulsion device 11 to generate the target reasoning, for example, the target thrust can be determined based on the purpose of minimizing the error. That is, calculating the target thrust required by the propulsion device 11 may include: first calculating the error between the subsequent direction of the water body 20 and the target direction, and then determining the target thrust based on the error. In the embodiment of the present application, the target thrust is determined based on the error, and the magnitude of the target thrust is in a changing state during the direction maintenance execution process, rather than being constant. The target thrust has a high degree of adaptation to the water body 20 in the real-time state, the direction adjustment of the water body 20 is more stable, and the user experience is better.

[0080] As an example, error minimization includes angle error minimization, that is, the error may include an angle error between the subsequent direction of the water carrier 20 and the target direction. Among them, the angle error can be understood as the deviation angle of the subsequent direction compared to the target direction. Considering that different types of water carriers 20 have different characteristic parameters, different target thrusts need to be matched for different types of water carriers 20 so that the target thrust can be more suitable for the water carrier 20. Therefore, in the embodiment of the present application, further, determining the target thrust based on the error may include: determining the target thrust based on the angle error and the error correction parameter. Among them, the error correction parameter is an angle error correction parameter, and the angle error correction parameter is related to the characteristic parameter of the water carrier 20. Specifically, the angle error correction parameter can be determined in a variety of ways. In one way, the user can input the characteristic parameter through the control device 30 or the propeller 10, and the propeller 10 has a mapping relationship between the characteristic parameter and the angle error correction parameter pre-stored. After the propeller 10 receives the characteristic parameter input by the user, it can determine the angle error correction parameter matching the characteristic parameter based on the mapping relationship. In this way, the processor 16 can match the angle error correction parameters based on the characteristic parameters of the current water carrier 20, and the propeller 10 is more intelligent. In another way, the propeller 10 can obtain multiple sets of angle error correction parameters that match the characteristic parameters of various types of water carriers 20. The propeller 10 or the control device 30 can display the multiple sets of angle error correction parameters to the user and provide the user with a selection prompt for the angle error correction parameters. The user selects a set of angle error correction parameters from the multiple sets of angle error correction parameters based on the prompt. After receiving the user's selection input, the processor 16 can determine the target angle error correction parameters. In this way, the angle error correction parameters can be selected and determined by the user, which is more flexible and provides a better user experience.

[0081] As another example, on the basis of determining the target thrust based on the purpose of minimizing the angle error, the target thrust can be further determined based on the purpose of minimizing the angular velocity error. That is, the error may include the angle error between the subsequent direction of the water body carrier 20 and the target direction, and may also include the angular velocity error between the angular velocity when the water body carrier 20 is in the subsequent direction and the target angular velocity. Wherein. The target angular velocity is less than the angular velocity threshold, that is, when the water body carrier 20 reaches the target direction, the angular velocity of the water body carrier 20 approaches 0rad / s (including the case of being equal to 0rad / s). Wherein, the angle error can also be understood as the deviation angle of the subsequent direction compared to the target direction. In the embodiment of the present application, in addition to being calculated based on the angle error, the target thrust is further calculated based on the angular velocity error. Since the target angular velocity is close to 0 rad / s, the angular velocity of the water body 20 is small when it reaches the target direction, which can effectively prevent the water body 20 from further rotating, causing the water body 20 to deviate from the target direction again, and then need to adjust the direction of the water body 20 in the opposite direction. This can minimize the direction adjustment action required for the water body 20 to maintain the target direction, reduce the shaking feeling of the water body 20 caused by the direction adjustment, and improve the user experience.

[0082] Considering that different types of water carriers 20 have different characteristic parameters, different target thrusts need to be matched for different types of water carriers 20 so that the target thrust can be more suitable for the water carrier 20. Therefore, in the embodiment of the present application, further, determining the target thrust based on the error may include: determining the target thrust based on the angle error, the angular velocity error and the error correction parameter. Among them, the error correction parameter is related to the characteristic parameters of the water carrier 20. The error correction parameter includes at least one of the angle error correction parameter and the angular velocity error correction parameter, that is, the error correction parameter may only include the angle error correction parameter, or only include the angular velocity error correction parameter, or may also include the angle error correction parameter and the angular velocity error correction parameter at the same time. The "at least one" or "at least one" in other embodiments of the present application is similar to the understanding of "at least one" here, and will not be repeated below. Specifically, the error correction parameter can be determined in a variety of ways. In one way, the user can input characteristic parameters through the control device 30 or the propeller 10, and the mapping relationship between the characteristic parameters and the error correction parameters is pre-stored in the propeller 10. After the propeller 10 receives the characteristic parameters input by the user, it can determine the error correction parameters that match the characteristic parameters based on the mapping relationship. In this way, the processor 16 can match the error correction parameters based on the characteristic parameters of the current water body 20, and the propeller 10 is more intelligent. In another way, the propeller 10 can obtain multiple groups of error correction parameters that match the characteristic parameters of various types of water bodies 20, and the propeller 10 or the control device 30 can display the multiple groups of error correction parameters to the user, and provide the user with a selection prompt for the error correction parameters. The user selects a group of error correction parameters from the multiple groups of error correction parameters based on the prompt. After the processor 16 receives the user's selection input, it can determine the error correction parameters of the target. In this way, the error correction parameters can be selected and determined by the user, which is more flexible and provides a better user experience.

[0083] The above-mentioned characteristic parameters include at least one of the mass and length of the water body 20. As an example, the characteristic parameters include the mass of the water body 20, and the angle error correction parameter is positively correlated with the mass, that is, the greater the mass of the water body 20, the greater the angle error correction parameter. It can be understood that the greater the mass of the water body 20, the greater the inertia of the water body 20, the more difficult it is to turn, and the greater the steering torque required. Therefore, the heavier the water body 20, the greater the angle error correction parameter should be set. In this way, the propulsion device 11 can provide a greater steering torque for the water body 20 to promote its rotation. As another example, the characteristic parameters include the length of the water body 20, and the angle error correction parameter is negatively correlated with the length, that is, the longer the length of the water body 20, the smaller the angle error correction parameter. It can be understood that the longer the length of the water body 20, the longer the force arm of the water body 20 rotation, the water body 20 is easier to be pushed, and the steering torque required is relatively small. Therefore, the longer the length of the water body 20, the smaller the angle error correction parameter can be set. In this way, the propulsion device 11 only needs to provide a relatively small steering torque for the water body 20 to cause it to rotate, which is beneficial to reducing the energy consumption of the propeller 10. As another example, the characteristic parameter includes the mass of the water body 20, and the angular velocity error correction parameter is positively correlated with the mass, that is, the greater the mass of the water body 20, the greater the angular velocity error correction parameter. It can be understood that the greater the weight of the water body 20, the greater the inertia of the water body 20, and the greater the difficulty of controlling the water body 20 to stop rotating. Therefore, the heavier the water body 20, the larger the angular velocity parameter should be set. In this way, the propulsion device 11 can output a greater restraining force to suppress the angular velocity of the water body 20 to reach the target position, which can more effectively prevent the water body 20 from moving further to a position beyond the target direction, thereby better achieving direction maintenance. As another example, the characteristic parameter includes the length of the water body 20, and the angular velocity error correction parameter is negatively correlated with the length, that is, the longer the length of the water body 20, the smaller the angular velocity error correction parameter. It can be understood that the longer the length of the water body carrier 20 is, the longer the force arm of the water body carrier 20 is, the easier it is to push the water body carrier 20, and the less difficult it is to control the rotation of the water body carrier 20. Therefore, the longer the length of the water body carrier 20 is, the smaller the angular velocity parameter can be set. In this way, the propulsion device 11 only needs to output a relatively small restraining force to restrain the angular velocity of the water body carrier 20 to reach the target position, which is conducive to reducing the energy consumption of the propeller 10.

[0084] For the scheme of determining the target thrust based on both the angle error and the angular velocity error, when the characteristics of the water body 20 change, the angle error correction parameter and the angular velocity error correction parameter need to change along with the characteristic parameter. As an example, the characteristic parameter includes the mass of the water body 20. When the mass of the water body 20 changes, the change in the angular velocity error correction parameter is greater than the change in the angle error correction parameter. For example, assuming that the original mass of the water body 20 is A1, the angle error correction parameter is B1, and the angular velocity error correction parameter is C1. When the thruster 10 is installed on another water body 20 with a mass of A2, the angle error correction parameter changes to B2 accordingly, and the angular velocity error correction parameter changes to C2 accordingly, then C2-C1>B2-B1 is required. It can be understood that in determining the target thrust, the attention paid to the angular velocity error needs to be higher than the attention paid to the angle error, so as to minimize the angular velocity of the rotation of the water body 20 and provide users with a more stable and comfortable experience. Therefore, when the mass of the water carrier 20 changes, the angular velocity error needs to change more according to the change in mass, so that the angular velocity error accounts for a larger proportion in the determination of the target thrust, so as to achieve the purpose of minimizing the angular velocity of the rotation of the water carrier 20. As another example, the characteristic parameter includes the length of the water carrier 20. When the length of the water carrier 20 changes, the change in the angular velocity error correction parameter is greater than the change in the angle error correction parameter. For example, assuming that the original length of the water carrier 20 is A1, the angle error correction parameter is B1, and the angular velocity error correction parameter is C1. When the thruster 10 is installed on another water carrier 20 with a length of A2, the angle error correction parameter changes to B2 accordingly, and the angular velocity error correction parameter changes to C2 accordingly, then C2-C1>B2-B1 is required. It can be understood that in the determination of the target thrust, the attention to the angular velocity error needs to be higher than the attention to the angle error, so as to minimize the angular velocity of the rotation of the water carrier 20 and provide users with a more stable and comfortable experience. Therefore, when the length of the water body carrier 20 changes, the angular velocity error needs to change more according to the change in mass length, so that the angular velocity error accounts for a larger proportion in determining the target thrust, thereby achieving the purpose of minimizing the angular velocity of the rotation of the water body carrier 20.

[0085] After calculating the target thrust required by the propulsion device 11, considering that different types of propellers 10 may use different propulsion motors 111 and propellers 112, the operating parameters used by different types of propellers 10 to output the target thrust may be different. Therefore, the step of controlling the propulsion device 11 to generate the target thrust may include: first determining the target operating parameters corresponding to the target thrust based on the mapping relationship between the thrust size and the operating parameters of the propeller 10, and then controlling the propulsion device 11 to operate with the target operating parameters to generate the target thrust. Among them, the mapping relationship between the thrust size and the operating parameters can be pre-calibrated information, which can be pre-stored in the propeller 10 to facilitate the call of the processor 16. The operating parameters can be, for example, parameters such as power, current, and voltage, which are not limited in this application.

[0086] After the propulsion device 11 generates the target thrust, the water body 20 will move in the direction close to the target direction. When the subsequent direction of the water body 20 approaches the target direction (including the situation where it coincides with the target direction), the propulsion device 11 can stop the thrust output. That is, the method of the embodiment of the present application also includes: when the angular error between the subsequent direction of the water body 20 and the target direction is within a predetermined error range, the propulsion device 11 is controlled to stop generating thrust. The predetermined error range is, for example, [0°, 5°], [0°, 8°], [0°, 10°], etc., and the present application does not limit this. It can be understood that when the water body 20 is in the water area, it is inevitable that it will be affected by the water flow and move. When the angular error between the subsequent direction of the water body 20 and the target direction is small, it is generally difficult for the user to distinguish the difference in direction. At this time, if the processor 16 continues to control the propulsion device 11 to output thrust, it will cause the water body 20 to rotate continuously, which will give the user a sense of instability that the water body 20 continues to move, affecting the user's driving experience. Therefore, when the subsequent direction of the water carrier 20 approaches the target direction, the processor 16 controls the propulsion device 11 to stop thrust output, so as to avoid the continuous movement of the water carrier 20 and improve the user experience. It should be noted that the processor 16 controls the propulsion device 11 to stop thrust output does not mean that the propeller 10 exits the direction keeping function. It should be understood that the stop operation at this time is only because the direction of the water carrier 20 has approached the target direction, and no adjustment is required. The direction keeping function is still enabled. Once the direction of the water carrier 20 deviates from the target direction, the processor 16 will continue to control the propulsion device 11 to generate thrust.

[0087] The action of calculating the target thrust and controlling the propulsion device 11 to generate the target thrust can be understood as an adjustment cycle. In order to achieve the direction maintenance of the water body 20, the processor 16 may only need to perform one adjustment cycle to make the subsequent direction of the water body 20 turn to the target direction, or it may need to perform multiple adjustment cycles to make the subsequent direction of the water body 20 turn to the target direction. For example, please combine Fig.14 , the processor 16 calculates the error between the subsequent direction and the target direction at the first moment, calculates the target thrust based on the error, and then controls the propulsion device 11 to generate the target thrust. Subsequently, the processor 16 calculates the error between the subsequent direction and the target direction at the second moment, calculates the target thrust based on the error, and then controls the propulsion device 11 to generate the target thrust. The processor 16 calculates the error between the subsequent direction and the target direction at the mth moment, and calculates the target thrust based on the error. This cycle is repeated until the subsequent direction of the water body 20 reaches the target direction.

[0088] In the method of the embodiment of the present application, since the steering angle of the propulsion device 11 is unchanged during the opening of the direction holding function, and the generation of thrust also has its control logic, that is, in order to achieve direction holding, the steering angle and thrust of the propulsion device 11 need to be determined and executed autonomously by the processor 16 according to the predefined logic, and cannot be determined based on the steering instructions generated by the control device 30 after the user operates the control device 30. Therefore, the method of the embodiment of the present application needs to be executed when the movable part of the control device 30 is not activated, where inactivation can be understood as the movable part not receiving the user's operation. As an example, the movable part of the control device 30 is a component for receiving the user's steering operation, such as the steering wheel, the handle of the tiller, etc., and accordingly, the method of the embodiment of the present application is executed when the propeller 10 does not receive the steering instruction sent by the control device 30. As another example, the movable part of the control device 30 is a component for receiving the user's throttle operation, such as the throttle lever of the remote control box, the joystick of the wireless joystick, etc., and accordingly, the method of the embodiment of the present application is executed when the propeller 10 does not receive the throttle instruction sent by the control device 30. Of course, when the movable parts of the control device 30 include both components for receiving user steering operations and components for receiving user throttle operations, accordingly, the method of this embodiment needs to be executed when the thruster 10 does not receive the steering instructions and throttle instructions sent by the control device 30.

[0089] During the period when the direction keeping function is turned on, the user may operate the control device 30. For this scenario, the method of the embodiment of the present application also includes: during the period when the propeller 10 performs the direction keeping control, if the propeller 10 receives the moving instruction of the mobile water body 20 sent by the control device 30, after the propeller 10 executes the moving instruction, and the water body 20 meets the state maintenance condition, the direction keeping control continues to be performed. As an example, the state maintenance condition includes that the deviation value of the direction of the water body 20 after moving from the target direction is less than the first deviation threshold. That is, when the deviation value is less than the first deviation threshold, the direction keeping function continues to be turned on, and the processor 16 continues to perform the direction keeping control. When the deviation value reaches (equal to or greater than) the first deviation threshold, the propeller 10 exits the direction keeping function, and the processor 16 controls the operation of components such as the propulsion device 11 based on the instruction sent by the control device 30. In this way, the propeller 10 can automatically exit the direction keeping function without the user having to manually operate, reducing human intervention, and providing higher convenience and better user experience. In the embodiment of the present application, the first deviation threshold may be 15°, 20°, 23°, 25°, etc., and the present application does not impose any limitation on this.

[0090] For the case where the deviation value is less than the first deviation threshold, the processor 16 continues to perform the direction keeping control, which may include: when the deviation value is between the second deviation threshold and the first deviation threshold, updating the direction of the water body 20 after moving to the target direction, and continuing to perform the direction keeping control; when the deviation value is less than the second deviation threshold, keeping the target direction unchanged, and continuing to perform the direction keeping control. Wherein, the second deviation threshold is less than the first deviation threshold. The second deviation threshold may be 3°, 5°, 8°, 10°, 15°, etc., and the present application does not limit this. It can be understood that when the deviation value is less than the second deviation value, it means that the user may have misoperated the control device 30 at this time, causing the propeller 10 to work in response to the instruction of the control device 30, thereby causing the water body 20 to move. Therefore, for this situation, the processor 16 can consider it as a case of user misoperation, and the user subjectively does not want to change the target direction. The processor 16 still performs the direction keeping control based on the original target direction. In this way, the exit problem of the direction keeping function caused by user misoperation can be avoided. When the deviation value is between the second deviation threshold and the first deviation threshold, the water body 20 rotates a relatively large angle, but does not exceed the rotation amplitude corresponding to the first deviation threshold, indicating that the user may want to fine-tune the target direction of the water body 20. Therefore, in this case, the processor 16 can use the direction of the water body 20 after it moves as the new target direction. In subsequent control, the processor 16 performs direction keeping control based on the new target direction. In this way, the user does not need to perform the operation of enabling the direction keeping function again when fine-tuning the target direction, and the thruster 10 can automatically perform the direction keeping function, which is more convenient for the user to operate.

[0091] As mentioned above, the direction of the water body 20 can be represented by the posture data of the water body 20, and the posture data indicates the deflection angle of the X-axis relative to the world coordinate system. Considering that the inertial measurement sensor 40 has a variety of installation methods, the method of determining the posture data based on the first collected data also needs to be changed accordingly according to the installation method. Therefore, in one example, the method of the embodiment of the present application may also include: determining the posture data of the water body 20 based on the first collected data of the inertial measurement sensor 40. Specifically, please refer to Fig.15a , Fig.15a The world coordinate system (North-East-Earth), the coordinate system of the inertial measurement sensor 40 (X'-Y'-Z'), and the coordinate system of the water carrier 20 (XYZ) are shown in FIG. 4 , wherein the inertial measurement sensor 40 is relatively fixed to the water carrier 20. At this time, the coordinate system of the measurement sensor coincides with the coordinate system of the water carrier 20. Then, the first acquisition data of the inertial measurement sensor 40 is the detection data for the water carrier 20. Therefore, at this time, the attitude data of the water carrier 20 can be directly determined by the first acquisition data of the inertial measurement sensor 40. As an example, when the thruster 10 is powered on, the magnetometer will be turned on to detect the attitude of the water carrier 20 in real time and output the corresponding magnetometer data. The magnetometer data includes the deflection angles of the X' axis, Y' axis, and Z' axis relative to the world coordinate system. The deflection angle of the X' axis of the magnetometer data at each moment relative to the world coordinate system can be regarded as the attitude data of the water carrier 20 at the corresponding moment. Considering that the sensitivity of the magnetometer is lower than that of the gyroscope and accelerometer, it may not be able to sense slight changes in direction. Therefore, in order to ensure the timeliness and accuracy of the direction detection of the water body 20, as another example, when the propeller 10 is powered on, the magnetometer, gyroscope and accelerometer will all be turned on to detect the running posture of the water body 20 in real time, and output the corresponding magnetometer data, gyroscope data and acceleration data respectively. The processor 16 can fuse the magnetometer data, gyroscope data and acceleration data to obtain fused data, in which the deflection angle of the X' axis relative to the world coordinate system in the fused data is the posture data of the water body 20 at the corresponding moment. As another example, when the propeller 10 is powered on, the magnetometer, gyroscope and accelerometer will all be turned on to detect the running posture of the water body 20 in real time, and output the corresponding magnetometer data, gyroscope data and acceleration data respectively. The processor 16 can use the magnetometer data output by the magnetometer when the thruster 10 is just powered on as the baseline magnetometer data, and in the subsequent process, fuse the baseline magnetometer data with the subsequent gyroscope data and accelerometer data to obtain fused data. The deflection angle of the X' axis relative to the world coordinate system in the fused data is the posture data of the water body carrier 20 at the corresponding moment.

[0092] In another example, when the inertial measurement sensor 40 is provided on the propeller 10 and can move with the propulsion device 11 relative to the water body 20, the first collected data of the inertial measurement sensor 40 is the detection data for the propulsion device 11. Since the position of the propeller 10 is not the reference position P0, that is, the steering angle of the propeller 10 is not 0°, the posture data of the water body 20 at this time needs to be determined by both the first collected data of the inertial measurement sensor 40 and the steering angle of the propeller 10. For details, please refer to Fig.15b , Fig.15b The world coordinate system (North-East-Earth), the coordinate system (X'-Y'-Z') of the inertial measurement sensor 40, and the coordinate system (XYZ) of the water body 20 are shown in FIG. Since the steering angle of the propeller 10 is not 0°, the X' axis of the inertial measurement sensor 40 is not parallel to the X axis of the water body 20, so the influence of the steering angle of the propeller 10 on the first collected data needs to be eliminated in order to obtain the attitude data of the water body 20. Fig.15bAs shown, the steering angle of the propulsion device 11 is angle α2, and the deflection angle of the X' axis of the inertial measurement sensor 40 relative to the world coordinate system is α1. Then, by combining α1 and α2, the deflection angle α3 of the X axis of the water body 20 relative to the world coordinate system can be obtained. Based on this, as an example, when the propeller 10 is powered on, the magnetometer will be turned on to detect the posture of the water body 20 in real time and output the corresponding magnetometer data. The magnetometer data includes the deflection angles of the X' axis, Y' axis, and Z' axis relative to the world coordinate system. At any time, if the steering angle of the propulsion device 11 is not 0°, the processor 16 needs to correct the magnetometer data at that time based on the steering angle at that time. The deflection angle of the X' axis in the corrected magnetometer data relative to the world coordinate system is the direction of the water body 20. Considering that the sensitivity of the magnetometer is lower than that of the gyroscope and accelerometer, it may not be able to sense slight changes in direction. Therefore, in order to ensure the timeliness and accuracy of the direction detection of the water body 20, as another example, when the propeller 10 is powered on, the magnetometer, gyroscope and accelerometer will all be turned on to detect the running posture of the water body 20 in real time, and output the corresponding magnetometer data, gyroscope data and acceleration data respectively. At any time, the processor 16 can fuse the magnetometer data, gyroscope data and acceleration data to obtain fused data. If there is a moment when the steering angle of the propulsion device 11 is not 0°, the processor 16 needs to further correct the fused data at this moment based on the steering angle at this moment. The deflection angle of the X' axis relative to the world coordinate system in the corrected fused data is the direction of the water body 20. As another example, when the propeller 10 is powered on, the magnetometer, gyroscope and accelerometer will all be turned on to detect the running posture of the water body 20 in real time, and output the corresponding magnetometer data, gyroscope data and acceleration data respectively. The processor 16 can use the magnetometer data output by the magnetometer when the propeller 10 is just powered on as the reference magnetometer data, and in the subsequent process, fuse the reference magnetometer data and the subsequent gyroscope data and accelerometer data to obtain fused data. At any time, if the steering angle of the propulsion device 11 is not 0°, the processor 16 needs to correct the fused data at that moment based on the steering angle at that moment. The deflection angle of the X' axis relative to the world coordinate system in the corrected fused data is the posture data of the water body 20 at the corresponding moment.

[0093] When the inertial measurement sensor 40 is in operation, it may not be able to output the first acquisition data with higher accuracy due to external interference. For example, the magnetometer determines the deflection angle of each axis relative to the world coordinate system based on the magnetic field size of each axis. When there are many electronic devices around the magnetometer, the current generated during the operation of the electronic devices is likely to affect the magnetic field induction of the magnetometer, thereby reducing the accuracy of the magnetometer data. Based on this, the method of the embodiment of the present application may also include the following method for obtaining the posture data of the water body carrier: determining the posture data of the water body carrier 20 based on the first acquisition data and the second acquisition data. The embodiment of the present application corrects the first acquisition data based on the second acquisition data output by the global navigation satellite system 50, which can improve the accuracy of the posture data of the water body carrier 20. In the embodiment of the present application, when correcting the first acquisition data, the data used to correct the first acquisition data is mainly the heading angle in the second acquisition data.

[0094] For example, the step of determining the attitude data based on the first acquisition data and the second acquisition data may include: obtaining the first acquisition data of the previous acquisition cycle, the second acquisition data of the previous acquisition cycle, and the first acquisition data of the next acquisition cycle in two adjacent acquisition cycles; calculating the data error based on the first acquisition data of the previous acquisition cycle and the second acquisition data of the previous acquisition cycle; and calculating the attitude data based on the data error and the first acquisition data of the next acquisition cycle. Wherein, when the inertial measurement sensor 40 is synchronized with the global navigation satellite system 50 at the time of data acquisition, the acquisition cycle can be understood as the acquisition moment; when the inertial measurement sensor 40 is not synchronized with the global navigation satellite system 50 at the time of data acquisition, the acquisition cycle can be understood as the acquisition period, wherein the acquisition period is the interval between the acquisition moments of two adjacent acquisition data. In the first acquisition data of the previous acquisition cycle and the second acquisition data of the previous acquisition cycle, the acquisition periods of the two acquisition data overlap at least partially. Further, the step of calculating the attitude data based on the data error and the first acquisition data of the next acquisition cycle may include: assigning weights to the data errors; and calculating the attitude data based on the weighted data errors and the first acquisition data of the next acquisition cycle.

[0095] In the case where the inertial measurement sensor 40 is fixed relative to the water body 20, the steering angle of the propulsion device 11 is not required when determining the attitude data. At this time, as an example, in the process of correcting the first collected data, the processor 16 can first calculate the fusion data of the reference magnetometer data, the gyroscope data and the accelerometer data, and then use the heading angle to correct the fusion data, and finally determine the attitude data of the water body 20 based on the corrected fusion data. Specifically, assuming that the fusion data after the first collected data is fused at time t-1 is α t-1 , the fused data after the first collected data is fused at time t is α t , the heading angle at time t-1 is αgps , the weight is ω. Then, firstly, the data error Δα is calculated based on the fusion data and heading angle at time t-1, that is, Δα=α gps -α t-1 Then, based on the data error Δα and the first collected data α at time t t Calculate the posture data α t,update , that is, α t,update =α t +Δα×ω. In this way, the posture data is determined by the first collected data and the second collected data, thereby improving the accuracy of the direction detection of the water area vehicle 20.

[0096] In the case where the inertial measurement sensor 40 is provided on the propeller 10 and can move with the propeller 10 relative to the water body 20, the steering angle of the propulsion device 11 is required to determine the attitude data. That is, the step of determining the attitude data based on the first acquired data and the second acquired data may include: determining the attitude data based on the first acquired data, the second acquired data and the steering angle of the propulsion device 11. At this time, as an example, in the process of correcting the first acquired data, the processor 16 may first calculate the fusion data of the reference magnetometer data, the gyroscope data, and the accelerometer data, and then use the heading angle to correct the fusion data, and finally determine the attitude data of the water body 20 based on the corrected fusion data and the steering angle. Specifically, assuming that the fusion data after the fusion of the first acquired data at time t-1 is α t-1 , the fused data after the first collected data is fused at time t is α t , the heading angle at time t-1 is α gps , the weight is ω. Then, firstly, the data error Δα is calculated based on the fusion data and heading angle at time t-1, that is, Δα=α gps -α t-1 Then, based on the data error Δα and the first collected data α at time t t Calculate the attitude data α of the thruster 10 t,update1 , that is, α t,update1 =α t +Δα×ω. Finally, based on the attitude data α of the propeller 10 t,update1 The attitude data of the water area vehicle 20 is determined by the steering angle of the propulsion device 11 at time t. In this way, the attitude data is determined by the first collected data, the second collected data and the steering angle, thereby improving the accuracy of the direction detection of the water area vehicle 20.

[0097] Furthermore, the weight ω in the above two examples can be a variable value. As an example, the weight is related to the interval duration experienced by the global navigation satellite system 50 in collecting two adjacent second collection data. Specifically, the weight includes a fixed value and a floating value. Among them, the fixed value is set to a value less than 1 to avoid the problem of over-correction. For the floating value, when the interval duration reaches a predetermined duration, the predetermined value is used as a floating value; when the interval duration is less than a predetermined duration, the interval duration is used as a floating value. For example, assuming that the fixed value is ω0 and the floating value is ω f , the predetermined time is T, the interval time is Δt, and the predetermined value is V, then the weight ω=ω0+ω f . Among them, when Δt<T, ω f =Δt; when Δt≥T, ω f =V.

[0098] It can be understood that the sensitivity of the gyroscope is higher than that of the global navigation satellite system 50. Then, for some scenarios where the water carrier 20 makes a sharp turn, the gyroscope can detect the change in the direction of the water carrier 20, but the global navigation satellite system 50 may not have detected it yet, so in a short period of time, it is more inclined to refer to the gyroscope data to determine the attitude data of the water carrier 20. Therefore, the embodiment of the present application adaptively changes the reference degree of the second acquired data in the process of determining the attitude data of the water carrier 20 by increasing the weight, thereby avoiding the problem of the actual direction change detected by the gyroscope being offset due to excessive correction of the gyroscope data. The embodiment of the present application uses the second acquired data to correct the fused data, and the real-time magnetometer data can be replaced by the second acquired data, and the accumulated errors of the gyroscope can be eliminated through long-term small-amplitude correction, thereby ensuring the accuracy of the direction detection of the water carrier 20.

[0099] Considering that electronic devices do not cause significant interference to the magnetometer in all scenarios, for scenarios with less interference, the processor 16 can still determine the posture data based on the first collected data. Therefore, the processor 16 can first determine the degree to which the magnetometer is interfered with by the magnetic field. When the interference level is low, the posture data is still determined based on the first collected data. When the interference level is high, the posture data is determined using the first collected data and the second collected data to improve the accuracy of the posture data. That is, in one example, please combine Fig.16 In the method of the embodiment of the present application, the method for obtaining the posture data of the water body also includes: determining the degree of deviation of the magnetometer data due to noise interference; when the degree of deviation is lower than the degree threshold, determining the posture data based on the first collected data; when the degree of deviation reaches the degree threshold, determining the posture data based on the first collected data and the second collected data.

[0100] Wherein, as an example, the way to determine the degree of deviation of the magnetometer data affected by noise interference can be: determine whether the magnetometer data is within a predetermined range; when the magnetometer data is within the predetermined range, determine that the degree of deviation is lower than the degree threshold, and the magnetometer data is less affected by noise interference; when the magnetometer data is outside the predetermined range, determine that the degree of deviation reaches the degree threshold, and the magnetometer is more affected by noise interference. In the embodiment of the present application, the predetermined range is pre-calibrated data. As an example, the predetermined range can be determined based on the magnetometer data collected by the magnetometer during the rotation of the water area carrier 20 at least one circle. It can be understood that the magnetometer is used to detect the magnetic field size of the area where the water area movable device 100 is located, and determine the orientation of the water area movable device 100 based on the detected magnetic field size. Then, the water area carrier 20 rotates one circle to realize the collection of the magnetic field size of each orientation by the magnetometer. Through this collection process, the minimum and maximum values ​​of the magnetometer data in the current area can be known, and the minimum and maximum values ​​define the above-mentioned predetermined range. Then, during the navigation of the water area movable device 100 in the area, the magnetometer data collected by the magnetometer should be within the predetermined range. If the magnetometer data exceeds the predetermined range, for example, the magnetometer data is less than the minimum value or greater than the maximum value, it indicates that the magnetometer is interfered by the current generated by the surrounding electronic devices, and the magnetometer data is inaccurate. In this way, the accuracy of the interference judgment result can be guaranteed by judging the degree of deviation of the magnetometer data due to noise interference through pre-calibrated data.

[0101] It should be noted that the calibration of the predetermined range needs to be performed when the thruster 10 is powered on for the first time. It is understandable that the first power-on can be understood as the first time the thruster 10 is turned on and operated, and the user needs to perform various initialization configurations. In this way, it can be ensured that in the subsequent operation of the thruster 10, the processor 16 can perform the above-mentioned magnetometer interference degree determination.

[0102] Furthermore, since the area where the thruster 10 or the water carrier 20 operates may change, the magnetic field of the area after the change may be quite different from the magnetic field of the area before the change. If the predetermined range is not updated accordingly after the change, the accuracy of the magnetometer interference degree determination may be affected. Therefore, as an example, the calibration of the predetermined range can also be performed when the position change of the thruster 10 or the water carrier 20 reaches the change threshold. For example, the processor 16 can perform the determination of the position change each time the thruster 10 is powered on. When it is determined that the position change is too large, the thruster 10 is controlled to operate so that the water carrier 20 rotates at least one circle to recalibrate the predetermined range. In this way, the predetermined range can be updated in time to ensure the accuracy of the magnetometer interference degree determination.

[0103] Furthermore, when the magnetometer data is greatly deviated by noise interference, the scheme of determining the attitude data based on the first collected data and the second collected data may have a small reference degree of the heading angle in the second collected data, which may not play a significant role in correcting the first collected data. Fig.16 , the method of the embodiment of the present application may also include: when the degree of deviation reaches a degree threshold, determining whether the second collected data meets the data fusion condition; when the second collected data meets the data fusion condition, determining the posture data based on the first collected data and the second collected data; when the second collected data does not meet the data fusion condition, determining the posture data based on the first collected data. In this way, when the degree of deviation of the magnetometer data due to noise interference is large and the second collected data meets the data fusion condition, the first collected data and the second collected data are fused again, which can avoid unnecessary data fusion and reduce the amount of calculation required by the processor 16.

[0104] The data fusion condition may include any one of the following: (1) the first speed in the second collected data is greater than the second speed in the second collected data, the first speed is used to characterize the moving speed of the water vehicle 20 in the first direction, the second speed is used to characterize the moving speed of the water vehicle 20 in the second direction, the first direction is perpendicular to the second direction, and the first direction is parallel to the rolling axis of the water vehicle 20; (2) the third speed in the second collected data reaches a predetermined speed, the third speed is used to characterize the navigation speed of the water vehicle 20. For the first data fusion condition, the first speed can be understood as the speed of the water vehicle 20 moving forward, and the second speed can be understood as the speed of the water vehicle 20 moving sideways. The first speed and the second speed can be converted from the speeds of the X-axis and the Y-axis acquired by the global navigation satellite system 50. It can be understood that when the heading angle in the second collected data is consistent with the direction of the water vehicle 20, the accuracy of the attitude data obtained after correction with the heading angle is the highest. Then, since the Y-axis of the water body carrier 20 is perpendicular to the X-axis of the water body carrier 20, if the forward moving speed of the water body carrier 20 is less than the lateral moving speed, it means that the current water body carrier 20 is not mainly moving in the direction of the bow, and the reference significance of the heading angle at this time is relatively small. Therefore, the processor 16 does not need to fuse the first collected data and the second collected data to determine the attitude data. For the second data fusion condition, it can be understood that when the navigation speed of the water body carrier 20 is relatively low, the moving distance of the water body carrier 20 is generally relatively small, and the accuracy of the heading angle output by the global navigation satellite system 50 may not be high enough. Therefore, at this time, the processor 16 does not need to fuse the first collected data and the second collected data to determine the attitude data.

[0105] In summary, the method for maintaining the direction of the water body 20 based on a single propeller 10 in the embodiment of the present application is that when the direction maintaining function is enabled, the steerable member will turn to a predetermined position, and remain at the predetermined position during the period when the direction maintaining function is enabled, and generate a target thrust, thereby pushing the water body 20 to move with the help of the target thrust, so that the water body 20 remains in the target direction. The embodiment of the present application can achieve the direction maintaining function of the water body 20 based on a single propeller 10, so that when the water body 20 is equipped with only one propeller 10, the water movable device 100 can also achieve automatic direction maintenance without manual operation by the user, which greatly facilitates the user's use. Moreover, during the period when the direction maintaining function is enabled, the steerable member in the embodiment of the present application will always remain at the predetermined position after it is rotated to the predetermined position without the need to turn again, which can effectively reduce the noise caused by the steering of the steerable member and provide the user with a quieter and more comfortable driving experience.

[0106] Accordingly, see Fig.17 The present application also provides a computer-readable storage medium 80, which stores a computer program. The computer program can be executed by the processor 16 to implement the method of maintaining the direction of the water body 20 based on a single thruster 10 as described in any of the aforementioned embodiments. Among them, the computer-readable storage medium 80 can be a phase change memory (PRAM), a static random access memory (SRAM), a dynamic random access memory (DRAM), other types of random access memory (RAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory or other memory technology, or a read-only compact disc read-only memory (CD-ROM), a digital versatile disc (DVD) or other optical storage, or a tape storage, a disk storage or other magnetic storage device, or any other non-transmission medium. The computer-readable storage medium 80 is used to store information that can be accessed by a computing device.

[0107] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. The terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprises a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0108] Any process or method description in the flowchart or otherwise described herein may be understood to represent a module, fragment or portion of a code including one or more executable instructions for implementing the steps of a specific logical function or process. And the scope of the embodiments described in this application includes other implementations, in which the functions may not be performed in the order shown or discussed, including performing the functions in a substantially simultaneous manner or in a reverse order according to the functions involved, which should be understood by those skilled in the art to which the embodiments of this application belong.

[0109] The various technical features in the above embodiments can be combined arbitrarily as long as there is no conflict or contradiction between the combinations of features. Therefore, any combination of the various technical features in the above embodiments also falls within the scope of disclosure of this specification.

[0110] Although the embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and are only used to help understand the method and core ideas of the present application, and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A method for obtaining posture data of a water body, characterized in that: The method comprises: Acquire, in two adjacent acquisition cycles, first acquisition data of a previous acquisition cycle output by an inertial measurement sensor, second acquisition data of a previous acquisition cycle output by a global navigation satellite system, and first acquisition data of a subsequent acquisition cycle output by the inertial measurement sensor; Calculating a data error based on the first collected data of the previous collection cycle and the second collected data of the previous collection cycle; The posture data is calculated based on the data error and the first collected data of the subsequent collection cycle.

2. The method according to claim 1, characterized in that The calculating the posture data based on the data error and the first collected data of the subsequent collection cycle includes: Assigning weights to the data errors; The posture data is calculated based on the weighted data error and the first collected data of the subsequent collection cycle.

3. The method according to claim 2, characterized in that The weight is related to the interval time between two adjacent second collected data collected by the global navigation satellite system.

4. The method according to claim 3, characterized in that The weights include fixed values ​​and floating values; When the interval duration reaches a predetermined duration, taking a predetermined value as the floating value; When the interval duration is less than the predetermined duration, the interval duration is used as the floating value.

5. The method according to claim 4, characterized in that The fixed value is less than 1.

6. The method according to claim 1, characterized in that The inertial measurement sensor includes a magnetometer, the first acquired data includes magnetometer data, and the method further includes: Determining the degree to which the magnetometer data is deviated from noise; When the degree of deviation reaches the degree threshold, the step of acquiring the first acquisition data of the previous acquisition cycle output by the inertial measurement sensor, the second acquisition data of the previous acquisition cycle output by the global navigation satellite system, and the first acquisition data of the next acquisition cycle output by the inertial measurement sensor in two adjacent acquisition cycles is performed.

7. The method according to claim 6, characterized in that When the magnetometer data is within a predetermined range, the deviation degree is lower than the degree threshold, and the predetermined range is pre-calibrated data.

8. The method according to claim 7, characterized in that The predetermined range is determined based on magnetometer data collected by the magnetometer during the process of the water area carrier rotating at least one circle.

9. The method according to claim 7, characterized in that: The calibration of the predetermined range is performed when the propeller provided on the water body vehicle is powered on for the first time.

10. The method according to claim 7, characterized in that The calibration of the predetermined range is performed when the position change of the propeller provided in the water area vehicle reaches a change threshold.

11. The method according to claim 6, characterized in that The method further comprises: When the deviation degree reaches the degree threshold, determining whether the second collected data meets the data fusion condition; When the second collected data meets the data fusion condition, the step of acquiring the first collected data of the previous collection period output by the inertial measurement sensor, the second collected data of the previous collection period output by the global navigation satellite system, and the first collected data of the next collection period output by the inertial measurement sensor is performed in two adjacent collection periods; When the second collected data does not satisfy the data fusion condition, the posture data is determined based on the first collected data of the inertial measurement sensor.

12. The method according to claim 11, characterized in that The data fusion condition includes at least one of the following: The first speed in the second collected data is greater than the second speed in the second collected data, the first speed is used to characterize the moving speed of the water area carrier in a first direction, the second speed is used to characterize the moving speed of the water area carrier in a second direction, the first direction is perpendicular to the second direction, and the first direction is parallel to the rolling axis of the water area carrier; or The third speed in the second collected data reaches a predetermined speed, and the third speed is used to characterize the navigation speed of the water body.

13. A propeller, characterized in that: The thruster includes a processor, and the processor is used to execute the method for obtaining posture data of a water body as described in any one of claims 1 to 12.

14. A movable device in water area, characterized in that: The movable equipment in the water area includes: Water carriers; and The propeller according to claim 13 is arranged on the water body carrier.

15. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for obtaining the posture data of a water body as described in any one of claims 1 to 12 is implemented.

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