Control equipment and control method thereof, power system, movable equipment and medium
By comparing identification codes between control equipment, the problem that a single control equipment in large ships cannot meet the control flexibility and safety requirements is solved, and control arbitration of multiple control equipment is realized, ensuring that the ship is in complex waters safety control in.
Patent Information
- Application Number
- CN202411519086.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-28
- Publication Date
- 2024-12-17
AI Technical Summary
In large ships or ships sailing in complex waters, a single control device is difficult to meet the high requirements of control flexibility and safety, resulting in the arbitration of control rights of multiple control devices.
By comparing identification codes between control devices, prioritization, activation or deactivation of control devices, arbitration of control rights over controlled devices is achieved, ensuring that each control device can effectively control the ship.
The control arbitration of more than two control equipment is realized to ensure the safe and flexible control of the ship in complex environments and avoid the disorder of control.
Smart Images
Figure CN119155139A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of movable equipment in water areas, and in particular to a control device and a control method thereof, a power system, a movable equipment and a medium. Background Art
[0002] Mobile equipment in waters, such as ships, is typically equipped with a single control device for navigation and monitoring the vessel's operating status. This setup can meet basic navigation needs in most cases. However, for large ships or those navigating complex waters, a single control device may not meet the high demands for maneuverability and safety. Therefore, in some scenarios, multiple control devices may be required, raising the question of how to arbitrate control rights between two or more control devices. Summary of the Invention
[0003] The present invention provides a control device and a control method thereof, a power system, a movable device and a medium, which can arbitrate the control rights of two or more control devices to obtain the control right of the controlled device.
[0004] In a first aspect, a control method for a control device is provided, wherein the control device and other control devices are connected to the same communication system, and the control device and the other control devices are used to instruct the operation of a first function of the same controlled device; the method includes:
[0005] When the power-on condition is met, comparing the identification code of the local device with the identification code of the other control device to obtain a comparison result;
[0006] Based on the comparison result, the local device is controlled to be in an activated state or an inactivated state, wherein a control instruction issued by the control device in the activated state can be responded to by the controlled device.
[0007] In a second aspect, a control device is provided, comprising a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the steps of the method described in the first aspect are implemented.
[0008] According to a third aspect, a power system is provided, comprising a controlled device and at least two control devices according to the second aspect, wherein at least two control devices and the controlled device are connected to the same communication system.
[0009] In a fourth aspect, a movable device is provided, which includes a main body and the power system described in the third aspect, and the power system is installed on the main body.
[0010] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program. When the computer program is executed by a processor, the steps of the control method of the control device described in the first aspect are implemented.
[0011] The above-mentioned control device and its control method, power system, movable device and medium, the control device and other control devices are connected to the same communication system, and the control device and the other control devices are used to indicate the operation of the first function of the same controlled device; when the power-on condition is met, the identification code of this machine is compared with the identification code of the other control devices to obtain a comparison result. In this solution, different identification codes can correspond to different priorities of the control device; based on the comparison result, the local machine is controlled to be in an activated state or an inactivated state, wherein the control instruction issued by the control device in the activated state can be responded to by the controlled device. When the local machine is controlled to be in an activated state through the comparison result, the local machine obtains control rights. When the local machine is controlled to be in an inactivated state through the comparison result, the local machine loses control rights. When other control devices control the local machine to be in an activated state through the comparison result, the other control devices can obtain control rights. Therefore, each control device can realize control right arbitration for more than two control devices by implementing the steps of this solution, so as to facilitate control of the controlled device through more than two control devices. BRIEF DESCRIPTION OF THE DRAWINGS
[0012] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.
[0013] Figure 1 is a schematic structural diagram of a movable device in one embodiment of the present invention;
[0014] Figure 2 is a schematic structural diagram of a power system in one embodiment of the present invention;
[0015] Figure 3 is a flow chart of a control method for controlling a device according to another embodiment of the present invention;
[0016] Figure 4 is another flow chart of a control method for operating a device according to an embodiment of the present invention;
[0017] Figure 5 is another flowchart of a control method for operating a device in another embodiment of the present invention;
[0018] Figure 61 is another flow chart of a control method for a control device in another embodiment of the present invention. DETAILED DESCRIPTION
[0019] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.
[0020] See also Figure 1 , Figure 1 A structural schematic diagram of a movable device 100 provided in an embodiment of the present invention, wherein the movable device 100 may be, for example, a ship, and the movable device 100 may include a power system 10, which is used to propel the movable device 100 to move, and the power system 10 includes a controlled device 120 and at least two control devices 110, and at least two of the control devices 110 and the controlled device 120 are connected to the same communication system.
[0021] The controlled device 120 may be, for example, a propeller, which is a power device that can propel the movable device to move. For example, the controlled device 120 is an outboard motor, an inboard motor, or a pod propeller. In some embodiments, the controlled device 120 is an electric propeller. The controlled device 120 outputs propulsion power through an electric motor. When the movable device is a ship, the control device 110 is a remote throttle control device or a side throttle control device, and the movable device also includes a steering wheel; the control device 110 is installed on a console on the movable device so that the driver can operate the control device 110 to control the operation of the controlled device 120, and the controlled device 120 can drive the movement of the movable device. The control device can drive a movable device such as a ship to move forward, backward, turn, etc. by controlling the power output of the controlled device 120.
[0022] Wherein, the power system also includes a power supply, the controlled device includes an electronic control unit and a switch unit, the switch unit is connected between the power supply and at least two of the control devices, and the electronic control unit is used to control the state of the switch unit.
[0023] like Figure 2As shown, the power system 10 includes a power supply 130, and the controlled device 120 includes an electronic control unit 121 (ECU). The power supply 130 is used to supply power to the electronic control unit 121. After the electronic control unit 121 is connected to the control device 110, when the power button of any control device 110 is pressed, the electronic control unit 121 detects the power-on signal and controls the switch unit 122 to close to supply power to the control device 110.
[0024] The electronic control unit 121 and the two or more control devices 110 are connected to the same CAN communication bus, and information on the bus is shared. Each device can obtain the signal sent by other devices to the bus.
[0025] The present invention is described in detail below through specific examples.
[0026] See also Figure 3 , Figure 3 A flow chart of a control method for a control device provided in an embodiment of the present invention is provided. The method is applied to a control device, wherein the control device and other control devices are connected to the same communication system, and the control device and other control devices are used to instruct the operation of a first function of the same controlled device. The method includes the following steps:
[0027] 301. When a power-on condition is met, compare the identification code of the local device with the identification codes of the other control devices to obtain a comparison result.
[0028] Among them, system power-on refers to the power-on of the power system connecting the control device and the controlled device. When the power system is powered on, it indicates that the control system and the controlled device are successfully electrically connected and can communicate through the bus. Furthermore, control rights arbitration can be performed on more than two control devices.
[0029] The identification code is a unique identification code calculated based on the product serial number and is used to uniquely identify the control device.
[0030] Different identification codes can correspond to different priorities. For example, suppose there are two control devices, A and B. The identification code of control device A is 00, and the identification code of control device B is 01. By comparing the size of the identification codes, a comparison result is obtained. In this way, the control device can be prioritized to control the controlled device based on the size of the identification codes.
[0031] 302. Control the local device to be in an activated state or an inactivated state based on the comparison result, wherein a control instruction issued by the control device in the activated state can be responded to by the controlled device.
[0032] Among them, the smaller the identification code, the higher the priority. If the comparison result shows that no other control device has an identification code smaller than the identification code of this machine, it means that the identification code of this machine is the smallest and the corresponding priority is the highest. If there is no activated control device in the communication system, the control machine is in an activated state.
[0033] Alternatively, the larger the identification code, the higher the priority. If the comparison result shows that no other control device has an identification code greater than the identification code of this machine, it means that the identification code of this machine is the largest and the corresponding priority is the highest. If there is no activated control device in the communication system, this machine is controlled to be in an activated state.
[0034] If there is an activated control device in the communication system, it means that other control devices have obtained the control right to the controlled device, and the control device is in an inactive state.
[0035] When the comparison result controls this unit to be in an activated state, the unit obtains control rights; when the comparison result controls this unit to be in an inactivated state, the unit loses control rights; when other control devices control this unit to be in an activated state through the comparison result, the other control devices can obtain control rights. Thus, each control device can realize control right arbitration of more than two control devices by implementing the steps of this solution, so as to facilitate the control of movable devices such as ships through more than two control devices.
[0036] Optionally, the control device includes a timer; and the comparing the identification code of the local device with the identification code of the other control device to obtain a comparison result includes:
[0037] The identification code of the local device is compared with the identification code of the other control device within the set timing duration of the timer to obtain the comparison result.
[0038] By using a timer to perform timing and comparing the identification code of the local machine with the identification codes of the other control devices within a set timing period, on the basis of selecting a control device with a high priority through the identification code, the arbitration right control logic inside the control device is also controlled through the timer. Different control devices will have different control behaviors within the set timing period of their own timers. For multiple control devices, it can be guaranteed that the timer timing is completed smoothly, and the control device with the highest priority can obtain control rights, thereby avoiding errors in the arbitration results of control rights.
[0039] The timer includes a first timer and a second timer, and the set timing duration of the second timer is greater than the set timing duration of the first timer; and the comparing the identification code of the local device with the identification code of the other control device within the set timing duration of the timer to obtain the comparison result includes:
[0040] Simultaneously start the first timer and the second timer;
[0041] During the timing of the first timer, receiving a signal sent by the other control device;
[0042] Comparing the relative sizes of the identification code of the local device and the identification code of the other control device carried in the signal to obtain the comparison result;
[0043] The controlling the device to be in an activated state or inactivated state based on the comparison result includes:
[0044] controlling a timing state of the second timer based on the comparison result, wherein the timing state includes continuing timing or resetting to zero and restarting timing;
[0045] When the second timer finishes timing, if there is an activated control device in the communication system, the local device is controlled to be in the deactivated state; otherwise, the local device is controlled to be in the activated state.
[0046] The set timing durations of the first timer and the second timer can be, for example, 500ms and 1000ms respectively, or other durations, which are not limited here.
[0047] In a specific implementation, more than two control devices can start their own first timer and second timer to start timing. During the timing of the first timer, they receive signals sent by other control devices. The signals sent by other control devices carry the identification codes of the other control devices. Then, the relative size of the identification code of this device and the identification code of the other control device carried in the signal can be compared to obtain the comparison result.
[0048] Among them, the timing state of the second timer is controlled based on the comparison result, and the timing state includes continuing timing or resetting and retiming. Specifically, when the comparison result meets the predetermined conditions, the second timer can be controlled to be reset and retiming; when the comparison result does not meet the predetermined conditions, the second timer is allowed to continue timing.
[0049] By determining whether the comparison result satisfies a predetermined condition, it can be determined whether the priority of the local identification code is the highest.
[0050] The predetermined conditions include: a control device having an identification code smaller than the identification code of the local device exists in the communication system; or a control device having an identification code larger than the identification code of the local device exists in the communication system.
[0051] The smaller the identification code, the higher the priority. If the comparison result shows that the identification code of other control devices in the communication system is smaller than the identification code of this device, it means that the identification code of this device is not the smallest and the corresponding priority is not the highest.
[0052] Alternatively, the larger the identification code, the higher the priority. If the comparison result shows that the identification code of other control devices in the communication system is larger than the identification code of this device, it means that the identification code of this device is not the largest and the corresponding priority is not the highest.
[0053] Optionally, controlling the second timer to reset and restart includes:
[0054] Controlling the second timer to be reset to zero and immediately starting to count again after being reset to zero; or
[0055] The second timer is controlled to be reset to zero, and to start timing again after the first timer is finished.
[0056] Specifically, after determining that the priority of the control device is not the highest based on the comparison result of the identification code, the second timer can be controlled to be reset and restarted. When the second timer is reset, other control devices have the opportunity to not be reset and restarted if they meet the highest priority condition, thereby ensuring that other control devices with the highest priority obtain control rights.
[0057] Optionally, the control device includes a first power button; and satisfying the power-on condition includes that the power-on of the control device is not triggered by the first power button.
[0058] In a specific implementation, if the first power button of the control device is triggered, the control device can be directly activated. When the first power buttons of more than two control devices are not pressed, control arbitration is required to determine whether the control device is activated, so as to determine the control device that needs to be activated among the two or more control devices.
[0059] Optionally, the power-on of the control device is not triggered by the first power button and includes any one of the following:
[0060] After the control device loses power, the switch unit on the electrical connection line between the control device and its power supply remains closed, and the control device subsequently resumes power supply;
[0061] The communication system is also connected to a control device, the operating device and the control device are powered by the same power supply, the control device is used to instruct the operation of the second function of the controlled device, and the control device is provided with a second power button, which is pressed.
[0062] For example, the control device is connected to the propeller, the switch unit of the electronic control unit of the propeller is closed and maintained, and the power supply to the control device is subsequently restored, so that the control device is powered on;
[0063] Among them, the control device may include a steering wheel, for example, the control device and the steering wheel are powered by the same power supply, the control device and the steering wheel can be connected through a bus, and the steering wheel is provided with a second power button. When the second power button of the steering wheel is pressed, the control device is powered on.
[0064] When any of the above situations occurs and the first power buttons of more than two control devices are not pressed at the same time, it can be determined that the power-on condition is met, that is, the power-on of the control device is not triggered by the first power button, and control rights arbitration can be performed on the more than two control devices.
[0065] In this solution, if there is no control device in the communication system with an identification code smaller than its own identification code, it is determined whether the timing of the first timer of 500ms has been completed. If the timing of the first timer of 500ms has been completed, it is determined whether the timing of the second timer of 1000ms has been completed. If the timing of the second timer of 1000ms has not been completed, the process returns to the step of determining whether the timing of the second timer has been completed. If the timing of the second timer of 1000ms has been completed, it is determined whether there is an activated control device in the communication system.
[0066] If the second timer is not completed, the process returns to the step of receiving the signal sent by the other control device, and comparing the relative size of the identification code of the local device with the identification code of the other control device carried in the signal to obtain the comparison result.
[0067] Optionally, the movable device includes two or more driving platforms, the control device and the other control devices are respectively provided on a first driving platform and a second driving platform, the first driving platform is further provided with a first steering wheel and a first display screen, and the second driving platform is further provided with a second steering wheel and a second display screen; the method further includes:
[0068] When the host gains control, the first steering wheel and the first display screen also gain control accordingly; and when the second control device loses control, the second steering wheel and the second display screen also lose control accordingly.
[0069] When other control devices obtain control, the second steering wheel and the second display screen follow the other control devices to obtain control; and when the host loses control, the first steering wheel and the first display screen follow the host to lose control.
[0070] When two control devices are assigned to two different bridges, both equipped with steering wheels and display screens, the switching of control authority between the two control devices also determines the switching of control authority between the two bridges. For example, the first bridge is equipped with a first control device, which is a remote throttle control. The second bridge is equipped with a second control device, which is a side throttle control. The first bridge is also equipped with a first steering wheel and a first display screen, while the second bridge is also equipped with a second steering wheel and a second display screen. When the first control device gains control authority, the first steering wheel and the first display screen follow the first control device, and the second control device, the second steering wheel, and the second display screen lose control authority accordingly. When the second control device gains control authority, the second steering wheel and the second display screen follow the second control device, and the first control device loses control authority, and the first steering wheel and the first display screen follow the first control device.
[0071] See also Figure 4 , Figure 4 Another flow chart of a control method for a control device provided in an embodiment of the present invention is provided. The method is applied to a control device and includes the following steps:
[0072] 401. When a power-on condition is met, start a first timer and a second timer of the control device;
[0073] The set timing duration of the second timer is greater than the set timing duration of the first timer.
[0074] 402. During the timing of the first timer, receive a signal sent by the other control device;
[0075] 403. Compare the relative sizes of the identification code of the local device and the identification code of the other control device carried in the signal to obtain the comparison result;
[0076] 404. When the comparison result satisfies a predetermined condition, control the second timer to reset and restart;
[0077] 405. When the comparison result does not meet the predetermined condition, allow the second timer to continue timing;
[0078] 406. When the second timer finishes timing, determine whether there is an activated control device in the communication system;
[0079] 407. If there is an activated control device in the communication system, control the device to be in the deactivated state;
[0080] 408. If there is no activated control device in the communication system, control the device to be in the activated state.
[0081] For example, each control device starts its own 500ms and 1000ms timers simultaneously; during the timing of the 500ms and 1000ms timers, it receives signals sent by other control devices through the bus to determine whether there is a control device in the communication system with an identification code smaller than its own identification code. Among them, the identification code is a unique identification code calculated from the product serial number; if there is no control device with an identification code smaller than its own identification code in the communication system, it is determined whether the 500ms timing has been completed; if there is a control device with an identification code smaller than its own identification code in the communication system, its own 1000ms timer is cleared and the timing is restarted after clearing; if the 500ms timing is not completed, the step of receiving the signal sent by the other control device through the bus to determine whether there is a control device with an identification code smaller than its own identification code in the communication system is returned; if the 500ms timing is completed, it is determined whether the 1000ms timing has been completed; if the 1000ms timing is not completed, the step of determining whether the 1000ms timing has been completed is returned; if the 1000ms timing is completed, it is determined whether there are other control devices in the communication system that are in an activated state; if other control devices are in an activated state, the current control device is deactivated; if no other control devices are in an activated state in the communication system, the current control device is activated.
[0082] For another example, assume there are two control devices, a and b, with the identification code of control device a being 00 and the identification code of control device b being 01. When neither control device a nor b is powered on, both control device a and control device b start their 500ms and 1000ms timers.
[0083] 100ms:
[0084] a: 100ms (second timer), 100ms (first timer);
[0085] b: 100ms (second timer), 100ms (first timer).
[0086] 200ms: Control device B receives a message from control device A through the bus and finds that the identification code of control device A is smaller than its own identification code. The 1000ms timer of control device B is reset. At this time:
[0087] a: 200ms (second timer), 200ms (first timer);
[0088] b: 200ms (second timer), 0ms (first timer).
[0089] 500ms:
[0090] a: 500ms (second timer), 500ms (first timer);
[0091] b: 500ms (second timer), 0ms (first timer).
[0092] 1000ms:
[0093] a: 500ms (second timer), 1000ms (first timer);
[0094] b: 500ms (second timer), 500ms (first timer).
[0095] At this time, the control device b has not been activated, that is, there is no control device in an activated state in the communication system, so the control device a is activated.
[0096] 1500ms:
[0097] a: 500ms (second timer), 1000ms (first timer);
[0098] b: 500ms (second timer), 1000ms (first timer).
[0099] At this time, the control device b finds that the control device a is in an activated state in the communication system, so the control device b is deactivated.
[0100] In this application, the control rights of more than two control devices can also be switched.
[0101] In one embodiment, if Figure 5 As shown, the present application provides a flowchart of the steps for switching the control right of a control device. The control device includes a button and a third timer; the method includes:
[0102] 501. When the device is in an inactive state, if a button of the device is clicked in a preset manner, a third timer of the device is started;
[0103] 502. Control the device to be in the activation state;
[0104] 503. During the timing of the third timer, continuously send the local activation signal;
[0105] 504. When the third timer finishes timing, control the device to maintain the activation state.
[0106] The preset method may be double-clicking a button within a preset duration. In other embodiments, the preset method may also be pressing other buttons, which is not limited here. Specifically, when any button of the control device is clicked in the preset method, the control device is activated. The pressed button may be any button of the control device, such as a power button.
[0107] The purpose of continuously sending the activation signal for a preset time period is to enable other control devices on the bus to receive the signal, thereby preventing other control devices from missing the information.
[0108] Assume that there are multiple control devices a and b in a communication system, b is in an active state, and a is in an inactive state. When any button of the control device a is double-clicked, a is activated, and the third timer is started to count with a preset timing duration of 1000ms. During the timing time of 1000ms, the control device a continuously sends a local activation signal to the bus. The signal carries a status flag, for example, 0 indicates inactivation and 1 indicates activation. A continuously sending the local activation signal to the bus is equivalent to forcing the device to enter the activation state for a preset duration, for example, 1s. After the 1000ms timing is completed, if the control device a does not detect other activated control devices in the communication system, the control device a remains activated, thereby enabling the control to be switched to the control device a.
[0109] Optionally, when the third timer finishes timing, controlling the local device to maintain the activation state includes:
[0110] When the third timer is finished, if no other activated control device is detected in the communication system, controlling the local device to maintain the activated state;
[0111] If it is detected that there are other activated control devices in the communication system, the control unit is controlled to be in the deactivated state.
[0112] Among them, if the control device a detects that there are no other activated control devices in the communication system, the control device is placed in the deactivated state and there is no need to switch the control right; if the control device a does not detect that there are other activated control devices in the communication system, the control device a remains activated, so that the control right can be switched to the control device a.
[0113] In one embodiment, the method further includes: when the local device is in the activated state, if it is continuously detected that there are other activated control devices in the communication system, controlling the local device to be in the deactivated state.
[0114] Assume that there are multiple control devices a and b on the bus, and b is in an active state. If control device b detects that another control device is activated on the bus, control device b is deactivated, thereby switching the control right of control device b to the other control device.
[0115] See also Figure 6 , Figure 6 Another flow chart of a control method for a control device provided in an embodiment of the present invention is provided. The method is applied to a control device and includes the following steps:
[0116] 601. When the control device is in an inactive state, when a button of the control device is clicked in a preset manner, start a third timer of the control device;
[0117] 602. Activate the control device;
[0118] 603. Determine whether the third timer has completed timing;
[0119] 604. If the third timer has completed timing, obtain a signal from another control device in the communication system; if the third timer has not completed timing, continue to determine whether the third timer has completed timing;
[0120] 605. Determine whether there are other activated control devices on the bus based on signals from other control devices;
[0121] 606. If there are other activated control devices on the bus, deactivate the control device.
[0122] 607. If there is no other activated control device on the bus, control the current control device to remain activated.
[0123] See also Figure 1-Figure 2 An embodiment of the present invention further provides a control device, which is connected to a bus, and the bus is connected to two or more control devices; the control device is used to execute the steps of the control method of the above-mentioned control device.
[0124] Among them, the two or more control devices include a remote control box and a side throttle lever.
[0125] See also Figure 1-Figure 2 An embodiment of the present invention further provides a power system, comprising two or more control devices and a controlled device, wherein the controlled device may be, for example, a propeller, and the two or more control devices are connected to the propeller via a bus.
[0126] The power system also includes a power supply, such as a battery, and the controlled device includes an electronic control unit. The controlled device includes an electronic control unit and a switch unit. The switch unit is connected between the power supply and at least two of the control devices, and the electronic control unit is used to control the state of the switch unit.
[0127] Optionally, the electronic control unit is electrically connected to at least two of the control devices. When the first power button of any one of the control devices is pressed, the electronic control unit detects the power-on signal and controls the switch unit to close to conduct the electrical connection line between the power supply and at least two of the control devices.
[0128] The power supply is used to supply power to the electronic control unit. After the electronic control unit is connected to the control device, when the first power button of any control device is pressed, the electronic control unit detects the power-on signal and controls the switch to close to supply power to the control device.
[0129] The power system may further include a steering wheel, which serves as a control device and can be used to control the direction of the movable device.
[0130] See also Figure 1-Figure 2 The present invention also provides a movable device, including the aforementioned control device or the aforementioned power system. The movable device 100 can be any type of water transportation vehicle, such as a commercial vessel, passenger ship, yacht, fishing boat, sailboat, civilian ship, or other vessel. It can also be a tool capable of operating in water, such as water area inspection equipment, water area management equipment, or water area environment monitoring equipment, and this application does not impose any limitations thereto.
[0131] Wherein, the movable device includes at least one driving platform, and the two control devices are arranged on the same driving platform; or,
[0132] The movable device includes more than two driving platforms, and the two control devices are arranged on different driving platforms.
[0133] Optionally, the movable device includes more than two driving platforms, and the two or more control devices include a first control device and a second control device, and the first control device and the second control device are respectively provided on the first driving platform and the second driving platform; the first driving platform is further provided with a first steering wheel and a first display screen, and the second driving platform is further provided with a second steering wheel and a second display screen;
[0134] When the first control device obtains control, the first steering wheel and the first display screen follow the first control device to obtain control; and when the second control device loses control, the second steering wheel and the second display screen follow the second control device to lose control;
[0135] When the second control device obtains control, the second steering wheel and the second display screen follow the second control device to obtain control, and the first control device loses control, and the first steering wheel and the first display screen follow the first control device to lose control.
[0136] When two control devices are assigned to two different bridges, both equipped with steering wheels and display screens, the switching of control authority between the two control devices also determines the switching of control authority between the two bridges. For example, the first bridge is equipped with a first control device, which is a remote throttle control. The second bridge is equipped with a second control device, which is a side throttle control. The first bridge is also equipped with a first steering wheel and a first display screen, while the second bridge is also equipped with a second steering wheel and a second display screen. When the first control device gains control authority, the first steering wheel and the first display screen follow the first control device, and the second control device, the second steering wheel, and the second display screen lose control authority accordingly. When the second control device gains control authority, the second steering wheel and the second display screen follow the second control device, and the first control device loses control authority, and the first steering wheel and the first display screen follow the first control device.
[0137] An embodiment of the present invention further provides a computer-readable storage medium, which is provided in a control device. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the control method of the control device are implemented.
[0138] It should be noted that the functions or steps that can be implemented by the computer-readable storage medium or removable device can be found in the aforementioned method embodiments. To avoid repetition, they will not be described one by one here.
[0139] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
[0140] Those skilled in the art will clearly understand that for the sake of convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.
[0141] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the scope of protection of the present invention.
Claims
1. A control method for a control device, characterized in that: The control device and other control devices are connected to the same communication system, and the control device and the other control devices are used to instruct the operation of the first function of the same controlled device; the method includes: When the power-on condition is met, comparing the identification code of the local device with the identification code of the other control device to obtain a comparison result; Based on the comparison result, the local device is controlled to be in an activated state or an inactivated state, wherein a control instruction issued by the control device in the activated state can be responded to by the controlled device.
2. The method according to claim 1, characterized in that The control device includes a timer; and the comparing the identification code of the local device with the identification code of the other control device to obtain a comparison result includes: The identification code of the local device is compared with the identification code of the other control device within the set timing duration of the timer to obtain the comparison result.
3. The method according to claim 2, characterized in that The timer includes a first timer and a second timer, and the set timing duration of the second timer is greater than the set timing duration of the first timer; and comparing the identification code of the local device with the identification code of the other control device within the set timing duration of the timer to obtain the comparison result, including: Simultaneously start the first timer and the second timer; During the timing of the first timer, receiving a signal sent by the other control device; Comparing the relative sizes of the identification code of the local device and the identification codes of the other control devices carried in the signal to obtain the comparison result; The controlling the machine to be in an activated state or an inactivated state based on the comparison result includes: Controlling a timing state of the second timer based on the comparison result, wherein the timing state includes continuing timing or resetting to zero and restarting timing; When the second timer finishes timing, if there is an activated control device in the communication system, the control unit is placed in the deactivated state; otherwise, the control unit is placed in the activated state.
4. The method according to claim 3, characterized in that The controlling the state of the second timer based on the comparison result includes: When the comparison result meets a predetermined condition, controlling the second timer to reset and restart; When the comparison result does not satisfy the predetermined condition, the second timer is allowed to continue timing.
5. The method according to claim 4, characterized in that The predetermined conditions include: There is a control device in the communication system whose identification code is smaller than the identification code of the local device; or There exists a control device in the communication system with an identification code larger than the identification code of the local device.
6. The method according to claim 4, characterized in that The controlling the second timer to reset and restart timing comprises: Control the second timer to be reset to zero, and immediately start timing again after being reset to zero; or The second timer is controlled to be reset to zero, and starts to count again after the first timer finishes counting.
7. The method according to claim 1, characterized in that The control device includes a first power button; the power-on condition being met includes that the power-on of the control device is not triggered by the first power button.
8. The method according to claim 7, characterized in that The power-on of the control device is not triggered by the first power button, which includes any one of the following: After the control device loses power, the switch unit on the electrical connection line between the control device and its power supply remains closed, and the control device subsequently resumes power supply; The communication system is also connected to a control device, the operating device and the control device are powered by the same power supply, the control device is used to instruct the operation of the second function of the controlled device, and the control device is provided with a second power button, which is pressed.
9. The method according to claim 1, characterized in that: The control device includes a first power button; the method further includes: When the machine is powered on by the first power button of the machine, the machine is controlled to be in the activated state.
10. The method according to any one of claims 1 to 9, characterized in that: The control device includes a button and a third timer; the method further includes: When the machine is in an inactive state, if a button of the machine is clicked in a preset manner, a third timer of the machine is started; Controlling the device to be in the activation state; During the timing time of the third timer, continuously sending a signal for the local device to be activated; When the third timer finishes timing, the device is controlled to maintain the activation state.
11. The method according to claim 10, characterized in that When the third timer has finished timing, controlling the device to maintain the activation state includes: When the third timer is finished, if no other activated control device is detected in the communication system, the local device is controlled to maintain the activated state; If it is detected that there are other activated control devices in the communication system, the control unit is placed in the deactivated state.
12. The method according to any one of claims 1 to 9, characterized in that: The method further comprises: When the device is in the activated state, if it is continuously detected that there are other activated control devices in the communication system, the device is controlled to be in the deactivated state.
13. The method according to any one of claims 1 to 9, characterized in that: The control device and the other control devices are respectively arranged on the first driving platform and the second driving platform, the first driving platform is also provided with a first steering wheel and a first display screen, and the second driving platform is also provided with a second steering wheel and a second display screen; the method further comprises: When the host obtains control, the first steering wheel and the first display screen follow the host to obtain control, and the second control device loses control, and the second steering wheel and the second display screen follow other control devices to lose control; When other control devices obtain control, the second steering wheel and the second display screen follow the other control devices to obtain control, and the host loses control, and the first steering wheel and the first display screen follow the host to lose control.
14. A control device, characterized in that: The control device comprises a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the control method of the control device according to any one of claims 1 to 13 is implemented.
15. A power system, characterized in that: The power system includes a controlled device and at least two control devices according to claim 14, and at least two of the control devices and the controlled device are connected to the same communication system.
16. The power system according to claim 15, characterized in that: The power system further includes a power supply, and the controlled device includes an electronic control unit and a switch unit. The switch unit is connected between the power supply and at least two of the control devices, and the electronic control unit is used to control the state of the switch unit.
17. The power system according to claim 16, characterized in that: The electronic control unit is electrically connected to at least two of the control devices. When the first power button of any one of the control devices is pressed, the electronic control unit detects a power-on signal and controls the switch unit to close, so as to conduct the electrical connection line between the power supply and at least two of the control devices.
18. The power system according to any one of claims 15 to 17, characterized in that: The two or more control devices include a first control device and a second control device, and the first control device and the second control device are respectively arranged on a first driving platform and a second driving platform; the first driving platform is also provided with a first steering wheel and a first display screen, and the second driving platform is also provided with a second steering wheel and a second display screen; When the first control device obtains control, the first steering wheel and the first display screen follow the first control device to obtain control; and when the second control device loses control, the second steering wheel and the second display screen follow the second control device to lose control; When the second control device obtains control, the second steering wheel and the second display screen follow the second control device to obtain control; and when the first control device loses control, the first steering wheel and the first display screen follow the first control device to lose control.
19. A movable device, characterized in that: The movable device comprises a main body and a power system as described in any one of claims 15 to 18, and the power system is installed on the main body.
20. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the control method of the control device according to any one of claims 1 to 12 are implemented.