Troubleshooting methods, thrusters, propulsion systems, mobile devices and storage media

Abstract

A fault handling method, a water propulsion device (201), a water propulsion system (200), a water-movable device (300), and a computer-readable storage medium are disclosed. The fault handling method is used for each of a plurality of water propulsion devices (201) connected to the same communication system. The fault handling method includes: (S101) when the local machine is acting as a host, acquiring at least one first fault information, the first fault information being generated by at least one of the plurality of water propulsion devices (201); (S102) performing fault diagnosis based on the at least one first fault information to determine second fault information; (S103) sending a first control command to the water propulsion device (201) based on the second fault information, so that the water propulsion device (201) receiving the first control command executes the operation indicated by the first control command.

Description

Technical Field

[0001] This application relates to the field of water-based mobile equipment technology, and more specifically, to a fault handling method, a water-based thruster, a water-based propulsion system, a water-based mobile equipment, and a computer-readable storage medium. Background Technology

[0002] In practical applications, water-based mobile devices such as boats and dinghies can be equipped with multiple water propulsion units based on actual needs. These multiple propulsion units work together to provide power support for the water-based mobile devices, propelling the boats and dinghies.

[0003] In related technologies, for a scheme where multiple water thrusters are installed on a mobile water device, if each water thruster has independent processing capabilities and performs tasks such as fault handling independently, it will increase the load on the communication system, leading to low processing efficiency. Moreover, improper fault handling may pose safety risks. Summary of the Invention

[0004] In view of this, one of the objectives of this application is to provide a fault handling method, a water propulsion device, a water propulsion system, a water-mobile device, and a computer-readable storage medium.

[0005] In a first aspect, embodiments of this application provide a fault handling method, applied to each of multiple water thrusters connected to the same communication system; the fault handling method includes:

[0006] When the local machine acts as the host, at least one first fault information is acquired, wherein the first fault information is generated by at least one of the plurality of water thrusters;

[0007] Based on the at least one first fault information, perform fault diagnosis to determine the second fault information;

[0008] A first control command is sent to the water thruster based on the second fault information, so that the water thruster that receives the first control command performs the operation indicated by the first control command.

[0009] Secondly, embodiments of this application provide a water propulsion device, comprising:

[0010] Processor; and

[0011] A memory, wherein executable instructions that can run on the processor are stored in the memory;

[0012] Wherein, when the processor executes the executable instructions, it implements the steps of the fault handling method described in the first aspect.

[0013] Thirdly, embodiments of this application provide a water propulsion system including a plurality of water propellers as described in the second aspect.

[0014] Fourthly, embodiments of this application provide a water-based mobile device, including:

[0015] Movable body; and

[0016] The third aspect describes a water propulsion system, which is installed on the movable body.

[0017] Fifthly, embodiments of this application provide a computer-readable storage medium having computer instructions stored thereon, which, when executed by a processor, implement the steps of the fault handling method described in the first aspect.

[0018] This application provides a fault handling method, a water propulsion device, a water propulsion system, a water-based mobile device, and a computer-readable storage medium. A host among multiple water propulsion devices connected to the same communication system acquires first fault information generated by at least one of the multiple water propulsion devices, performs fault diagnosis on the at least one first fault information, determines second fault information, and then controls the relevant water propulsion devices to perform operations based on the second fault information. Fault arbitration by the host from a global perspective allows for better monitoring and management of fault conditions, facilitating rapid and accurate fault detection and handling, improving the reliability and stability of the water propulsion system, and reducing the risks and losses caused by faults. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of a mobile device provided in an embodiment of this application;

[0021] Figure 2 This is a schematic diagram showing the connection of multiple water thrusters in a water propulsion system provided in an embodiment of this application;

[0022] Figure 3 This is a schematic diagram showing the connection of preset components and multiple water thrusters in a water propulsion system provided in an embodiment of this application;

[0023] Figure 4 This is a schematic diagram of the structure of a water propulsion device provided in an embodiment of this application;

[0024] Figure 5 This is a flowchart illustrating a fault handling method provided in an embodiment of this application;

[0025] Figure 6 This is a flowchart illustrating a master-slave identification process provided in an embodiment of this application;

[0026] Figure 7 This is a flowchart illustrating another master-slave identification process provided in an embodiment of this application;

[0027] Figure 8 This is a schematic diagram of another water propulsion device provided in an embodiment of this application. Detailed Implementation

[0028] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0029] like Figure 1 As shown, this embodiment provides a water-based mobile device 300. The water-based mobile device 300 includes a mobile body 301 and a water propulsion system 200, which is installed on the mobile body 301. The water propulsion system 200 includes multiple water thrusters 201 connected to the same communication system.

[0030] The water-based mobile device 300 in this embodiment can be any type of water transport vehicle such as a commercial ship, passenger ship, yacht, fishing boat, sailboat, or civilian vessel. It can also be a water patrol device, water management device, water environment monitoring device, or other equipment capable of moving in water, or an underwater operation device. This application does not impose any limitations on this. When the water-based mobile device 300 is any type of vessel, the movable body 301 is correspondingly the hull.

[0031] The water propulsion unit 201 in this embodiment can be an outboard motor, an inboard motor, a podded propulsion unit, or other equipment capable of providing power. The water propulsion unit 201 can be installed at the head, stern, side, or bottom of the movable body 301. When installed on the side, the water propulsion unit 201 can be used as a side thruster to assist in the steering of the water-based mobile device 300.

[0032] Please see Figure 2This embodiment provides a water propulsion system 200. The water propulsion system 200 includes multiple water thrusters 201, which are connected to the same communication system. As an example, the multiple water thrusters 201 can be connected to the same bus communication system, for example... Figure 2 As shown, multiple water thrusters 201 can be connected via bus 203; as another example, multiple water thrusters 201 can also be connected to the same wireless communication system, wherein the wireless communication method in the wireless communication system can include any one of Bluetooth communication, WiFi communication, mobile data communication, etc., without limitation.

[0033] The water propulsion system 200 also includes a preset component 202, which can be connected to the water thrusters 201 in the same communication system. For example, taking a bus communication system as an example, multiple water thrusters 201 can be connected via a first bus, and the preset component 202 can be connected to multiple water thrusters 201 via a second bus. The first bus and the second bus can be the same bus (e.g., ...). Figure 3 (as shown in the figure), or the first bus and the second bus can be different buses (not shown in the figure), and specific settings can be made according to the actual application scenario.

[0034] For example, the preset component 202 includes at least one of an interaction component and an energy component.

[0035] Interactive components include, but are not limited to, displays, remote control boxes, steering wheels, and side throttle levers installed on water-based mobile devices. Alternatively, interactive components can also be wirelessly connected to the water-based thruster 201, such as mobile terminals like mobile phones, laptops, tablets, or wearable devices.

[0036] The energy component is connected to multiple water thrusters 201 via the same bus communication system. The energy component includes at least one battery pack, which is a device that stores energy and supplies power as needed. A battery pack typically consists of multiple battery cells that convert chemical energy into electrical energy through a chemical reaction and release it as needed. When the interaction component is connected to the water thrusters 201 via the bus communication system, the energy component provides power to both the interaction component and the water thrusters 201 to meet their normal operating energy requirements. For example, one battery pack can power both the interaction component and all the water thrusters 201. Alternatively, when the energy component includes multiple battery packs, each battery pack can power the interaction component and the multiple water thrusters 201 individually in a one-to-one correspondence. This embodiment does not impose any limitations on the specific power supply method.

[0037] It should be noted that the energy components can also be various devices that can provide electrical energy, such as wind power generation components, photovoltaic components, and diesel generator components, and this application does not impose any restrictions on this.

[0038] Please see Figure 4 This embodiment provides a water propulsion device 201, including a main unit 110 and a lifting device 100, wherein the lifting device 100 is connected to the main unit 110. Exemplarily, the lifting device 100 includes a clamp 120, an adjustment mechanism 130, and a motor 140. The clamp 120 is fixed to the movable body 301, the adjustment mechanism 130 is connected between the clamp 120 and the main unit 110, and the motor 140 is mounted on the clamp 120 or the main unit 110 and connected to the adjustment mechanism 130, for driving the adjustment mechanism 130 to deform. The deformation of the adjustment mechanism 130 causes the main unit 110 to rise and fall relative to the clamp 120, and the main unit 110 is always located outside the movable body 301. Exemplarily, the main unit 110 includes at least a drive motor and a propeller. The drive motor drives the propeller to rotate, realizing the propulsion of the water-based movable device 300. It should be noted that... Figure 4 Taking the water propulsion unit 201 as an outboard motor as an example. In other examples, the water propulsion unit 201 can also be a podded propulsion unit, an inboard motor, etc., and this application does not impose any restrictions on this.

[0039] To address the problems of increased communication system load, low processing efficiency, and potential safety risks caused by multiple water thrusters independently performing fault handling tasks in related technologies, this embodiment provides a fault handling method. It is understood that the structures of components such as water thrusters, water propulsion systems, and water-based mobile devices mentioned in the following description of the fault handling method can be found in [reference needed]. Figures 1 to 4 Related descriptions.

[0040] In the fault handling method provided in this embodiment, the host in a plurality of water thrusters acquires first fault information generated by at least one of the water thrusters, performs fault diagnosis on the at least one first fault information, determines second fault information, and then controls the relevant water thrusters to perform operations based on the second fault information. This enables fault arbitration from a global perspective by the host, allowing for better monitoring and management of fault conditions, facilitating rapid and accurate fault detection and handling, improving the reliability and stability of the water thruster system, and reducing the risks and losses caused by faults.

[0041] For example, by sending the first fault information to the main unit, the main unit can achieve centralized management of the entire water propulsion system. The main unit can aggregate and analyze fault information from multiple slave units and fault information generated by the main unit itself, providing a global view and making unified decisions.

[0042] For example, by performing fault diagnosis on at least one first fault information and conducting comprehensive analysis to determine the second fault information, the host can make better fault handling decisions based on the second fault information, select appropriate fault handling methods, and avoid unnecessary downtime or losses.

[0043] The following is an exemplary description of a fault handling method provided in an embodiment of this application. Please refer to... Figure 5 , Figure 5 A flowchart illustrating a fault handling method is shown, which is applied to each of multiple water thrusters connected to the same communication system. The communication system may include a bus system or a wireless communication system. The fault handling method includes:

[0044] In S101, when the local machine is acting as the host, at least one first fault information is acquired, and the first fault information is generated by at least one of the multiple water thrusters.

[0045] For example, based on the differences in communication priorities among multiple water thrusters, one of the multiple water thrusters can be designated as the master, and the other water thrusters as slaves. The master-slave identification process is described in detail below. After determining the master and slave, the master can receive the first fault information generated by at least one of the multiple water thrusters and perform fault arbitration to achieve centralized management and comprehensive analysis of faults.

[0046] In S102, fault diagnosis is performed based on at least one first fault information to determine the second fault information.

[0047] For example, in the case of only one first fault information, the second fault information can be considered equivalent to the first fault information. In the case of multiple first fault information, one of the first fault information may act as a root cause fault, leading to the generation of other first fault information. In this case, the root cause fault can be treated as the second fault information, and subsequent processing only needs to address the root cause fault, without needing to process other non-root cause faults. This helps reduce the processing burden on the host, avoids unnecessary processing actions, and reduces resource waste.

[0048] In S103, a first control command is sent to the water thruster based on the second fault information, so that the water thruster that receives the first control command will perform the operation indicated by the first control command.

[0049] For example, the operation indicated by the first control command can be a fault-solving operation, or it can be an operation to change the operating parameters of the water thruster when the fault is not resolved. This application does not limit this.

[0050] Furthermore, the water thrusters in the first control command sent to the water thrusters based on the second fault information can be all or some of the water thrusters. For example, if the determined second fault information is that the motor of a certain water thruster is overheating, a first control command to reduce operating power can be sent to that water thruster to make it operate at reduced power, thereby allowing the motor temperature of that water thruster to return to normal. As another example, if the determined second fault information is that the energy component is undervoltage, a first control command to reduce operating power can be sent to all water thrusters to make all water thrusters operate at reduced power.

[0051] This embodiment uses the host computer to arbitrate faults from a global perspective, which allows for better monitoring and management of fault conditions. This facilitates rapid and accurate fault detection and handling, improving the reliability and stability of the water propulsion system and reducing the risks and losses caused by faults. Furthermore, it avoids unnecessary interventions and reduces resource waste.

[0052] In some embodiments, multiple water thrusters are connected to the same communication system. Among the multiple water thrusters, those other than the master thruster are designated as slave thrusters; when a slave thruster detects a fault, it can generate first fault information and send it to the master thruster; the master thruster can also generate first fault information when it detects a fault in itself. Therefore, obtaining at least one first fault information in S101 includes: receiving first fault information sent by a slave thruster; and / or, obtaining first fault information generated by the master thruster.

[0053] Of course, multiple water thrusters can also be connected wirelessly, such as via Bluetooth or WIFI. This embodiment does not impose any restrictions on this.

[0054] This section provides an illustrative example of the process by which a host obtains the first fault information generated by the host itself.

[0055] The first fault information generated by the host is obtained, including: the host can periodically perform fault detection in response to the fulfillment of the fault diagnosis enable condition, and then generate the first fault information when a fault is detected.

[0056] For example, the objects detected by the host during fault detection include hardware ports, components, etc. Fault diagnosis activation conditions may include: the hardware port to be detected is in use, and / or the component to be detected is powered on and running. For instance, the hardware port and the component to be detected are on the same communication network as the host; or, the hardware port is one of the hardware components of the host, and the component is one of the hardware components of the host.

[0057] In some possible implementations, the host may periodically perform fault detection in response to the fulfillment of fault diagnosis enable conditions, including: periodically performing fault detection on the hardware port in response to its use; and / or periodically performing fault detection on the component in response to its power-on operation.

[0058] For example, the process of fault detection of a hardware port may include detecting whether the relevant IO signals can be transmitted correctly through the hardware port, or detecting the transmission efficiency of the data transmitted through the hardware port, or detecting the power supply status of the hardware port, but is not limited to these.

[0059] For example, the process of fault detection of components can be to detect the operating status of the components, such as to obtain the operating parameters of the components and detect whether the operating parameters of the components exceed the set values. The operating parameters include, but are not limited to, operating temperature, voltage or current, etc.; but are not limited to these.

[0060] When a fault is detected, first fault information is generated, including: when a fault is detected in a hardware port in use, generating first fault information corresponding to the hardware port to indicate the fault condition of the hardware port; and / or, when a fault is detected in a component in operation, generating first fault information corresponding to the component to indicate the fault condition of the component.

[0061] For example, the first fault information corresponding to a hardware port could be that the I / O signal cannot be transmitted through the hardware port, or the data transmission efficiency does not meet the preset transmission conditions, or the power supply is not normal, etc. For example, the first fault information corresponding to a component could be that the component's operating parameters exceed the set values, etc.

[0062] In some possible implementations, to avoid or reduce false fault detections, first fault information is generated upon fault detection, including: generating first fault information when a fault is detected and the fault duration exceeds a third preset duration. In this embodiment, the first fault information needs to be generated after a period of time following the fault occurrence, which can avoid or reduce false fault detections and improve the accuracy of fault detection.

[0063] It should be noted that the multiple water thrusters have the same structure, and the process of the slave unit generating the first fault information is the same as that of the master unit. For details regarding the slave unit's generation of the first fault information, please refer to the above description, which will not be repeated here. After generating the first fault information, the slave unit sends it to the master unit.

[0064] In some embodiments, please refer to Figure 3The water thruster is also communicatively connected to a preset component. For example, the preset component includes at least one of an interaction component and an energy component. The interaction component can be connected to the water thruster via a bus system or a wireless communication system; the energy component is connected to the water thruster via a bus system.

[0065] In one possible implementation, certain faults of the preset components need to be detected by the host and a first fault message needs to be generated. For example, the preset components include a battery. When the battery powers the water thruster, there may be faults such as high-voltage response timeout or high-voltage interlock failure. These faults need to be detected by the water thruster. The first fault message generated by the host includes at least one of the following: (1) the first fault message generated by the host when it detects a fault in itself; (2) the first fault message generated by the host when it detects a fault in the preset components.

[0066] For example, the host can periodically perform fault detection on a preset component in response to the fulfillment of fault diagnosis activation conditions; when a fault is detected, first fault information is generated. The fault diagnosis activation conditions may include: the hardware port of the preset component is in use, and / or, a component of the preset component is powered on and running.

[0067] For example, the host can generate first fault information when a fault is detected and the fault duration exceeds a third preset duration. Generating the first fault information requires waiting for a certain period after the fault occurs to avoid or reduce false fault detections and improve fault detection accuracy.

[0068] The process by which the host performs fault detection on its own machine is the same as the process by which the host performs fault detection on preset components. For relevant details, please refer to the above description, which will not be repeated here.

[0069] In another possible implementation, the preset component can generate first fault information and send it to the host when a fault is detected. Therefore, obtaining at least one first fault information also includes receiving the first fault information sent by the preset component when a fault occurs.

[0070] For example, a preset component may periodically perform fault detection in response to the fulfillment of fault diagnosis activation conditions; upon detecting a fault, it generates first fault information. The fault diagnosis activation conditions may include: the hardware port of the preset component is in use, and / or, a component of the preset component is powered on and running.

[0071] For example, the preset component can generate first fault information when a fault is detected and the fault duration exceeds a third preset duration. Generating the first fault information requires waiting for a certain period after the fault occurs to avoid or reduce false fault detections and improve fault detection accuracy.

[0072] The process of generating the first fault information by the preset component is the same as the process of generating the first fault information by the host. For relevant details, please refer to the above description, which will not be repeated here.

[0073] In some embodiments, for S102, after acquiring first fault information generated by at least one of the plurality of water thrusters, and / or first fault information generated by a preset component, the host can perform fault diagnosis based on at least one first fault information to determine second fault information. This enables fault arbitration by the host from a global perspective, facilitating rapid fault detection.

[0074] In some possible implementations, when the first fault information includes multiple instances, considering the possibility of various situations, such as the root cause fault leading to a cascading effect of other faults (i.e., these faults having a causal relationship), or the causes of multiple faults being unrelated, fault diagnosis based on at least one first fault information to determine the second fault information includes the following two determination methods:

[0075] In the first determination method, the host can perform fault diagnosis on multiple first fault information that have a causal relationship, and determine the second fault information that is commonly corresponding to the first fault information with a causal relationship. The first fault information with a causal relationship may have a certain correlation. By diagnosing them simultaneously, problems can be discovered more efficiently, and the second fault information that they commonly correspond to can be derived, reducing the fault diagnosis time. Furthermore, by analyzing multiple first fault information with a causal relationship, the cause of the fault can be located more accurately. These first fault information with a causal relationship may affect each other or cause other faults. By performing fault diagnosis together and finding the correlation between them, the entire fault chain can be restored, and the root cause of the fault can be traced back, thereby providing guidance for subsequent fault repair.

[0076] For example, considering that root cause failures are often the starting point of a failure chain, a fault diagnosis is performed on multiple first fault information pieces that have a causal relationship to determine the second fault information that commonly corresponds to the first fault information with a causal relationship. This includes: identifying the first fault information belonging to the root cause failure from the first fault information with a causal relationship; and performing a fault diagnosis based on the first fault information belonging to the root cause failure to determine the second fault information that commonly corresponds to the first fault information with a causal relationship. In this embodiment, by identifying the root cause failure among the first fault information with a causal relationship, the core problem leading to other failures can be accurately found. Root cause failures are often the starting point of a failure chain; by diagnosing them, the source of the failure can be precisely located so that targeted measures can be taken for repair.

[0077] For example, suppose the host receives the first fault information from the energy component: ① the battery in the energy component is undervoltage, and also receives the first fault information from the water thruster: ② the bus in the water thruster is undervoltage. The undervoltage of the battery in the energy component causes the undervoltage of the bus in the water thruster; that is, these two first fault information messages are causally related, and the battery fault in the energy component is the root cause fault. Therefore, based on this root cause fault, the second fault information corresponding to the two causally related first fault information messages is determined to be: the battery fault in the energy component.

[0078] In the second determination method, fault diagnosis is performed separately on the first fault information that does not have a causal relationship among multiple first fault information, and the corresponding second fault information is determined for each of the first fault information that does not have a causal relationship. By diagnosing the first fault information that does not have a causal relationship separately and determining the corresponding second fault information, multiple independent fault situations can be comprehensively considered, which helps to avoid confusing different fault information or erroneously attributing them to the same fault, and improves the accuracy and comprehensiveness of fault diagnosis.

[0079] For example, at least two first fault information messages that do not have a causal relationship may have different degrees of impact on the water propulsion system. Therefore, different priorities can be pre-set for different first fault information messages. When the host receives multiple first fault information messages with different priorities, fault diagnosis is performed on the first fault information messages that do not have a causal relationship, and the second fault information corresponding to each of the first fault information messages that do not have a causal relationship is determined. This includes: determining the processing order of the first fault information messages that do not have a causal relationship according to their priority, wherein the higher the priority of the first fault information message, the earlier its processing order; and performing fault diagnosis on the first fault information messages that do not have a causal relationship according to their processing order, and determining the second fault information corresponding to each of the first fault information messages that do not have a causal relationship. In this embodiment, by determining the processing order of the first fault information messages that do not have a causal relationship, the host's limited resources can be reasonably allocated, and higher priority faults can be processed first, avoiding resource waste, improving resource utilization efficiency, and accelerating the fault processing speed. Furthermore, prioritizing the diagnosis of high-priority first fault information helps to resolve the critical faults that have the greatest impact on the stability and function of the water propulsion system as quickly as possible. By rapidly identifying and repairing these high-priority faults, the normal operation of the water propulsion system can be restored as soon as possible, reducing potential losses and risks.

[0080] For example, the host receives the first fault information from one of the water thrusters: ① The drive motor in the water thruster is overheating (e.g., the temperature of the MOSFET in the drive motor exceeds the set severe overheating limit threshold, and continued operation will risk component damage). The host also receives the first fault information from the other water thruster: ② The communication module in the water thruster has malfunctioned. These two first fault information are not causally related, and the priority of "① The drive motor in the water thruster is overheating" is higher than that of "② The communication module in the water thruster has malfunctioned". Therefore, the host first diagnoses the first fault information, and then diagnoses the second fault information.

[0081] This section provides an exemplary illustration of the process for determining whether there are first fault information messages with a causal relationship among multiple first fault information messages.

[0082] In one possible implementation, to improve fault diagnosis efficiency, potential faults in the water thruster and pre-defined components can be predicted in advance by the developers and recorded in a fault mapping table. That is, the water thruster can pre-store a fault mapping table, which includes causal relationships between different first fault information. Fault diagnosis based on at least one first fault information to determine second fault information further includes: based on the fault mapping table, determining whether there are first fault information with a causal relationship among multiple first fault information, and then performing the above fault diagnosis process separately for first fault information with and without a causal relationship. This embodiment achieves rapid determination of whether first fault information has a causal relationship by querying the fault mapping table, which is beneficial to improving fault diagnosis efficiency.

[0083] For example, please refer to Table 1, which records various first fault information and the causal relationships between different first fault information.

[0084] Table 1

[0085]

[0086] In another possible implementation, to improve fault diagnosis efficiency, potential faults in the water propulsion system and pre-defined components can be predicted in advance by the developers, and different priorities and categories can be assigned to different first fault information. For example, among at least two first fault information pieces with a causal relationship, the categories of the at least two first fault information pieces can be the same, and the priority of the first fault information piece as the root cause fault is higher than the priority of the other first fault information pieces. Then, when multiple first fault information pieces have different priorities, fault diagnosis is performed based on at least one first fault information piece to determine the second fault information. This further includes: determining whether there is a first fault information piece with a causal relationship among the multiple first fault information pieces based on their priorities and categories, and then performing the above fault diagnosis process separately for the first fault information pieces with and without a causal relationship. This embodiment achieves rapid determination of whether there is a first fault information piece with a causal relationship by comparing the priorities of different first fault information pieces, which is beneficial to improving fault diagnosis efficiency.

[0087] For example, please refer to Table 2, which records the priority and category of various first fault information.

[0088] Table 2

[0089]

[0090]

[0091] In some embodiments, to improve fault diagnosis efficiency, potential faults in the water thruster and preset components can be predicted in advance by the developers and recorded in a fault mapping table. That is, the fault mapping table can store the correspondence between at least one first fault and a second fault. Fault diagnosis based on at least one first fault to determine the second fault includes: performing fault diagnosis on at least one first fault according to the pre-stored fault mapping table to determine the second fault. This embodiment enables rapid determination of the second fault by querying the fault mapping table, which is beneficial for improving fault diagnosis efficiency.

[0092] For example, please refer to Table 3, which shows the correspondence between different first fault information and second fault information.

[0093] Table 3

[0094]

[0095] In some embodiments, to achieve standardized processing of first fault information, fault diagnosis is performed based on at least one first fault information to determine second fault information. This includes: performing fault diagnosis on first fault information received within the first preset time interval every first preset time interval to determine second fault information. This embodiment implements periodic fault diagnosis of first fault information, which can establish a standardized fault handling process, thereby improving the efficiency and consistency of fault handling, reducing unnecessary human intervention and subjective judgment, and reducing errors and mistakes in the fault handling process.

[0096] It should be noted that the "preset" or "setting" involved in the embodiments of this application can be understood as information pre-stored in the water propulsion device before it leaves the factory. During the actual use of the water propulsion device, the preset information can remain unchanged, or it can be modified accordingly based on the application scenario of the water propulsion device. This application does not impose any restrictions on this.

[0097] For example, the aforementioned host, slave, and preset component with fault detection function can all periodically perform fault detection in response to the fault diagnosis activation condition. Therefore, to achieve efficient fault handling, the aforementioned first preset duration can be an integer multiple of at least one of the fault detection cycles of the host, slave, and preset component. In this embodiment, setting the first preset duration to an integer multiple of the fault detection cycle makes fault detection more regular, enabling timely fault detection and reducing fault handling costs.

[0098] In some embodiments, considering that situations may arise, such as the fault indicated by the first fault information being resolved due to the resolution of the root cause fault, or the fault indicated by the first fault information being resolved due to false detection, fault diagnosis based on at least one first fault information to determine the second fault information includes: if the duration of the fault indicated by the first fault information reaches a second preset duration, determining whether the fault indicated by the first fault information has been resolved; and in response to the fault indicated by the first fault information not being resolved, performing fault diagnosis based on the first fault information to determine the second fault information. This embodiment enables timely fault diagnosis of the first fault information when the fault indicated by the first fault information has not been resolved for a long time, thereby effectively troubleshooting the fault; it also helps to avoid or reduce the resource waste caused by false detection of faults requiring fault diagnosis by the host, improves resource utilization efficiency, and speeds up fault handling.

[0099] For example, the first fault information comes from the host, a preset component, or other slave devices. The process for determining whether the fault indicated by the first fault information has been resolved differs depending on the source of the first fault information. If the duration of the fault indicated by the first fault information is longer than a second preset duration, determining whether the fault indicated by the first fault information has been resolved includes the following three possible scenarios:

[0100] (1) If the first fault information is generated by another water thruster, and the duration of the fault indicated by the first fault information is longer than the second preset duration, the host sends a query request to the water thruster that generated the first fault information to inquire whether the fault indicated by the first fault information has been resolved. Other water thrusters (i.e., slaves) can detect whether the fault indicated by the first fault information has been resolved based on the received query request, and return a query response to the host based on the detection result. The query response indicates whether the fault indicated by the first fault information has been resolved or has not yet been resolved.

[0101] (2) If the first fault information is generated by the local machine and the duration of the fault indicated by the first fault information is longer than the second preset duration, the host can directly determine whether the fault indicated by the first fault information has been resolved.

[0102] If the first fault information is generated by the host performing fault detection on the local machine, and the duration of the fault indicated by the first fault information is longer than the second preset duration, then the host can query whether the fault indicated by the first fault information on the local machine has been resolved.

[0103] If the first fault information is generated by the host performing fault detection on a preset component, and the duration of the fault indicated by the first fault information is longer than the second preset duration, then the host can query whether the fault indicated by the first fault information in the preset component has been resolved.

[0104] (3) If the first fault information is generated by a preset component, and the duration of the fault indicated by the first fault information is longer than a second preset duration, the host sends a query request to the preset component that generated the first fault information to query whether the fault indicated by the first fault information has been resolved. The preset component can detect whether the fault indicated by the first fault information has been resolved based on the received query request, and return a query response to the host based on the detection result. The query response indicates whether the fault indicated by the first fault information has been resolved or has not yet been resolved.

[0105] In some embodiments, for S103, after determining the second fault information, if the second fault information is related to the water propulsion device, the host can send a first control command to the water propulsion device according to the second fault information, so that the water propulsion device receiving the first control command performs the operation indicated by the first control command. If the second fault information is related to a preset component, the fault handling method further includes: sending a second control command to the preset component according to the second fault information, so that the preset component receiving the second control command performs the operation indicated by the second control command.

[0106] For example, the operation indicated by the first control command includes at least one of prohibiting the power output of the water thruster, limiting the power output of the water thruster, and prohibiting the reverse charging of the water thruster.

[0107] (1) An exemplary explanation regarding the prohibition of power output from the water propeller: If the second fault information determined by fault diagnosis indicates that the temperature of the drive motor in the water propeller exceeds a first preset temperature value, for example, the temperature of the MOSFET in the drive motor exceeds the set MOSFET severe over-temperature upper limit threshold (exceeding 105°C), then continued operation will pose a risk of component damage. The operation indicated by the first control command includes: controlling the drive motor to stop output (e.g., shutting down the drive motor), thereby protecting the components in the drive motor. Furthermore, the water propeller corresponding to the drive motor can continuously monitor the temperature of the drive motor, and only operate the drive motor when the temperature drops to meet the first preset temperature value.

[0108] (2) An example is provided regarding limiting the power output of the water propeller: If the second fault information determined by fault diagnosis indicates that the temperature of the drive motor in the water propeller exceeds a second preset temperature value, and the second preset temperature value is less than a first preset temperature value, for example, the temperature of the MOSFET in the drive motor exceeds the set general over-temperature upper limit threshold of the MOSFET (exceeding 95°C); if operation continues, it will approach the severe over-temperature upper limit threshold of the MOSFET (exceeding 105°C). Then the operation indicated by the first control command includes: reducing the output power of the drive motor, thereby suppressing the upward trend of the drive motor temperature. Furthermore, the water propeller corresponding to the drive motor can continuously monitor the temperature of the drive motor, and only when the temperature of the drive motor drops to meet the second preset temperature value will the drive motor operate at the output power before the temperature drops.

[0109] (3) An example is provided regarding the prohibition of reverse charging of the water propeller: If the second fault information indicates that the drive motor in the water propeller needs to actively discharge, for example, by actively discharging the energy in the capacitor of the drive motor; at this time, the active discharge of the drive motor in the water propeller will cause the power to be generated by the energy component. Then the operation indicated by the first control command includes: prohibiting reverse charging of the water propeller, that is, disconnecting the power supply circuit between the energy component and the water propeller corresponding to the drive motor that needs to be actively discharged.

[0110] For example, the operation indicated by the second control command includes at least one of disconnecting the output of the energy component and limiting the output of the energy component.

[0111] (1) An example is given regarding disconnecting the output of the energy component: If the second fault information indicates that the temperature of the battery in the energy component is higher than the first threshold, the continued discharge of the battery will cause the temperature to continue to rise and burn out the components in the energy component; the operation indicated by the second control command includes: prohibiting the battery in the energy component from discharging, thereby avoiding damage to the components in the energy component.

[0112] (2) An example of limiting the output of the energy component: If the second fault information indicates that the state of charge of the battery in the energy component is lower than the preset state, the continued discharge of the battery will cause the current to be over-discharged; the operation indicated by the second control command includes: limiting the discharge output capability of the battery in the energy component to avoid the current over-discharge problem of the battery.

[0113] In some embodiments, the water propulsion system is communicatively connected to the interactive component; the fault handling method further includes: sending second fault information to the interactive component so that the interactive component displays the second fault information. This embodiment implements the display of second fault information in the interactive component so that the user is aware of the fault situation in the water propulsion system. For example, if the second fault information is "communication module failure in the water propulsion system", it can be displayed through at least one visual or auditory means, such as displaying a visual prompt "The communication module in the water propulsion system has failed; please inspect the communication module" on the display of the interactive component; or playing an audio prompt "The communication module in the water propulsion system has failed; please inspect the communication module" through the speaker of the interactive component.

[0114] In some embodiments, the water thrusters are communicatively connected to an interactive component. Even if any one of the multiple water thrusters malfunctions, the user can still issue operational requests related to the water thrusters through the interactive component, such as increasing propulsion speed, maintaining the current propulsion speed, increasing the tilt angle, or maintaining the current attitude. The host system can then automatically adjust the operating parameters of the non-malfunctioning water thrusters based on the user's requests to meet those needs. The system also includes sending a first control command to the water thrusters based on the second fault information, further comprising: determining the operating parameters of the multiple water thrusters based on the second fault information and the third control command currently received from the interactive component when any one of the multiple water thrusters malfunctions; sending a first control command carrying its corresponding operating parameters to each water thruster, so that the water thruster receiving the first control command operates according to its corresponding operating parameters; wherein the operating parameters include at least one of propulsion parameters, steering parameters, and tilt parameters. This embodiment enables the automatic and dynamic adjustment of the water thruster's operating mode based on the second fault information determined through fault diagnosis and the third control command currently received from the interactive component, improving the flexibility and adaptability of the water thruster system and allowing it to better cope with various operating scenarios and fault conditions.

[0115] For example, multiple water thrusters include water thruster A as the master and water thrusters B, C, D, and F as slaves. The second fault information is "the drive motor in water thruster F is overheating." The user can send a third control command to the master through the interactive component. For example, the third control command instructs to maintain the current propulsion speed of the water-mobile device. Then, based on the second fault information corresponding to water thruster F and the third control command currently received from the interactive component, the master can modify the propulsion parameters of at least one of water thrusters A, B, C, and D. For example, it can increase the propulsion parameters of water thruster B, keep the propulsion parameters of water thrusters A, C, and D unchanged, adjust the propulsion parameters of water thruster F to 0, and then send a first control command carrying its corresponding operating parameters to each water thruster. Thus, in the event of a fault in water thruster F, the overall propulsion speed of the water-mobile device is maintained constant by automatically adjusting the propulsion parameters of the water thrusters that are not faulty.

[0116] For multiple water propulsion units connected to the same communication system, the master water propulsion unit can execute the fault handling method in any of the foregoing embodiments. However, determining the master unit from among the multiple water propulsion units to coordinate the operation and fault handling of the entire water propulsion system is also a problem. Based on this, the fault handling method of this application also provides the following master-slave identification scheme to improve the communication, response, and decision-making capabilities of the entire water propulsion system.

[0117] In some embodiments, before the master water thruster acquires at least one first fault information, multiple water thrusters also need to perform master-slave identification. The fault handling method further includes: acquiring the external communication priority of the master; acquiring the external communication priority of other water thrusters; and performing master-slave identification based on the difference between the external communication priority of the master and the external communication priority of other water thrusters.

[0118] For example, external communication priority refers to the order of priority of external communication of water thrusters. Water thrusters with higher external communication priority can communicate, transmit data or receive instructions first.

[0119] For example, the local unit can communicate with other water thrusters through a communication system, broadcasting its own external communication priority and acquiring the external communication priority broadcast by other water thrusters. This broadcasting method ensures that each of the multiple water thrusters connected through the communication system can acquire the external communication priority of the other water thrusters.

[0120] In this embodiment, master-slave identification is performed based on the differences in the external communication priorities of multiple water thrusters. This helps to select the water thruster with the highest or highest external communication priority as the master, thereby bringing efficient communication capabilities, enabling timely response and decision-making, and thus improving the overall performance of water mobile equipment with multiple water thrusters installed.

[0121] In some embodiments, during the master-slave identification process, the master-slave identification based on the difference between the external communication priority of the local device and the external communication priority of other water thrusters includes: the water thruster can determine whether its external communication priority is the highest based on the difference between its own external communication priority and that of other water thrusters; if its external communication priority is the highest, it is set as the master; otherwise, it is set as the slave. This embodiment sets the water thruster with the highest external communication priority as the master, ensuring that the water thruster system has powerful and efficient external communication capabilities. The master can communicate more quickly with other water thrusters, interactive components, terminals, or the cloud, promptly transmitting instructions or obtaining necessary data, thereby enabling rapid response and decision-making, and achieving more efficient task execution and control.

[0122] For example, external communication priority includes: the communication signal strength between the water thruster and the cloud; and / or, the broadcast priority of the water thruster in the communication system.

[0123] In one possible implementation, the communication signal strength is a crucial factor when the water thruster communicates with the cloud. A water thruster with a stronger communication signal can communicate more stably with the cloud, reducing the possibility of data transmission failures or interruptions. Therefore, external communication priority can include the communication signal strength between the water thruster and the cloud; the higher the communication signal strength, the higher the external communication priority of the water thruster. During master-slave identification, the master-slave identification is based on the difference between the local water thruster's external communication priority and the external communication priorities of other water thrusters. This includes: the water thruster can determine whether its own communication signal strength with the cloud is the highest based on the difference between its own and the cloud's communication signal strength and that of other water thrusters; if the local water thruster's communication signal strength is the highest, it is set as the master; otherwise, it is set as the slave. This ensures that the designated master can communicate more stably with the cloud.

[0124] In one possible application scenario, a communication module is installed in the water propulsion unit to enable communication with the cloud. This communication module could be, for example, a 4G or 5G module, and is not limited here. For water propulsion units such as inboard engines and podded propulsion units, since these types of propulsion units are mounted on the bottom of a movable body, the communication module is easily obstructed by the movable body, resulting in weak communication signal strength. Therefore, to enhance the communication capability between the water propulsion unit and the cloud while reducing communication costs, a communication signal enhancement device, such as an antenna, can be connected to one of the multiple water propulsion units. This signal enhancement device is installed in a location not obstructed by the movable body to achieve unobstructed wireless signal transmission and reception. The water propulsion unit directly connected to the signal enhancement device typically has the highest communication signal strength. Therefore, each water propulsion unit's priority for external communication includes detecting the communication signal strength at the port used to connect to the signal enhancement device. In other words, the main water propulsion unit is equipped with a communication signal enhancement device.

[0125] In another possible implementation, the broadcast priority of a water thruster in a communication system (such as a bus communication system) determines its priority when communicating with other water thrusters or components. A water thruster with a higher broadcast priority can send broadcast messages and receive responses from other water thrusters or components first when it needs to exchange information or share data. Therefore, external communication priority can also include the water thruster's broadcast priority in the communication system; the higher the broadcast priority of a water thruster in the communication system, the higher its external communication priority. During master-slave identification, the master-slave identification based on the difference between the water thruster's external communication priority and that of other water thrusters includes: the water thruster can determine whether its own broadcast priority in the communication system is the highest based on the difference between its own broadcast priority and that of other water thrusters; if its own broadcast priority is the highest, it is set as the master; otherwise, it is set as the slave. In this embodiment, the water jet thruster with the highest broadcast priority is set as the host. When the host water jet thruster communicates with other water jet thrusters or components, it can get a response faster, which is conducive to achieving more efficient task execution and control.

[0126] For example, a water jet propeller has an identification code, which represents its broadcast priority in the communication system. Different water jet propellers have different identification codes. For instance, the smaller the identification code, the higher the broadcast priority of the water jet propeller in the communication system. Therefore, during master-slave identification, the water jet propeller can determine whether its own identification code is the smallest based on the difference between its own identification code and those of other water jet propellers. If its own identification code is the smallest, it indicates the highest broadcast priority in the communication system, and thus it can be set as the master; otherwise, it is set as the slave. The identification code can be pre-set and stored in the water jet propeller before it leaves the factory. The identification code can be directly equal to the unique identifier of the water jet propeller, or it can be converted from the unique identifier of the water jet propeller. Because the identification code is unique, distinguishing the broadcast priority of different water jet propellers based on the difference in the identification code can, on the one hand, simplify the distinction between the broadcast priorities of different water jet propellers, and on the other hand, avoid situations where different water jet propellers have the same broadcast priority.

[0127] Of course, the larger the identification code of the water propulsion device, the higher the broadcast priority of the water propulsion device in the communication system. This embodiment does not impose any restrictions on this.

[0128] In another possible implementation, the communication signal strength between the water propulsion unit and the cloud, and the broadcast priority of the water propulsion unit in the communication system, can be combined to select the master and slave units from multiple water propulsion units. This can ensure the stability and reliability of communication and optimize the communication efficiency of the water propulsion system and water-based mobile equipment.

[0129] In some embodiments, the master-slave identification process can be executed in response to configuration commands. Performing master-slave identification only when configuration commands are available allows for a more orderly execution of the master-slave identification process in the water propulsion system, ensuring system stability.

[0130] The configuration instructions can be automatically generated when the water thruster meets predetermined conditions. This automatic configuration instruction generation scheme eliminates the need for user intervention, offering a higher level of intelligence and convenience.

[0131] Configuration commands can also be triggered manually by the user. Providing a manual triggering method gives users greater freedom. When a user wants to change the host, they can manually operate the water jet propeller or display screen to make the water jet propeller re-perform master-slave identification, resulting in a better user experience.

[0132] For automatic triggering, it can be triggered automatically during the initialization process or when the communication signal strength between the water thruster and the cloud changes. For example, the predetermined conditions include any one of the following: (1) the water thruster is in the initialization process of its first power-on; (2) the communication signal strength between all water thrusters and the cloud is less than a preset threshold; (3) the communication signal strength between at least one water thruster and the cloud is greater than a preset threshold. The preset threshold can be specifically set according to the actual application scenario, and this embodiment does not impose any restrictions on it. The preset threshold can be set and stored in the water thruster before it leaves the factory. There can be one or more preset thresholds. When the water thruster is activated, the corresponding preset threshold can be selected based on the current application scenario of the water thruster, or the pre-stored preset threshold can be updated according to the preset algorithm corresponding to the current application scenario, etc., and this embodiment does not impose any restrictions on it.

[0133] For manually triggered scenarios, the water propulsion system or interactive component can generate configuration instructions upon receiving a user's configuration operation, with the water propulsion system communicating with the interactive component. For example, the water propulsion system includes an interactive component that can connect to the water propulsion system via a bus. The interactive component includes, but is not limited to, a display screen, a remote control box, etc.; alternatively, the interactive component can wirelessly connect to the water propulsion system, such as a mobile terminal. Users can perform configuration operations in the interactive component or the water propulsion system as needed, and the water propulsion system or interactive component will generate configuration instructions upon receiving the user's configuration operation. For instance, during the initialization process of the water propulsion system's first power-on, the display screen can prompt the user to perform master-slave configuration. The user can operate the display screen or the water propulsion system to generate configuration instructions. If the display screen generates configuration instructions, it sends the configuration instructions to the water propulsion system, enabling the water propulsion system to perform master-slave identification based on the configuration instructions. Furthermore, during the operation of the water propulsion system, the communication signal strength between the water propulsion system and the cloud may change. If the degree of change is large, such as when the communication signal strength between all water thrusters and the cloud is less than a preset threshold, the user can operate the display screen or water thruster to generate configuration instructions, thereby enabling the master-slave identification to be re-established.

[0134] By using the aforementioned triggering methods, the water thruster with the highest or highest external communication capability is designated as the host, which helps to ensure high communication capability and timely response and decision-making.

[0135] The following are some examples of triggering scenarios.

[0136] External communication priority includes the communication signal strength between the water propulsion unit and the cloud and the broadcast priority of the water propulsion unit in the communication system. The following embodiments use a bus communication system as an example for illustration.

[0137] In one possible implementation, the water thruster can respond to configuration commands during the initialization process upon first power-on, thereby enabling master-slave identification based on the water thruster's broadcast priority in the bus.

[0138] Please see Figure 6 The control methods include:

[0139] In S201, in response to configuration instructions automatically generated or generated based on user configuration operations during the initialization process of initial power-on, the water thruster acquires its own broadcast priority in the communication system and the broadcast priority of other water thrusters in the bus.

[0140] In S202, if the local machine has the highest broadcast priority on the bus, it is set as the master; otherwise, it is set as the slave.

[0141] For example, during the initial power-on initialization process, each water jet thruster can automatically generate configuration instructions based on this initialization process. Alternatively, one water jet thruster may receive a user operation to generate configuration instructions and send these instructions to the bus. Due to information sharing on the bus, other water jet thrusters can receive these configuration instructions. Subsequently, each water jet thruster acquires its own broadcast priority based on the configuration instructions and broadcasts its own broadcast priority to the bus. Due to information sharing on the bus, each water jet thruster can acquire the broadcast priority of other water jet thrusters. Each water jet thruster can determine whether it should be set as a master or slave based on its own broadcast priority and the broadcast priorities of other water jet thrusters. If a water jet thruster has the highest broadcast priority among all broadcast priorities, then that water jet thruster determines itself as a master, and the other water jet thrusters determine themselves as slaves. Each water jet thruster can send its master / slave information to the bus so that other water jet thrusters are aware of its master / slave information; alternatively, each water jet thruster can directly determine the master / slave information of each other based on the broadcast priorities of all water jet thrusters.

[0142] After the master and slave devices are determined, configuration commands can be generated again to re-identify the master and slave devices. Configuration commands may be generated again in the following situations.

[0143] In one scenario, the water thruster or the power-on interactive component receives a configuration operation from the user and generates a new configuration command. If the configuration command is generated by the power-on interactive component, the interactive component can broadcast the configuration command to all water thrusters via the bus after generation. If the configuration command is generated by one of the water thrusters, that water thruster can broadcast the generated configuration command to other water thrusters via the bus.

[0144] For details, please refer to Figure 6 The control methods also include:

[0145] In S203, in response to the configuration command generated by the user's configuration operation received by the water propulsion device or the interaction component, if the communication signal strength of the local machine is the strongest, the local machine is set as the master; otherwise, the local machine is set as the slave.

[0146] After the master and slave units of the water thruster are determined, users are also given the opportunity to reset the master and slave units, which provides users with greater freedom and a better user experience.

[0147] In another scenario, based on the communication requirements between the water thruster and the cloud, after the master and slave devices are determined, configuration instructions can be generated again (automatically generated or generated by receiving user configuration operations) so that the water thruster responds to the configuration instructions and re-identifies the master and slave devices based on the communication signal strength between the water thruster and the cloud.

[0148] For details, please refer to [link / reference]. Figure 6 The control methods also include:

[0149] In S204, it is detected whether the communication signal strength of all water thrusters is less than a preset threshold.

[0150] In S205, if the communication signal strength of at least one water propeller is greater than a preset threshold, the local machine is set as the master if the local machine has the strongest communication signal strength; otherwise, the local machine is set as the slave.

[0151] In S206, when the communication signal strength of all water thrusters is less than a preset threshold, the original master-slave state of the machine is maintained.

[0152] After each water thruster determines its master / slave status based on broadcast priority, it can obtain the communication signal strength of all water thrusters and then re-determine the master / slave status based on the strength of their communication signals. Understandably, during operation, the water thrusters need to communicate with the cloud to upload operational data or receive data and instructions from the cloud. Therefore, during operation, the water thruster with the strongest communication signal can be switched to act as the master to handle interaction with the cloud, ensuring the stability of the water propulsion system's interaction with the cloud.

[0153] In another scenario, the interactive component is not directly connected to the battery, but rather its power is transferred via a water-based thruster connected between the interactive component and the battery. In scenarios where multiple water-based mobile devices are installed, if multiple thrusters simultaneously power the interactive component, issues such as overload and instability may arise. For example, multiple thrusters simultaneously powering the interactive component might exceed its current load capacity, leading to power overload. Therefore, it is necessary to select one thruster from among the multiple thrusters to power the interactive component. Since the initialization process of the water-based thrusters takes time, and the connection between the communication module and the cloud can only be established after initialization, it is possible that the master / slave identification cannot be based on the strength of the communication signal during initialization. Therefore, to ensure that the interactive component can also receive power during the initialization process of the water-based thrusters' first power-on, multiple thrusters need to first perform master / slave identification to determine the master, enabling the master to output power to the interactive component, thereby powering it on. After the interactive component is powered on and the water thruster is initialized, a configuration command is generated again (either automatically or by receiving the user's configuration operation) so that the water thruster responds to the configuration command and re-identifies the master and slave based on the communication signal strength between the water thruster and the cloud.

[0154] For details, please refer to Figure 6 The control methods also include:

[0155] In step S207, when the host machine is acting as the host, it outputs electrical energy to the interactive component to power it on. In this embodiment, after the host machine is identified, it directly powers the interactive component without requiring any further selection steps, which helps to ensure that the interactive component powers on quickly.

[0156] In S208, when the interactive component is powered on and the communication signal strength of at least one water propeller is greater than a preset threshold, if the communication signal strength of the local machine is the strongest, the local machine is set as the master; otherwise, the local machine is set as the slave.

[0157] In S209, when the communication signal strength of all water thrusters is less than a preset threshold, the original master-slave state of the machine is maintained.

[0158] Understandably, after the interactive component is powered on and the water thruster is initialized, external environmental factors or malfunctioning signal enhancement devices may cause the communication signal strength between the water thruster and the cloud to be insufficient for stable communication. Therefore, after the interactive component is powered on and the water thruster is initialized, it is necessary to first determine whether the communication signal strength between the water thruster and the cloud meets the communication requirements, i.e., whether it exceeds a preset threshold. If it exceeds the preset threshold, the master / slave relationship is re-identified based on the communication signal strength; if it is less than the preset threshold, the original master / slave state is maintained.

[0159] In this embodiment, the master and slave devices are identified based on broadcast priority during initialization, enabling rapid power-on of the interactive components. Furthermore, after power-on, the system determines whether to re-determine the master and slave devices based on the strength of the communication signal. This avoids unnecessary master-slave switching when the communication signal strength is insufficient, and allows switching to the water propulsion unit with the strongest signal strength as the master when the signal strength meets the requirements, thus improving the stability of communication between the water propulsion system and the cloud.

[0160] For example, after master-slave identification is performed based on the communication signal strength between the water thruster and the cloud, if the water thruster acting as the master detects that the communication signal strength between all water thrusters and the cloud is less than a preset threshold, it can generate a configuration command again (automatically generated or generated after receiving the user's configuration operation) and send it to the slave via the bus.

[0161] For details, please refer to [link / reference]. Figure 6 The control methods also include:

[0162] In S210, in response to the configuration command generated when the communication signal strength between all water thrusters and the cloud is less than a preset threshold, if the local machine has the highest broadcast priority in the bus, the local machine is set as the master; otherwise, the local machine is set as the slave.

[0163] In this embodiment, when the communication signal strength between all water propulsion units and the cloud does not meet the communication requirements, the master-slave identification is re-executed, and the water propulsion unit with the highest priority for external communication is set as the master. This helps to ensure the communication efficiency within the water propulsion system and ensures that the water propulsion unit as the master can respond and make decisions in a timely manner.

[0164] In another possible implementation, the water thruster can respond to configuration commands during the initialization process upon first power-on, and then perform master-slave identification based on the communication signal strength between the water thruster and the cloud.

[0165] Please see Figure 7 The control methods include:

[0166] In S301, in response to configuration instructions automatically generated or generated based on user configuration operations during the initialization process of initial power-on, the water thruster acquires the communication signal strength between itself and the cloud, and the communication signal strength between other water thrusters and the cloud.

[0167] In S302, if the local machine has the strongest communication signal strength, it is set as the master; otherwise, it is set as the slave.

[0168] For example, during the initial power-on initialization process, each water thruster can automatically generate configuration instructions based on this initialization process. Alternatively, one water thruster may receive a user operation to generate configuration instructions, which are then sent to the bus. Due to information sharing on the bus, other water thrusters can receive these configuration instructions. Subsequently, each water thruster uses the configuration instructions to obtain the communication signal strength between itself and the cloud, and broadcasts this communication signal strength to the bus. Because of information sharing on the bus, each water thruster can obtain the communication signal strength between other water thrusters and the cloud. Each water thruster can determine whether it should be set as a master or slave based on its own communication signal strength and the communication signal strength of other water thrusters. If a water thruster's communication signal strength is the strongest among all communication signal strengths, then that water thruster determines itself as the master, while the other water thrusters determine themselves as slaves. Each water thruster can send its own master-slave information to the bus so that other water thrusters can know its master-slave information; or, each water thruster can directly determine the master-slave information of each water thruster based on the communication signal strength of all water thrusters.

[0169] In this embodiment, during the operation of the water propulsion unit, it needs to communicate with the cloud to upload operational data or receive data and instructions from the cloud. Therefore, designating the water propulsion unit with the strongest communication signal as the host to handle the interaction with the cloud ensures the stability of the interaction between the water propulsion system and the cloud.

[0170] After the master and slave devices are determined, configuration commands can be generated again to re-identify the master and slave devices. Configuration commands may be generated again in the following situations.

[0171] In one scenario, the water thruster or the power-on interactive component receives a configuration operation from the user and generates a new configuration command. If the configuration command is generated by the power-on interactive component, the interactive component can broadcast the configuration command to all water thrusters via the bus after generation. If the configuration command is generated by one of the water thrusters, that water thruster can broadcast the generated configuration command to other water thrusters via the bus.

[0172] For details, please refer to Figure 7 The control methods also include:

[0173] In S303, in response to the configuration command generated by the user's configuration operation received by the water thruster or interactive component, if the local machine has the highest broadcast priority in the bus, the local machine is set as the master; otherwise, the local machine is set as the slave.

[0174] After the master and slave units of the water thruster are determined, users are also given the opportunity to reset the master and slave units, which provides users with greater freedom and a better user experience.

[0175] In another scenario, when the communication signal strength between all water thrusters and the cloud is insufficient to meet the communication requirements, master-slave identification can be re-executed.

[0176] For details, please refer to [link / reference]. Figure 7 The control methods also include:

[0177] In S304, when the communication signal strength of all water thrusters is less than a preset threshold, if the local unit has the highest broadcast priority in the bus, it will be set as the master unit; otherwise, it will be set as the slave unit.

[0178] In this embodiment, when the communication signal strength between all water propulsion units and the cloud does not meet the communication requirements, the master-slave identification is re-executed, and the water propulsion unit with the highest priority for external communication is set as the master. This helps to ensure the communication efficiency within the water propulsion system and ensures that the water propulsion unit as the master can respond and make decisions in a timely manner.

[0179] In some embodiments, based on the communication requirements between the water thruster and the cloud, the master-slave identification can be re-executed when the communication signal strength between at least one water thruster and the cloud meets the communication requirements. For example, after master-slave identification based on the broadcast priority of the water thruster on the bus, if the master water thruster subsequently detects that the communication signal strength of at least one water thruster is greater than a preset threshold, it can generate configuration instructions again and send them to the slave via the bus.

[0180] For details, please refer to [link / reference]. Figure 7 The control methods also include:

[0181] In S305, in response to the configuration command generated by the water thruster acting as the master when the communication signal strength of at least one water thruster is greater than a preset threshold, if the communication signal strength of the local machine is the strongest, the local machine is set as the master; otherwise, the local machine is set as the slave.

[0182] In this embodiment, after each water thruster determines its master and slave based on broadcast priority, if it is subsequently detected that at least one water thruster's communication signal strength with the cloud meets the communication requirements, the master and slave can be re-determined based on the strength of the water thruster's communication signal. During the operation of the water thrusters, the water thruster with the strongest communication signal strength can be switched to act as the master to handle the interaction with the cloud, ensuring the stability of the interaction between the water propulsion system and the cloud.

[0183] The various technical features in the above embodiments can be combined arbitrarily, as long as there is no conflict or contradiction between the combinations of features. Therefore, the arbitrary combination of the various technical features in the above embodiments is also within the scope of this specification.

[0184] In some embodiments, please refer to Figure 8 The water propulsion device provided in this application embodiment includes, in addition to, the following: Figure 4 In addition to the aforementioned components, the system also includes a processor 61 and a memory 62. The memory 62 stores executable instructions that can run on the processor 61; wherein, when the processor 61 executes the executable instructions, it implements the steps of the fault handling method described in any of the above embodiments.

[0185] The processor 61 executes the executable instructions included in the memory 62. The processor 61 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0186] The memory 62 stores executable instructions for a fault handling method. The memory 62 may include at least one type of storage medium, including flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, disk, optical disk, etc.

[0187] In an exemplary embodiment, this application also provides a non-transitory computer-readable storage medium including instructions, such as a memory including computer instructions that can be executed by a processor of a water propulsion device to perform the fault handling method described in any of the above embodiments. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0188] The methods and apparatus provided in the embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the methods and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A fault handling method, characterized in that, Applied to each of multiple water thrusters connected to the same communication system; The fault handling method includes: When the local machine acts as the host, at least one first fault information is acquired, wherein the first fault information is generated by at least one of the plurality of water thrusters; Based on the at least one first fault information, perform fault diagnosis to determine the second fault information; A first control command is sent to the water thruster according to the second fault information, so that the water thruster receiving the first control command performs the operation indicated by the first control command; wherein, the operation indicated by the first control command includes at least one of the following: fault resolution operation, and, in the case of an unresolved fault, operation to change the operating parameters of the water thruster.

2. The fault handling method according to claim 1, characterized in that, The first fault information includes multiple items, and the step of performing fault diagnosis based on at least one first fault information to determine the second fault information includes: Fault diagnosis is performed on multiple first fault information that have a causal relationship, and the second fault information that is commonly corresponding to the first fault information with a causal relationship is determined. Fault diagnosis is performed on the first fault information that does not have a causal relationship among the plurality of first fault information, and the second fault information corresponding to the first fault information that does not have a causal relationship is determined.

3. The fault handling method according to claim 2, characterized in that, The water thruster has a pre-stored fault mapping table, which includes the causal relationships between different first fault information. The step of performing fault diagnosis based on the at least one first fault information to determine the second fault information further includes: Based on the fault mapping table, determine whether the first fault information with a causal relationship exists among the plurality of first fault information.

4. The fault handling method according to claim 2, characterized in that, The plurality of first fault information pieces have different priorities, and the step of performing fault diagnosis based on at least one first fault information to determine the second fault information further includes: Based on the priority and category of the plurality of first fault information, it is determined whether there is a first fault information with a causal relationship among the plurality of first fault information. Among the first fault information with a causal relationship, the categories of the plurality of first fault information are the same, and the priority of the first fault information as the root cause fault is higher than the priority of the other first fault information.

5. The fault handling method according to claim 2, characterized in that, The step of jointly diagnosing faults among multiple first fault information entries that have a causal relationship, and determining the second fault information that corresponds to the first fault information entries with a causal relationship, includes: Determine the first fault information belonging to the root cause fault from the first fault information that has a causal relationship; Based on the first fault information belonging to the root cause fault, fault diagnosis is performed to determine the second fault information that is commonly associated with the first fault information that has a causal relationship.

6. The fault handling method according to claim 2, characterized in that, The multiple first fault information items have different priorities. The step of performing fault diagnosis on the first fault information items that do not have a causal relationship, and determining the second fault information corresponding to each of the first fault information items that do not have a causal relationship, includes: The processing order of the first fault information that does not have a causal relationship is determined according to its priority, wherein the higher the priority of the first fault information, the earlier the processing order of the first fault information is. According to the processing order, fault diagnosis is performed on the first fault information that does not have a causal relationship, and the second fault information corresponding to the first fault information that does not have a causal relationship is determined.

7. The fault handling method according to any one of claims 1 to 6, characterized in that, The step of performing fault diagnosis based on at least one first fault information to determine second fault information includes: The at least one first fault information is diagnosed according to a pre-stored fault mapping table to determine the second fault information. The fault mapping table stores the correspondence between the at least one first fault information and the second fault information.

8. The fault handling method according to any one of claims 1 to 6, characterized in that, The step of performing fault diagnosis based on at least one first fault information to determine second fault information includes: Every first preset time interval, the first fault information received within the first preset time interval is diagnosed to determine the second fault information.

9. The fault handling method according to any one of claims 1 to 6, characterized in that, The step of performing fault diagnosis based on at least one first fault information to determine second fault information includes: If the duration of the fault indicated by the first fault information reaches the second preset duration, determine whether the fault indicated by the first fault information has been resolved. In response to the failure indicated by the first fault information, fault diagnosis is performed based on the first fault information to determine the second fault information.

10. The fault handling method according to claim 9, characterized in that, If the duration of the fault indicated by the first fault information is longer than a second preset duration, determining whether the fault indicated by the first fault information has been resolved includes: If the first fault information is generated by another water propeller, and the duration of the fault indicated by the first fault information is longer than the second preset duration, a query request is sent to the water propeller that generated the first fault information to query whether the fault indicated by the first fault information has been resolved. If the first fault information is generated by the local machine, and the duration of the fault indicated by the first fault information is greater than the second preset duration, determine whether the fault indicated by the first fault information has been resolved.

11. The fault handling method according to claim 1, characterized in that, Of the plurality of water thrusters, all except the main unit are designated as slave units; obtaining at least one first fault information includes: Receive the first fault information sent by the slave device; and / or, Obtain the first fault information generated by the local machine.

12. The fault handling method according to claim 11, characterized in that, The acquisition of the first fault information generated by the local machine includes: In response to the fulfillment of the fault diagnosis activation conditions, fault detection is performed periodically; When a fault is detected, the first fault information is generated.

13. The fault handling method according to claim 12, characterized in that, When a fault is detected, generating the first fault information includes: When a fault is detected and the duration of the fault exceeds a third preset duration, the first fault information is generated.

14. The fault handling method according to claim 12, characterized in that, Every first preset time interval, the host performs fault diagnosis on the first fault information obtained within the first preset time interval; wherein the first preset time interval is an integer multiple of the fault detection period of the host.

15. The fault handling method according to claim 11, characterized in that, The water-based thruster is also communicatively connected to a preset component; the first fault information generated by the machine includes at least one of the following: The first fault information generated by the host when it detects a fault in itself; The host generates the first fault information when it detects a fault in the preset component.

16. The fault handling method according to claim 11, characterized in that, The water thruster is also communicatively connected to a preset component; the acquisition of at least one first fault information further includes: Receive the first fault information sent when the preset component fails.

17. The fault handling method according to claim 15 or 16, characterized in that, The fault handling method further includes: Based on the second fault information, a second control command is sent to the preset component, so that the preset component that receives the second control command executes the operation indicated by the second control command.

18. The fault handling method according to claim 15 or 16, characterized in that, The preset components include interactive components and / or energy components.

19. The fault handling method according to claim 17, characterized in that, The operation indicated by the second control command includes at least one of disconnecting the output of the energy component and limiting the output of the energy component.

20. The fault handling method according to claim 1, characterized in that, The operation indicated by the first control command includes at least one of prohibiting the power output of the water propulsion device, limiting the power output of the water propulsion device, and prohibiting the reverse charging of the water propulsion device.

21. The fault handling method according to claim 1, characterized in that, The water thruster is communicatively connected to the interactive component, and the step of sending a first control command to the water thruster based on the second fault information further includes: When any one of the plurality of water thrusters malfunctions, the operating parameters of the plurality of water thrusters are determined based on the second fault information and the third control command currently received from the interaction component. Send a first control command carrying corresponding operating parameters to each of the water thrusters, so that the water thrusters that receive the first control command operate according to the corresponding operating parameters. The operating parameters include at least one of propulsion parameters, steering parameters, and lifting parameters.

22. The fault handling method according to claim 1, characterized in that, The water-based thruster is communicatively connected to the interactive component; the fault handling method further includes: The second fault information is sent to the interactive component so that the interactive component displays the second fault information.

23. The fault handling method according to claim 1, characterized in that, Before acquiring at least one first fault information when the local machine is acting as the host, the fault handling method further includes: Obtain priority for external communication of this machine; Prioritize external communications with other water thrusters; Master-slave identification is performed based on the difference between the external communication priority of this machine and the external communication priority of the other water propulsion units.

24. The fault handling method according to claim 23, characterized in that, The master-slave identification based on the difference between the external communication priority of this machine and the external communication priority of other water thrusters includes: If the local machine has the highest priority for external communication, it will be set as the master; otherwise, it will be set as the slave.

25. The fault handling method according to claim 24, characterized in that, The external communication priority includes the broadcast priority of the water thruster in the communication system. The higher the broadcast priority of the water thruster, the higher the external communication priority of the water thruster.

26. The fault handling method according to claim 25, characterized in that, The external communication priority also includes the communication signal strength between the water thruster and the cloud; The fault handling method further includes: If the communication signal strength between at least one water thruster and the cloud is greater than a preset threshold, and the communication signal strength of the local machine is the strongest, then the local machine will be set as the master; otherwise, the local machine will be set as the slave. When the communication signal strength of all water thrusters is less than the preset threshold, the original master-slave state of the machine is maintained.

27. The fault handling method according to claim 25, characterized in that, The water thruster is connected to the interactive component; The fault handling method further includes: When the local machine acts as the host, it outputs electrical energy to the interactive component to power it on.

28. The fault handling method according to claim 27, characterized in that, The external communication priority also includes the communication signal strength between the water thruster and the cloud; The fault handling method further includes: When the interactive component is powered on and the communication signal strength of at least one water propeller is greater than a preset threshold, if the communication signal strength of the local machine is the strongest, then the local machine is set as the master; otherwise, the local machine is set as the slave. When the communication signal strength of all water thrusters is less than the preset threshold, the original master-slave state of the machine is maintained.

29. The fault handling method according to claim 25, characterized in that, The master-slave identification process is initiated in response to configuration commands. The configuration command is automatically generated by the water thruster when predetermined conditions are met; the predetermined conditions include any one of the following: the water thruster is in the initialization process of its first power-on; the communication signal strength between all water thrusters and the cloud is less than a preset threshold; or The configuration instructions are generated by the water thruster or the interaction component based on the configuration operation received from the user, and the water thruster communicates with the interaction component.

30. The fault handling method according to claim 24, characterized in that, The external communication priority includes the communication signal strength between the water thruster and the cloud. The stronger the communication signal strength of the water thruster, the higher the external communication priority of the water thruster.

31. The fault handling method according to claim 30, characterized in that, The external communication priority also includes the water propulsion unit's external broadcast priority in the communication system; The fault handling method further includes: When the communication signal strength of at least one water thruster is greater than a preset threshold, the original master-slave status of the machine is maintained. When the communication signal strength of all water thrusters is less than the preset threshold, if the local unit has the highest broadcast priority in the communication system, then the local unit will be set as the master unit; otherwise, the local unit will be set as the slave unit.

32. The fault handling method according to claim 30, characterized in that, The master-slave identification process is initiated in response to configuration commands. The configuration command is automatically generated by the water thruster when predetermined conditions are met; the predetermined conditions include any one of the following: the water thruster is in the initialization process of its first power-on; The communication signal strength of at least one water thruster is greater than a preset threshold; or The configuration instructions are generated by the water thruster or the interaction component based on the configuration operation received from the user, and the water thruster communicates with the interaction component.

33. The fault handling method according to any one of claims 26, 28, 30, and 31, characterized in that, The main water thruster is equipped with a communication signal enhancement device, and each water thruster obtains priority for its own external communication, including: The strength of the communication signal at the port of this machine used to connect to the communication signal enhancement device is detected.

34. The fault handling method according to any one of claims 25 to 27 and 31, characterized in that, The water thruster has an identification code, which is used to characterize the broadcast priority of the water thruster in the communication system. Different water thrusters have different identification codes.

35. The fault handling method according to claim 34, characterized in that, The smaller the identification code of the water propulsion device, the higher the broadcast priority of the water propulsion device.

36. The fault handling method according to claim 1, characterized in that, The communication system includes a bus system or a wireless communication system.

37. A water propulsion device, characterized in that, include: processor; and A memory, wherein executable instructions that can run on the processor are stored in the memory; Wherein, when the processor executes the executable instructions, it implements the steps of the fault handling method according to any one of claims 1 to 36.

38. A water propulsion system, characterized in that, Includes the water propulsion device as described in multiple claims 37.

39. The water propulsion system according to claim 38, characterized in that, It also includes a preset component; the preset component is connected to the multiple water thrusters in the same communication system.

40. A water-based mobile device, characterized in that, include: Movable body; as well as The water propulsion system of claim 38 or 39, wherein the water propulsion system is mounted on the movable body.

41. A computer-readable storage medium storing computer instructions thereon, characterized in that, When the computer instructions are executed by the processor, they implement the steps of the fault handling method according to any one of claims 1 to 36.

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