Propulsion system and control method thereof, mobile device in water area, and storage medium

Abstract

A propulsion system and its control method, a movable device in water area, and a storage medium, wherein the propulsion system includes a steering adjustment device and multiple propulsion devices, and the method includes: obtaining the steering angle of each of the propulsion devices (S101); dividing the multiple propulsion devices into a first propulsion device having a first angular relationship with a target propulsion device and a second propulsion device having a second angular relationship with the target propulsion device according to the steering angle, the target propulsion device being one of the multiple propulsion devices and having a third angular relationship with the steering adjustment device (S102); controlling the target propulsion device and the first propulsion device to synchronously steer following the steering adjustment device (S103); and when the second propulsion device also has the first angular relationship with the target propulsion device, controlling the second propulsion device to also synchronously steer following the steering adjustment device (S104).

Description

Technical Field

[0001] The present application relates to the field of steering control technology, and in particular to a propulsion system and a control method thereof, a mobile device in water area, and a storage medium. Background Art

[0002] With technological advancements, outboard motors on ships are beginning to adopt electronic steering systems, using the steering wheel as a steering adjustment device. As the steering wheel turns during navigation, the outboard motor also rotates a certain angle, allowing the outboard motor to output power in the direction controlled by the driver. However, because electronic steering systems have no mechanical limitations, misalignment between the steering wheel and the outboard motor's steering direction can occur. For ships with multiple outboard motors, aligning each motor simultaneously to follow the steering wheel's direction can easily lead to safety issues. Summary of the Invention

[0003] Based on this, the present application provides a propulsion system and its control method, a movable device in water area, and a storage medium, which can improve the safety of the propulsion system operation.

[0004] In a first aspect, the present application provides a method for controlling a propulsion system, wherein the propulsion system includes a steering adjustment device and a plurality of propulsion devices, the method comprising:

[0005] obtaining a steering angle of each of the propulsion devices;

[0006] dividing the plurality of propulsion devices into a first propulsion device having a first angular relationship with a target propulsion device and a second propulsion device having a second angular relationship with the target propulsion device according to the steering angle, the target propulsion device being one of the plurality of propulsion devices and having a third angular relationship with the steering adjustment device;

[0007] Controlling the target propulsion device and the first propulsion device to turn synchronously with the steering adjustment device; and

[0008] When the second propulsion device and the target propulsion device also have the first angular relationship, the second propulsion device is controlled to also turn synchronously with the steering adjustment device.

[0009] In a second aspect, the present application further provides a method for controlling a propulsion system, wherein the propulsion system includes a steering adjustment device and a plurality of propulsion devices, the method comprising:

[0010] obtaining a steering angle of each of the propulsion devices;

[0011] determining, from the plurality of propulsion devices, a third propulsion device having a fourth angular relationship with the steering adjustment device and a fourth propulsion device having a fifth angular relationship with the steering adjustment device based on the steering angle;

[0012] Controlling the third propulsion device to turn synchronously with the steering adjustment device;

[0013] When the fourth propulsion device and the steering adjustment device have the fourth angular relationship, the fourth propulsion device is controlled to also turn synchronously with the steering adjustment device.

[0014] In a third aspect, the present application further provides a propulsion system, the propulsion system comprising a memory and a processor;

[0015] The memory is used to store computer programs;

[0016] The processor is used to execute the computer program and implement the control method of the propulsion system described in the first aspect or the second aspect when executing the computer program.

[0017] In a fourth aspect, the present application further provides a movable device for use in water areas, which includes the propulsion system described in the third aspect.

[0018] In a fifth aspect, the present application further provides a storage medium storing a computer program, which, when executed by a processor, enables the processor to implement the control method of the propulsion system described in the first aspect or the second aspect.

[0019] An embodiment of the present application provides a propulsion system and a control method thereof, a movable device in water area, and a storage medium. For multiple propulsion devices of the propulsion system, based on the angular relationship between the multiple propulsion devices and the steering adjustment device, they are controlled one by one to turn synchronously with the steering adjustment device. Compared with simultaneously driving multiple propulsion devices to turn synchronously with the steering adjustment device, the probability of safety problems occurring is reduced, thereby improving the safety of the propulsion system operation.

[0020] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0022] Figure 1is a schematic flow chart of the steps of a control method for a propulsion system provided in an embodiment of the present application;

[0023] Figure 2 It is a schematic diagram of the communication architecture of a propulsion system;

[0024] Figure 3 is a schematic flow chart of steps of another method for controlling a propulsion system provided by an embodiment of the present application;

[0025] Figure 4 is a schematic flow chart of steps for adjusting at least one of a steering adjustment device and a target propulsion device provided by an embodiment of the present application;

[0026] Figure 5 This is a schematic diagram of displaying operation prompt information provided by an embodiment of the present application;

[0027] Figure 6 is another schematic flow chart of steps for adjusting at least one of a steering adjustment device and a target propulsion device provided by an embodiment of the present application;

[0028] Figure 7 is another schematic diagram of displaying operation prompt information provided by an embodiment of the present application;

[0029] Figure 8 This is a flow chart of a process in which an outboard motor turns synchronously with a steering wheel when the steering wheel is currently operating in a first mode, provided by an embodiment of the present application;

[0030] Figure 9 This is a flow chart of a process in which an outboard motor turns synchronously with a steering wheel when the steering wheel is currently operating in a second mode, provided by an embodiment of the present application;

[0031] Figure 10 is a schematic flow chart of steps of another method for controlling a propulsion system provided by an embodiment of the present application;

[0032] Figure 11 It is a schematic block diagram of a propulsion system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0034] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, combined, or partially merged, so the actual execution order may vary depending on the actual situation.

[0035] It should be understood that the terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0036] It should be further understood that the term “and / or” used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0037] The following describes some embodiments of the present application in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0038] See also Figure 1 , Figure 1 This is a flowchart of the steps of a propulsion system control method provided in an embodiment of the present application. This propulsion system control method can be applied to a propulsion system or a mobile device in water that includes a propulsion system, or to other devices, without specific limitations in this application. Mobile devices in water include, but are not limited to, ships and boats.

[0039] like Figure 1 As shown, the control method of the propulsion system includes steps S101 to S104.

[0040] S101: Obtain the steering angle of each propulsion device.

[0041] The propulsion system includes a steering control device and multiple propulsion units. The steering control device and the propulsion units can be connected via wired communication methods such as the CAN (Controller Area Network) bus and 485 bus, or wirelessly via wireless communication methods such as WiFi and Bluetooth. The steering control device includes but is not limited to a steering wheel, tiller, and wireless joystick, and the propulsion units include but are not limited to outboard motors and rotatable podded propulsion units.

[0042] Illustratively, each propulsion unit includes a controller and an electronic steering control unit. The controller includes, but is not limited to, an ECU (Electronic Control Unit). The controller is responsible for coordinating the operation of various components in the propulsion unit, for example, issuing steering commands to the electronic steering control unit to control the steering of the propulsion unit. The controller can also exchange information with external devices, for example, receiving steering control commands from a steering adjustment device.

[0043] For example, if the steering control device is a steering wheel and the propulsion device is an outboard motor, Figure 2 As shown, the propulsion system includes a steering wheel, outboard motor 1, outboard motor 2...outboard motor n, each outboard motor includes an ECU and an electric steering control unit, outboard motor 1, outboard motor 2...outboard motor n and the steering wheel are connected in parallel via a CAN1 bus, and for each outboard motor among outboard motor 1, outboard motor 2...outboard motor n, its ECU and the electric steering control unit are connected via a CAN2 bus.

[0044] In order to reliably control the operation of the propulsion system, it is necessary to obtain the steering angle of each propulsion device in the propulsion system. For example, the propulsion system is provided with an angle detection device such as an angle sensor, and the steering angle of each propulsion device is obtained by the angle sensor.

[0045] In addition, the rotation angle of the steering adjustment device also needs to be obtained. For example, the steering adjustment device is also provided with an angle detection device such as an angle sensor, and the rotation angle of the steering adjustment device is obtained by detecting the angle sensor.

[0046] S102. Divide the plurality of propulsion devices into a first propulsion device having a first angle relationship with the target propulsion device and a second propulsion device having a second angle relationship with the target propulsion device according to the steering angle, wherein the target propulsion device is one of the plurality of propulsion devices and has a third angle relationship with the steering adjustment device.

[0047] Among the multiple propulsion devices of the propulsion system, one of the multiple propulsion devices is used as a target propulsion device, and then the target propulsion device is used as a reference to control each propulsion device to turn synchronously with the steering adjustment device.

[0048] In some embodiments, one of the multiple propulsion devices of the propulsion system is the main propulsion device, and the others are slave propulsion devices, and the main propulsion device is directly used as the target propulsion device. That is, the main propulsion device is used as a reference benchmark to control each propulsion device to follow the steering adjustment device to turn synchronously. In a propulsion system including multiple propulsion devices, one of the multiple propulsion devices will be elected as the main propulsion device, and the main propulsion device will coordinate the management of the propulsion system. The main propulsion device will be selected after the initialization of the propulsion system is completed. In this embodiment, when it is detected that at least some of the multiple propulsion devices are not aligned with the steering adjustment device, the main propulsion device is directly used as the target propulsion device, without the need to execute a complex target propulsion device selection process, and the selection logic is relatively simple.

[0049] In other embodiments, the control method of the propulsion system further includes: calculating the mapping angle difference between the steering adjustment device and each propulsion device, and selecting the propulsion device corresponding to the minimum mapping angle difference as the target propulsion device.

[0050] According to the steering angle of each propulsion device and the rotation angle of the steering adjustment device, the mapping angle difference between the steering adjustment device and each propulsion device is calculated, and then the propulsion device corresponding to the minimum mapping angle difference is selected from the multiple propulsion devices as the target propulsion device, that is, the propulsion device whose current steering position is closest to the steering position indicated by the steering adjustment device is selected as the target propulsion device. It can be understood that the smaller the mapping angle difference, the greater the possibility that the propulsion device corresponding to the mapping angle difference is aligned with the steering adjustment device. Even if there is no alignment, the propulsion device or the steering adjustment device only needs to undergo a relatively small amount of rotation adjustment to achieve alignment between the two. Therefore, the solution of this embodiment uses the propulsion device with the smallest mapping angle difference as the target propulsion device. On the one hand, it reduces the probability of needing to align a certain propulsion device with the steering adjustment device first. On the other hand, it reduces the amplitude of rotation required for the propulsion device or the steering adjustment device to a certain extent, thereby improving the efficiency of the steering adjustment to better meet the user's usage needs.

[0051] In some embodiments, the control method of the propulsion system also includes: determining the external output angle corresponding to the rotation angle of the steering adjustment device based on the alignment strategy corresponding to the current configuration mode of the steering adjustment device, wherein the steering adjustment device corresponds to different alignment strategies under different configuration modes; calculating the mapping angle difference between the steering adjustment device and each propulsion device based on the external output angle, the steering angle of each propulsion device and the preset mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device.

[0052] Regarding the mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device, for example, assuming that the rotation angle range of the steering adjustment device is [-180°, 180°] and the steering angle range of each propulsion device is [-45°, 45°], then the steering transmission ratio is 360°:90°=4:1. The mapping relationship is that the -180° rotation angle of the steering adjustment device corresponds to the -45° steering angle of the propulsion device, the 180° rotation angle of the steering adjustment device corresponds to the 45° steering angle of the propulsion device, and so on.

[0053] The configuration modes of the steering adjustment device include a first mode and a second mode. For example, the first mode refers to an uncentered mode, and the second mode refers to a centered mode. The centered mode is to set the state of the steering adjustment device at a certain rotation angle to a centered state, and the rotation angle of the steering adjustment device in the centered state is called the centering angle. For example, if the state of the steering adjustment device at 10° is set to a centered state, the centering angle is 10°. The uncentered mode is a mode in which the centering angle is not set. In different configuration modes of the steering adjustment device, the external output angle corresponding to the rotation angle of the steering adjustment device is different.

[0054] In a scenario where the steering adjustment device is currently operating in the first mode, in some embodiments, based on the alignment strategy corresponding to the current configuration mode of the steering adjustment device, the external output angle corresponding to the rotation angle of the steering adjustment device is determined, including: determining the rotation angle of the steering adjustment device as the external output angle.

[0055] That is, when the steering control device is not configured in the centering mode, the external output angle of the steering control device is the detected rotation angle of the steering control device. For example, if the angle sensor detects that the rotation angle of the steering control device is 40°, the external output angle of the steering control device is 40°.

[0056] In the scenario where the steering adjustment device is currently operating in the second mode, in some embodiments, based on the alignment strategy corresponding to the current configuration mode of the steering adjustment device, the external output angle corresponding to the rotation angle of the steering adjustment device is determined, including: determining the external output angle of the steering adjustment device according to the rotation angle of the steering adjustment device and the centering angle corresponding to the second mode.

[0057] That is, when the steering adjustment device is configured in the centering mode, the external output angle of the steering adjustment device is determined by the detected rotation angle of the steering adjustment device combined with the centering angle.

[0058] In some embodiments, the external output angle of the steering adjustment device is determined based on the rotation angle of the steering adjustment device and the centering angle corresponding to the second mode, including: determining the difference between the rotation angle of the steering adjustment device and the centering angle as the external output angle of the steering adjustment device.

[0059] For example, assuming that the angle sensor detects that the rotation angle of the steering adjustment device is 50° and the centering angle is 10°, the external output angle of the steering adjustment device is 50° minus 10°, that is, 40°.

[0060] It should be noted that in addition to the above-mentioned method of determining the difference between the rotation angle and the centering angle of the steering adjustment device as the external output angle of the steering adjustment device, other methods can also be used to determine the external output angle based on the rotation angle and the centering angle, and no specific restrictions are made in this application.

[0061] After obtaining the external output angle of the steering adjustment device and the steering angle of each propulsion device, the mapping angle difference between the steering adjustment device and each propulsion device is calculated based on the mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device.

[0062] The mapped angle difference between the steering adjustment device and each propulsion device may be an angle difference mapped at the propulsion device end, or an angle difference mapped at the steering adjustment device end.

[0063] For the case of mapping on the propulsion device side:

[0064] In some embodiments, based on the mapping relationship between the external output angle, the steering angle of each propulsion device, and the rotation angle of the steering adjustment device and the steering angle of the propulsion device, the mapping angle difference between the steering adjustment device and each propulsion device is calculated, including: determining the mapping angle corresponding to the steering angle of each propulsion device; calculating the absolute value of the difference between the mapping angle corresponding to the steering angle of each propulsion device and the external output angle of the steering adjustment device; mapping the absolute value of the difference between the mapping angle corresponding to the steering angle of each propulsion device and the external output angle of the steering adjustment device under the mapping relationship as the mapping angle difference between the steering adjustment device and each propulsion device.

[0065] For example, if the steering angle of a propulsion device is 45° and the external output angle of the steering adjustment device is 40°, based on the mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device, the mapping angle corresponding to the 45° steering angle is determined to be 180°. The absolute value of the difference between the mapping angle 180° and the external output angle 40° is calculated to be 140°. The value mapped to 140° under this mapping relationship is 35°. Therefore, the mapping angle difference between the steering adjustment device and the propulsion device is determined to be 35°. In this way, the mapping angle differences between the steering adjustment device and each propulsion device are calculated.

[0066] In other embodiments, based on the mapping relationship between the external output angle, the steering angle of each propulsion device, and the rotation angle of the steering adjustment device and the steering angle of the propulsion device, the mapping angle difference between the steering adjustment device and each propulsion device is calculated, including: determining the mapping angle corresponding to the external output angle of the steering adjustment device based on the mapping relationship; and determining the absolute value of the difference between the mapping angle corresponding to the external output angle of the steering adjustment device and the steering angle of each propulsion device as the mapping angle difference between the steering adjustment device and each propulsion device.

[0067] For example, if the steering angle of a propulsion device is 45° and the external output angle of the steering control device is 40°, based on the mapping relationship between the rotation angle of the steering control device and the steering angle of the propulsion device, the mapping angle corresponding to the external output angle of 40° is determined to be 10°. The absolute value of the difference between the mapping angle 10° and the steering angle of 45° of the propulsion device is calculated to be 35°. Therefore, the mapping angle difference between the steering control device and the propulsion device is determined to be 35°. In this way, the mapping angle differences between the steering control device and each propulsion device are calculated.

[0068] For the case of mapping on the steering control device side:

[0069] In some embodiments, based on the mapping relationship between the external output angle, the steering angle of each propulsion device, and the rotation angle of the steering adjustment device and the steering angle of the propulsion device, the mapping angle difference between the steering adjustment device and each propulsion device is calculated, including: determining the mapping angle corresponding to the steering angle of each propulsion device based on the mapping relationship; and determining the absolute value of the difference between the mapping angle corresponding to the steering angle of each propulsion device and the external output angle as the mapping angle difference between the steering adjustment device and each propulsion device.

[0070] For example, if the steering angle of a propulsion device is 45° and the external output angle of the steering control device is 40°, based on the mapping relationship between the rotation angle of the steering control device and the steering angle of the propulsion device, the mapping angle corresponding to the 45° steering angle is determined to be 180°. The absolute value of the difference between the mapping angle 180° and the external output angle 40° is calculated to be 140°. Therefore, the mapping angle difference between the steering control device and the propulsion device is determined to be 140°. In this way, the mapping angle differences between the steering control device and each propulsion device are calculated.

[0071] In other embodiments, based on the mapping relationship between the external output angle, the steering angle of each propulsion device and the rotation angle of the steering adjustment device and the steering angle of the propulsion device, the mapping angle difference between the steering adjustment device and each propulsion device is calculated, including: determining the mapping angle corresponding to the external output angle of the steering adjustment device based on the mapping relationship; calculating the absolute value of the difference between the mapping angle corresponding to the external output angle of the steering adjustment device and the steering angle of each propulsion device; and mapping the absolute value of the difference between the mapping angle corresponding to the external output angle of the steering adjustment device and the steering angle of each propulsion device under the mapping relationship as the mapping angle difference between the steering adjustment device and each propulsion device.

[0072] For example, if the steering angle of a propulsion device is 45° and the external output angle of the steering adjustment device is 40°, based on the mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device, the mapping angle corresponding to the external output angle of 40° is determined to be 10°. The absolute value of the difference between the mapping angle 10° and the steering angle of 45° of the propulsion device is calculated to be 35°. The value mapped to 35° under this mapping relationship is 140°. Therefore, the mapping angle difference between the steering adjustment device and the propulsion device is determined to be 140°. In this way, the mapping angle differences between the steering adjustment device and each propulsion device are calculated.

[0073] After the mapping angle differences between the steering adjustment device and each propulsion device are calculated by any of the above methods, the propulsion device corresponding to the minimum mapping angle difference may be selected as the target propulsion device.

[0074] The steering angle of the target propulsion device is compared with the steering angles of other propulsion devices. The propulsion devices having a first angle relationship with the target propulsion device are divided into one group, and the propulsion devices having a second angle relationship with the target propulsion device are divided into another group. For the convenience of distinguishing and describing, the propulsion device having the first angle relationship with the target propulsion device is referred to as the first propulsion device, and the propulsion device having the second angle relationship with the target propulsion device is referred to as the second propulsion device.

[0075] Exemplarily, the first angle relationship is that the absolute value of the difference between the steering angle of the propulsion device and the steering angle of the target propulsion device is less than or equal to the first preset angle threshold; the second angle relationship is that the absolute value of the difference between the steering angle of the propulsion device and the steering angle of the target propulsion device is greater than the first preset angle threshold.

[0076] For example, the first preset angle threshold is pre-set to 10°, that is, if the absolute value of the difference between the steering angle of a certain propulsion device and the steering angle of the target propulsion device is less than or equal to 10°, then the propulsion device and the target propulsion device have a first angle relationship; if the absolute value of the difference between the steering angle of a certain propulsion device and the steering angle of the target propulsion device is greater than 10°, then the propulsion device and the target propulsion device have a second angle relationship.

[0077] It should be noted that the specific value of the first preset angle threshold can be flexibly set according to actual conditions. For example, the first preset angle threshold can also be 5°, 15°, 20°, etc., and there is no specific limitation in this application.

[0078] In addition to the above-mentioned methods of determining the first angle relationship and the second angle relationship based on the difference in steering angles, the first angle relationship and the second angle relationship may also be determined by other methods, which are not specifically limited in this application. For example, by calculating the ratio of the steering angle of the propulsion device to the steering angle of the target propulsion device, if the ratio of the steering angle of the propulsion device to the steering angle of the target propulsion device is within a set range, then the propulsion device and the target propulsion device have a first angle relationship; conversely, if the ratio of the steering angle of the propulsion device to the steering angle of the target propulsion device is outside the set range, then the propulsion device and the target propulsion device have a second angle relationship.

[0079] Furthermore, the target propulsion device and the steering adjustment device have a third angular relationship with each other. Exemplarily, the third angular relationship is that a mapping angle difference between the target propulsion device and the steering adjustment device is less than or equal to a third preset angle threshold, the third preset angle threshold is less than or equal to the first preset angle threshold, or the mapping angle threshold of the third preset angle threshold under a preset mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device is less than or equal to the first preset angle threshold.

[0080] In some embodiments, the control method of the propulsion system also includes: determining the external output angle corresponding to the rotation angle of the steering adjustment device based on the alignment strategy corresponding to the current configuration mode of the steering adjustment device, wherein the steering adjustment device corresponds to different alignment strategies under different configuration modes; and calculating the mapping angle difference between the target propulsion device and the steering adjustment device based on the external output angle, the steering angle of the target propulsion device and the mapping relationship.

[0081] For the external output angle corresponding to the rotation angle of the steering adjustment device, reference can be made to the introduction in the aforementioned embodiment, so it will not be described in detail here.

[0082] The mapping angle difference between the target propulsion device and the steering adjustment device is mapped to the target propulsion device end:

[0083] When the third preset angle threshold is less than or equal to the first preset angle threshold, in some embodiments, based on the external output angle, the steering angle of the target propulsion device and the mapping relationship, the mapping angle difference between the target propulsion device and the steering adjustment device is calculated, including: determining a first mapping angle of the steering angle mapping of the target propulsion device based on the mapping relationship; calculating the absolute value of the difference between the first mapping angle and the external output angle; and mapping the absolute value of the difference between the first mapping angle and the external output angle under the mapping relationship as a value obtained by mapping the absolute value of the difference between the first mapping angle and the external output angle as the mapping angle difference between the target propulsion device and the steering adjustment device.

[0084] For example, when the third preset angle threshold is less than or equal to 10°, a mapping angle corresponding to the steering angle of the target propulsion device is determined based on the mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device. For ease of description, the mapping angle corresponding to the steering angle of the target propulsion device is referred to as the first mapping angle. The absolute value of the difference between the first mapping angle and the external output angle of the steering adjustment device is calculated, and the value obtained by mapping this absolute value based on the mapping relationship is used as the mapping angle difference between the target propulsion device and the steering adjustment device.

[0085] When the third preset angle threshold is less than or equal to the first preset angle threshold, in other embodiments, based on the external output angle, the steering angle of the target propulsion device and the mapping relationship, the mapping angle difference between the target propulsion device and the steering adjustment device is calculated, including: determining a second mapping angle for mapping the external output angle based on the mapping relationship; and determining the absolute value of the difference between the second mapping angle and the steering angle of the target propulsion device as the mapping angle difference between the target propulsion device and the steering adjustment device.

[0086] For example, when the third preset angle threshold is less than or equal to 10°, a mapping angle corresponding to the external output angle of the target steering control device is determined based on the mapping relationship between the rotation angle of the steering control device and the steering angle of the propulsion device. For ease of description, the mapping angle corresponding to the external output angle of the steering control device is referred to as the second mapping angle below. The absolute value of the difference between the second mapping angle and the steering angle of the target propulsion device is calculated, and this absolute value is determined as the mapping angle difference between the target propulsion device and the steering control device.

[0087] In a case where the mapped angle difference between the target propulsion device and the steering adjustment device is mapped to the target propulsion device, if the mapped angle difference between the target propulsion device and the steering adjustment device is less than or equal to a third preset angle threshold, and the third preset angle threshold is less than or equal to the first preset angle threshold, then the steering adjustment device and the target propulsion device satisfy a third angle relationship. Otherwise, the steering adjustment device and the target propulsion device do not satisfy the third angle relationship.

[0088] The mapping angle difference between the target propulsion device and the steering control device is mapped to the steering control device:

[0089] When the mapping angle threshold of the third preset angle threshold under the mapping relationship is less than or equal to the first preset angle threshold, in some embodiments, based on the external output angle, the steering angle of the target propulsion device and the mapping relationship, the mapping angle difference between the target propulsion device and the steering adjustment device is calculated, including: determining the first mapping angle of the steering angle mapping of the target propulsion device based on the mapping relationship; and determining the absolute value of the difference between the first mapping angle and the external output angle as the mapping angle difference between the target propulsion device and the steering adjustment device.

[0090] For example, when the mapping angle threshold corresponding to the third preset angle threshold is less than or equal to 10°, a first mapping angle corresponding to the steering angle of the target propulsion device is determined based on the mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device. The absolute value of the difference between the first mapping angle and the external output angle of the steering adjustment device is calculated, and this absolute value is determined as the mapping angle difference between the target propulsion device and the steering adjustment device.

[0091] When the mapping angle threshold of the third preset angle threshold under the mapping relationship is less than or equal to the first preset angle threshold, in other embodiments, based on the external output angle, the steering angle of the target propulsion device and the mapping relationship, the mapping angle difference between the target propulsion device and the steering adjustment device is calculated, including: determining a second mapping angle for mapping the external output angle based on the mapping relationship; calculating the absolute value of the difference between the second mapping angle and the steering angle of the target propulsion device; and mapping the absolute value of the difference between the second mapping angle and the steering angle of the target propulsion device under the mapping relationship as the mapping angle difference between the target propulsion device and the steering adjustment device.

[0092] For example, when the mapping angle threshold corresponding to the third preset angle threshold is less than or equal to 10°, a second mapping angle corresponding to the external output angle of the target steering adjustment device is determined based on the mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device. The absolute value of the difference between the second mapping angle and the steering angle of the target propulsion device is calculated, and the absolute value of the difference between the second mapping angle and the steering angle of the target propulsion device is mapped using the mapping relationship to obtain the value as the mapping angle difference between the target propulsion device and the steering adjustment device.

[0093] In the case where the mapped angle difference between the target propulsion device and the steering adjustment device is mapped to the steering adjustment device, if the mapped angle difference between the target propulsion device and the steering adjustment device is less than or equal to a third preset angle threshold, and the mapped angle threshold of the third preset angle threshold in the mapping relationship is less than or equal to the first preset angle threshold, then the steering adjustment device and the target propulsion device satisfy the third angle relationship. Otherwise, the steering adjustment device and the target propulsion device do not satisfy the third angle relationship.

[0094] S103 , controlling the target propulsion device and the first propulsion device to turn synchronously with the steering adjustment device.

[0095] When the steering adjustment device and the target propulsion device satisfy the third angular relationship, the target propulsion device and the first propulsion device, which has the first angular relationship with the target propulsion device, are controlled to steer synchronously with the steering adjustment device. This allows the target propulsion device and the first propulsion device, whose current steering position is less different from the steering position indicated by the steering adjustment device, to steer synchronously with the steering adjustment device, while the second propulsion device, whose current steering position is more different from the steering position indicated by the steering adjustment device, temporarily stops steering. This avoids safety issues that could arise from direct steering by a propulsion device that is less aligned with the steering adjustment device.

[0096] It should be noted that among the multiple propulsion devices, there may be only a target propulsion device and a second propulsion device. In this case, in step S103, only the target propulsion device may be controlled to turn synchronously with the steering adjustment device.

[0097] In some embodiments, as Figure 3 As shown, step S105 is included before step S103.

[0098] S105 . When the steering adjustment device and the target propulsion device do not satisfy the third angular relationship, adjust at least one of the steering adjustment device and the target propulsion device so that the steering adjustment device and the target propulsion device satisfy the third angular relationship.

[0099] For example, in a case where the mapping angle difference between the target propulsion device and the steering adjustment device is mapped at the target propulsion device end, if the mapping angle difference between the target propulsion device and the steering adjustment device is greater than the third preset angle threshold (the third preset angle threshold is less than or equal to the first preset angle threshold), or, in a case where the mapping angle difference between the target propulsion device and the steering adjustment device is mapped at the steering adjustment device end, if the mapping angle difference between the target propulsion device and the steering adjustment device is greater than the third preset angle threshold (the mapping angle threshold of the third preset angle threshold under the mapping relationship is less than or equal to the first preset angle threshold), then adjust the steering adjustment device or the target propulsion device so that the steering adjustment device and the target propulsion device satisfy the third angle relationship.

[0100] In some embodiments, as Figure 4 As shown, step S105 includes steps S1051 to S1053.

[0101] S1051. Determine a first mapping angle for the steering angle mapping of the target propulsion device based on a preset mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device;

[0102] S1052: Determine a first target angle of the steering adjustment device based on the first mapping angle and an alignment strategy corresponding to the current configuration mode of the steering adjustment device; wherein the steering adjustment device corresponds to different alignment strategies in different configuration modes;

[0103] S1053: Control the rotation angle of the steering adjustment device to be a first target angle.

[0104] By adjusting the rotation angle of the steering adjustment device, the steering adjustment device and the target propulsion device satisfy a third angle relationship. Specifically, based on the mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device, the first mapping angle corresponding to the steering angle of the target propulsion device is determined. Then, based on the first mapping angle and the current configuration mode of the steering adjustment device, the target angle corresponding to the steering adjustment device is determined. For the convenience of distinguishing the description, the target angle corresponding to the steering adjustment device will be referred to as the first target angle below. Afterwards, the rotation angle of the steering adjustment device is controlled to be the first target angle, so that the steering adjustment device is aligned with the target propulsion device. At this time, the steering adjustment device and the target propulsion device satisfy the third angle relationship.

[0105] In a scenario where the steering adjustment device is currently operating in the first mode, in some embodiments, the first target angle of the steering adjustment device is determined based on the alignment strategy corresponding to the current configuration mode of the steering adjustment device, including: if the steering adjustment device is currently operating in the first mode, determining the first mapping angle as the first target angle.

[0106] For example, assuming the rotation angle of the steering adjustment device is 40° and the steering angle of the target propulsion device is 45°, the steering adjustment device and the target propulsion device do not satisfy the third angular relationship. In this case, based on the mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device, the first mapping angle corresponding to the 45° steering angle of the target propulsion device is determined to be 180°, and 180° is determined as the first target angle. The steering adjustment device is controlled to rotate to 180° (corresponding to the 45° steering angle of the target propulsion device) so that the steering adjustment device and the target propulsion device are aligned. At this point, the steering adjustment device and the target propulsion device satisfy the third angular relationship.

[0107] In some embodiments, controlling the rotation angle of the steering adjustment device to be a first target angle includes: automatically updating the rotation angle of the steering adjustment device to the first target angle.

[0108] In the scenario where the steering adjustment device is currently operating in the first mode, the steering adjustment device does not need to be rotated to align with the target propulsion device. Instead, the rotation angle of the steering adjustment device is automatically updated to the first target angle. For example, the original rotation angle of 40° is automatically updated to 180°, so that the steering adjustment device is aligned with the target propulsion device, and the steering adjustment device and the target propulsion device satisfy the third angle relationship.

[0109] In the scenario where the steering adjustment device is currently operating in the second mode, in some embodiments, the first target angle of the steering adjustment device is determined based on the alignment strategy corresponding to the current configuration mode of the steering adjustment device, including: if the steering adjustment device is currently operating in the second mode, the first target angle is determined based on the first mapping angle and the preset centering angle corresponding to the second mode.

[0110] For example, assuming that the rotation angle of the steering adjustment device is 50°, the steering angle of the target propulsion device is 40°, and the centering angle is 10°, the steering adjustment device and the target propulsion device do not satisfy the third angle relationship. At this time, based on the mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device, the first mapping angle corresponding to the steering angle of 40° of the target propulsion device is determined to be 160°. Combined with the first mapping angle of 160° and the centering angle of 10°, the first target angle of the steering adjustment device is determined.

[0111] In some embodiments, determining the first target angle according to the first mapping angle and the centering angle corresponding to the preset second mode includes: determining the sum of the first mapping angle and the centering angle as the first target angle.

[0112] For example, using the example above, the first mapping angle is 160° and the centering angle is 10°. The sum of the first mapping angle (160°) and the centering angle (10°) is calculated to be 170°, thus determining the first target angle to be 170°. The steering control device is then controlled to rotate to 170° (the corresponding external output angle is 160°, corresponding to the target propulsion device's steering angle of 40°), thereby aligning the steering control device with the target propulsion device. At this point, the steering control device and the target propulsion device satisfy the third angular relationship.

[0113] In some embodiments, controlling the rotation angle of the steering adjustment device to be a first target angle includes: outputting operation prompt information so that the user can rotate the steering adjustment device to the first target angle according to the operation prompt information.

[0114] In the scenario where the steering adjustment device is currently operating in the second mode, if the steering adjustment device and the target propulsion device do not satisfy the third angle relationship, an operation prompt message is output to prompt the user to rotate the steering adjustment device to align with the target propulsion device. For example, still taking the above example of determining that the first target angle is 170°, if Figure 5 As shown, an operation prompt such as "Please rotate the steering adjustment device to 170° to align with the target propulsion device" is displayed. In accordance with the operation prompt, the user rotates the steering adjustment device from 50° to 170°, corresponding to the steering angle of 40° of the target propulsion device. The steering adjustment device and the target propulsion device are aligned, satisfying the third angle relationship.

[0115] In some embodiments, as Figure 6 As shown, step S105 includes step S1054 and step S1055.

[0116] S1054: Determine a second target angle for mapping the external output angle of the steering adjustment device based on a preset mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device;

[0117] S1055. Control the steering angle of the target propulsion device to be a second target angle.

[0118] The steering angle of the target propulsion device is adjusted to make the steering adjustment device and the target propulsion device satisfy the third angle relationship. For example, in a scenario where the steering adjustment device is currently operating in the first mode, assuming that the rotation angle of the steering adjustment device is 40° and the steering angle of the target propulsion device is 45°, the steering adjustment device and the target propulsion device do not satisfy the third angle relationship. At this time, the external output angle of the steering adjustment device is 40°. Based on the mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device, the second target angle of the external output angle mapping of the steering adjustment device is determined to be 10°, and 10° is determined as the second target angle. The steering angle of the target propulsion device is controlled to be 10° (corresponding to the rotation angle of the steering adjustment device of 40°), so that the steering adjustment device and the target propulsion device are aligned. At this time, the steering adjustment device and the target propulsion device satisfy the third angle relationship.

[0119] For another example, in a scenario where the steering adjustment device is currently operating in the second mode, assuming the rotation angle of the steering adjustment device is 70°, the steering angle of the target propulsion device is 40°, and the centering angle is 10°, the steering adjustment device and the target propulsion device do not satisfy the third angular relationship. In this case, the external output angle of the steering adjustment device is 60°. Based on the mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device, a second target angle for the external output angle mapping of the steering adjustment device is determined to be 15°, and 15° is determined as the second target angle. The steering angle of the target propulsion device is controlled to 15° (corresponding to the rotation angle of the steering adjustment device of 70°), thereby aligning the steering adjustment device with the target propulsion device. At this time, the steering adjustment device and the target propulsion device satisfy the third angular relationship.

[0120] In some embodiments, controlling the steering angle of the target propulsion device to be a second target angle includes: outputting alignment prompt information; and controlling the target propulsion device to automatically turn to the second target angle.

[0121] If the steering adjustment device and the target propulsion device do not satisfy the third angular relationship, the target propulsion device can be aligned with the steering adjustment device without manual rotation by the user. Instead, an alignment prompt message is output, and the steering control unit of the target propulsion device controls the operation of its mechanical steering assembly to automatically steer the target propulsion device to the second target angle. Because the alignment prompt message is output, the user is informed that the target propulsion device is currently operating to achieve alignment between the steering adjustment device and the target propulsion device, thereby preventing the user from mistakenly believing that the target propulsion device is malfunctioning due to a malfunction.

[0122] In other embodiments, controlling the steering angle of the target propulsion device to be a second target angle includes: outputting operation prompt information for the user to rotate the target propulsion device to the second target angle according to the operation prompt information.

[0123] If the steering adjustment device and the target propulsion device do not meet the third angle relationship, an operation prompt message may be output to prompt the user to rotate the target propulsion device to align with the steering adjustment device. For example, still taking the above example of determining that the second target angle is 15°, Figure 7 As shown, an operation prompt message such as "Please rotate the target propulsion device to 15° to align it with the steering adjustment device" is displayed. In accordance with the operation prompt message, the user manually rotates the target propulsion device to 15°, corresponding to the rotation angle of 70° of the steering adjustment device. The steering adjustment device and the target propulsion device are aligned, satisfying the third angle relationship.

[0124] Exemplarily, each propulsion device includes a steering lock structure and a mechanical steering assembly. To ensure safe operation of the propulsion system, when the steering function of the propulsion device is not required or is disabled, the steering lock structure is controlled to be in a locked state. In this locked state, the mechanical steering assembly is restricted, meaning that the steering angle of the propulsion device cannot be adjusted through the mechanical steering assembly. In some embodiments, before controlling the steering angle of the target propulsion device to a second target angle, the control method of the propulsion system includes: controlling the steering lock structure to release the locked state, thereby removing the restriction imposed by the steering lock structure on the mechanical steering assembly.

[0125] If the steering adjustment device and the target propulsion device do not satisfy the third angle relationship, at this time, the steering locking structure of the target propulsion device is controlled to release the locking state to release the restriction of the steering locking structure on the mechanical steering component of the target propulsion device, and the steering angle of the target propulsion device can be controlled to be the second target angle, so that the steering adjustment device and the target propulsion device are aligned to satisfy the third angle relationship.

[0126] When the steering adjustment device and the target propulsion device satisfy the third angular relationship, it is considered that the target propulsion device / first propulsion device is "aligned" with the steering adjustment device. At this time, the target propulsion device and the first propulsion device having the first angular relationship with the target propulsion device can be controlled to follow the steering adjustment device to turn synchronously.

[0127] It should be noted that the aforementioned "alignment" does not require that the target propulsion device / first propulsion device and the steering adjustment device are completely aligned, that is, only when the mapping angle difference between the target propulsion device / first propulsion device and the steering adjustment device is 0°, the target propulsion device and the first propulsion device are allowed to follow the steering adjustment device to turn synchronously. In the case where the mapping angle difference between the target propulsion device / first propulsion device and the steering adjustment device is small, for example, when the mapping angle difference is less than or equal to the aforementioned third preset angle threshold, it can also be considered that the target propulsion device / first propulsion device and the steering adjustment device are aligned. It can be understood that when the mapping angle difference is small, it means that the steering position of the propulsion device is close to the steering position indicated by the steering adjustment device. At this time, directly controlling the steering of the propulsion device generally does not cause safety problems, and can also enable the propulsion device to start responding to the instructions of the steering adjustment device more quickly to better meet the user's usage needs.

[0128] If the target propulsion device / first propulsion device is aligned with the steering adjustment device, in this scenario, if the steering adjustment device rotates, according to the first angle of rotation of the steering adjustment device, based on the mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device, the second angle mapped from the first angle is determined, and the target propulsion device / first propulsion device is controlled to rotate to the second angle accordingly, so that the target propulsion device / first propulsion device can be synchronously steered following the steering adjustment device.

[0129] If the target propulsion device and the steering adjustment device are not aligned, in this scenario, you can first adjust the steering adjustment device or the target propulsion device to align the target propulsion device with the steering adjustment device. The specific operation can be referred to the above description and will not be repeated here. Then, the control method for the alignment scenario is used to achieve synchronous steering of the target propulsion device / the first propulsion device following the steering adjustment device.

[0130] S104: When the second propulsion device and the target propulsion device also have the first angular relationship, control the second propulsion device to also turn synchronously with the steering adjustment device.

[0131] After the target propulsion device and the first propulsion device follow the steering adjustment device to turn synchronously, for the second propulsion device, the relationship between the steering angle of the second propulsion device and the steering angle of the target propulsion device can be monitored in real time. If the second propulsion device and the target propulsion device also satisfy the first angle relationship, for example, the absolute value of the difference between the steering angle of the second propulsion device and the steering angle of the target propulsion device is less than or equal to the first preset angle threshold, at this time, the second propulsion device is controlled to also follow the steering adjustment device to turn synchronously.

[0132] After the second propulsion device and the steering adjustment device are also aligned, the second propulsion device is allowed to steer synchronously with the steering adjustment device. In this way, multiple propulsion devices can be gradually put into operation during the operation of the propulsion system, which not only meets the user's usage needs but also ensures the safety of the propulsion system operation.

[0133] The following example uses the steering wheel as the steering control device and the main outboard motor as the target propulsion device. When the steering wheel is currently operating in the first mode (uncentered mode), Figure 8 As shown in the figure, the process of the outboard motor turning synchronously with the steering wheel is as follows:

[0134] Step 1: After the propulsion system is powered on, the steering wheel recognizes that it is currently in misalignment mode, and the ECU of each outboard motor obtains the steering angle of the outboard motor.

[0135] Step 2: The outboard motor's ECU reports the steering angle to the master outboard motor's ECU.

[0136] Step 3: The steering wheel determines the output angle of the steering wheel based on the mapping relationship according to the steering angle of the main outboard motor. The steering wheel's rotation angle is updated to the output angle (in misaligned mode, the steering wheel's output angle is the rotation angle) to align the steering wheel with the main outboard motor.

[0137] Step 4: The master outboard motor's ECU calculates the steering angle difference between the master outboard motor and the other slave outboard motors;

[0138] Step 5: If the steering angle difference of all slave outboard motors is less than or equal to 10°, the master outboard motor's ECU notifies the steering systems of each outboard motor to prepare and enter the operation phase.

[0139] Step 6: If the steering angle difference between any of the slave outboard motors is greater than 10°, the master outboard's ECU notifies the slave's ECU to disable the outboard's propeller-driving motor output. The master outboard's ECU then sends a command to the display, prompting the user to align the slave outboard with the steering wheel before commencing operation. During this time, the master outboard and any slave outboards with a steering angle difference of less than or equal to 10° are allowed to steer synchronously with the steering wheel. If the steering angle difference between any of the slave outboards and the master outboard is less than or equal to 10° while the user is operating the steering wheel, the master outboard's ECU notifies the slave's steering system to prepare and enter the operational phase.

[0140] For example, assume there are three outboard motors: the master outboard's steering angle is 0°, slave outboard motor 1's steering angle is 5°, and slave outboard motor 2's steering angle is 45°. Since the steering angle difference between the master outboard and slave outboard motor 1 is less than 10°, while the steering angle difference between the master outboard and slave outboard motor 2 is greater than 10°, when the steering wheel is rotated, the master outboard and slave outboard motor 1 are allowed to follow, and their drive motors are allowed to output power. However, slave outboard motor 2 is not allowed to follow, and its drive motor is prohibited from outputting power. When the steering wheel reaches 140°, corresponding to a steering angle of 35° (45° - 10° = 35°), the steering angle difference between the master outboard and slave outboard motor 2 is no longer greater than 10°. At this point, slave outboard motor 2 is allowed to follow the steering wheel, and its drive motor is also allowed to output power.

[0141] When the steering wheel is currently operating in the second mode (centering mode), Figure 9 As shown in the figure, the process of the outboard motor turning synchronously with the steering wheel is as follows:

[0142] Step 1: After the propulsion system is powered on, the steering wheel recognizes that it is currently in centering mode, and the ECU of each outboard motor obtains the steering angle of its own outboard motor;

[0143] Step 2: The outboard motor's ECU reports the steering angle to the master outboard motor's ECU.

[0144] Step 3: The steering wheel determines the external output angle of the steering wheel based on the rotation angle;

[0145] Step 4: Calculate the mapping angle difference between the steering wheel and the main outboard motor based on the mapping relationship according to the external output angle of the steering wheel and the steering angle of the main outboard motor;

[0146] Step 5: If the mapping angle difference between the steering wheel and the main outboard is less than or equal to 10°, the main outboard is allowed to steer synchronously with the steering wheel. If the mapping angle difference is greater than 10°, the drive motor output of all outboard motors is disabled, and the user is prompted to perform alignment. When the user rotates the steering wheel so that the mapping angle difference between the steering wheel and the main outboard is less than or equal to 10°, the main outboard is allowed to steer synchronously with the steering wheel, and the drive motor of the main outboard is allowed to output power.

[0147] Step 6: The master outboard motor's ECU calculates the steering angle difference between the master outboard motor and the other slave outboard motors;

[0148] Step 7: If the steering angle difference of any slave outboard motor is less than or equal to 10°, the master outboard motor's ECU notifies the slave outboard motor's steering system to prepare and enter the operation phase.

[0149] Step 8: If the steering angle difference between any of the slave outboard motors is greater than 10°, the master outboard's ECU notifies the slave outboard's ECU to disable the outboard's drive motor output. The master outboard's ECU then sends a command to the display, prompting the user to wait until the slave outboard is aligned with the steering wheel before operating. During this time, the master outboard and any slave outboards with a steering angle difference of less than or equal to 10° are allowed to steer synchronously with the steering wheel. The drive motors of the master outboard and any slave outboards with a steering angle difference of less than or equal to 10° are allowed to output power. If the steering angle difference between any of the slave outboards and the master outboard is less than or equal to 10° while the user is operating the steering wheel, the master outboard's ECU notifies the slave outboard's steering system to prepare and enter the operational phase.

[0150] For example, assume there are three outboard motors: the master outboard's steering angle is 0°, slave outboard 1's steering angle is 5°, and slave outboard 2's steering angle is 45°. Since the steering angle difference between the master and slave outboards is less than 10°, and the steering angle difference between the master and slave outboards is greater than 10°, when the steering wheel is rotated, the master and slave outboards are allowed to follow, and their drive motors are allowed to output power. However, slave outboard 2 is not allowed to follow, and its drive motor is prohibited from outputting power. When the steering wheel is rotated to an output angle of 140° (note: this 140° is not the steering wheel's rotation angle, but the value obtained by subtracting the centering angle from the rotation angle), the steering angle difference between the master and slave outboards is no longer greater than 10°. At this point, slave outboard 2 is allowed to follow the steering wheel.

[0151] During the operation phase of the propulsion system, the steering angle corresponding to the propulsion device is calculated according to the rotation angle of the steering adjustment device and the mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device, and then the propulsion device is driven to operate to the steering angle according to the steering angle.

[0152] In some embodiments, the propulsion device further includes a power assembly, which includes the aforementioned drive motor. Regarding the power assemblies of each propulsion device, the power assembly of the target propulsion device and the first propulsion device that has a first angular relationship with the target propulsion device is permitted to operate, while the power assembly of the second propulsion device that has a second angular relationship with the target propulsion device is prohibited from operating. It is understood that if the target propulsion device and the first propulsion device are highly aligned with the steering adjustment device, allowing the target propulsion device and the first propulsion device to steer and output power generally does not pose a safety issue and can meet user needs. However, if the second propulsion device does not have the first angular relationship with the target propulsion device, that is, if the second propulsion device is poorly aligned with the steering adjustment device, allowing the second propulsion device to steer and output power may result in a significant difference between the direction of the combined propulsion force output by the multiple propulsion devices and the direction indicated by the steering adjustment device, potentially leading to safety accidents. Therefore, the mechanical steering assembly and power assembly of the second propulsion device are only permitted to operate when the second propulsion device also has the first angular relationship with the target propulsion device, thereby ensuring the safety of the propulsion system.

[0153] In some embodiments, the control method of the propulsion system also includes: if a mechanical steering component of a propulsion device fails and the fault level is greater than or equal to a preset fault level, the faulty propulsion device is controlled to shut down; before the fault of the mechanical steering component is resolved, the synchronous operation of the mechanical steering component and the power component of the faulty propulsion device is restricted, and when the power component is running, the steering locking structure is in a locked state.

[0154] During the operation of a propulsion system, a propulsion unit may malfunction. If a mechanical steering assembly of a propulsion unit malfunctions and the malfunction level is greater than or equal to a preset malfunction level, the malfunction is severe and may affect the safe operation of the propulsion system. In this case, the malfunctioning propulsion unit is shut down to ensure safe operation of the propulsion system. For example, shutting down the malfunctioning propulsion unit may include slowly reducing the output power of the malfunctioning propulsion unit to zero, thereby avoiding instability caused by the sudden shutdown of the malfunctioning propulsion unit.

[0155] It should be noted that the preset fault level can be flexibly set according to actual conditions. For example, the preset fault level is set to level three, and there is no specific restriction in this application.

[0156] Before the fault of the mechanical steering assembly is rectified, the synchronous operation of the mechanical steering assembly and the power assembly of the faulty propulsion device is restricted. When the power assembly is running, the steering locking structure of the propulsion device is in a locked state, so that the mechanical steering assembly is restricted, thereby avoiding the situation where the propulsion device may be turned randomly through the mechanical steering assembly, thereby ensuring the safety of the propulsion system operation.

[0157] In some embodiments, a user can configure a faulty propulsion unit to enter limp home mode. Exemplarily, the propulsion system includes a human-machine interface unit, including but not limited to a touch screen, and the user can configure the faulty propulsion unit to enter limp home mode via the human-machine interface unit. While the faulty propulsion unit is operating in limp home mode, the faulty propulsion unit is allowed to operate. This allows the faulty propulsion unit to operate only after entering limp home mode. This prevents the situation where multiple propulsion units fail and are unable to perform basic functions, preventing the vessel from returning to shore. It also ensures that the user is aware of the propulsion unit failure and can promptly address the issue.

[0158] In some embodiments, when a faulty propulsion device is operating, its output power is limited to a preset power threshold, allowing the faulty propulsion device to operate at a limited power level, thereby further ensuring the safety of the propulsion system. It should be noted that the specific value of the preset power threshold can be flexibly set based on actual circumstances and is not specifically limited in this application.

[0159] The control method of the propulsion system provided in the above embodiment obtains the steering angle of each propulsion device in the propulsion system, and divides the multiple propulsion devices into a first propulsion device having a first angle relationship with the target propulsion device, and a second propulsion device having a second angle relationship with the target propulsion device according to the steering angle. The target propulsion device is one of the multiple propulsion devices and has a third angle relationship with the steering adjustment device of the propulsion system. The target propulsion device and the first propulsion device are controlled to turn synchronously following the steering adjustment device. Then, when the second propulsion device also has the first angle relationship with the target propulsion device, the second propulsion device is controlled to turn synchronously following the steering adjustment device. Compared with driving multiple propulsion devices to turn synchronously following the steering adjustment device at the same time, this steering method reduces the probability of safety problems, thereby improving the safety of the propulsion system operation.

[0160] See also Figure 10 , Figure 10 This is a flowchart of the steps of another method for controlling a propulsion system provided in an embodiment of the present application.

[0161] like Figure 10 As shown, the control method of the propulsion system includes steps S201 to S204.

[0162] S201: Obtain the steering angle of each propulsion device.

[0163] The specific operations can be referred to in step S101, so they will not be described here in detail.

[0164] S202: Determine, from the plurality of propulsion devices according to the steering angle, a third propulsion device having a fourth angle relationship with the steering adjustment device, and a fourth propulsion device having a fifth angle relationship with the steering adjustment device.

[0165] Different from the method in the previous embodiment in which the target propulsion device is used as a reference benchmark to control each propulsion device to follow the steering adjustment device to turn synchronously, in this embodiment, the target propulsion device is no longer used as a reference benchmark, but the steering adjustment device is used as a reference benchmark to control each propulsion device to follow the steering adjustment device to turn synchronously.

[0166] The rotation angle of the steering adjustment device and the steering angle of each propulsion device are analyzed, and the propulsion devices that have a fourth angle relationship with the steering adjustment device are divided into one group, and the propulsion devices that have a fifth angle relationship with the steering adjustment device are divided into another group. For the sake of convenience in description, the propulsion device that has a fourth angle relationship with the steering adjustment device will be referred to as the third propulsion device, and the propulsion device that has a fifth angle relationship with the steering adjustment device will be referred to as the fourth propulsion device.

[0167] Exemplarily, the fourth angle relationship is that the mapping angle difference between the propulsion device and the steering adjustment device is less than or equal to a fourth preset angle threshold; the fifth angle relationship is that the mapping angle difference between the propulsion device and the steering adjustment device is greater than the fourth preset angle threshold.

[0168] The fourth preset angle threshold may be an angle set at the corresponding propulsion device end or an angle set at the corresponding steering adjustment device end. For example, the fourth preset angle threshold set at the propulsion device end is 10°. That is, if the mapped angle difference between a propulsion device and the steering adjustment device (mapped at the propulsion device end) is less than or equal to 10°, the propulsion device is determined to have a fourth angle relationship with the steering adjustment device. If the mapped angle difference between a propulsion device and the steering adjustment device (mapped at the propulsion device end) is greater than 10°, the propulsion device is determined to have a fifth angle relationship with the steering adjustment device. For another example, the fourth preset angle threshold set at the propulsion device end is 40°. That is, if the mapped angle difference between a propulsion device and the steering adjustment device (mapped at the steering adjustment device end) is less than or equal to 40°, the propulsion device is determined to have a fourth angle relationship with the steering adjustment device. If the mapped angle difference between a propulsion device and the steering adjustment device (mapped at the steering adjustment device end) is greater than 40°, the propulsion device is determined to have a fifth angle relationship with the steering adjustment device.

[0169] It should be noted that the specific value of the fourth preset angle threshold can be flexibly set according to actual conditions and is not specifically limited in this application.

[0170] In some embodiments, the control method of the propulsion system also includes: determining the external output angle corresponding to the rotation angle of the steering adjustment device based on the alignment strategy corresponding to the current configuration mode of the steering adjustment device, wherein the steering adjustment device corresponds to different alignment strategies under different configuration modes; calculating the mapping angle difference based on the mapping relationship between the external output angle, the steering angle of the propulsion device, and the preset rotation angle of the steering adjustment device and the steering angle of the propulsion device.

[0171] The mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device, as well as the corresponding alignment strategy of the steering adjustment device in different configuration modes, can be referred to the introduction in the above embodiments and will not be repeated here.

[0172] In a scenario where the steering adjustment device is currently operating in the first mode, in some embodiments, based on the alignment strategy corresponding to the current configuration mode of the steering adjustment device, the external output angle corresponding to the rotation angle of the steering adjustment device is determined, including: determining the rotation angle of the steering adjustment device as the external output angle.

[0173] That is, when the steering control device is not configured in the centering mode, the external output angle of the steering control device is the detected rotation angle of the steering control device. For example, if the angle sensor detects that the rotation angle of the steering control device is 40°, the external output angle of the steering control device is 40°.

[0174] In the scenario where the steering adjustment device is currently operating in the second mode, in some embodiments, based on the alignment strategy corresponding to the current configuration mode of the steering adjustment device, the external output angle corresponding to the rotation angle of the steering adjustment device is determined, including: determining the external output angle of the steering adjustment device according to the rotation angle of the steering adjustment device and the centering angle corresponding to the second mode.

[0175] That is, when the steering adjustment device is configured in the centering mode, the external output angle of the steering adjustment device is determined by the detected rotation angle of the steering adjustment device combined with the centering angle.

[0176] In some embodiments, the external output angle of the steering adjustment device is determined based on the rotation angle of the steering adjustment device and the centering angle corresponding to the second mode, including: determining the difference between the rotation angle of the steering adjustment device and the centering angle as the external output angle of the steering adjustment device.

[0177] For example, assuming that the angle sensor detects that the rotation angle of the steering adjustment device is 50° and the centering angle is 10°, the external output angle of the steering adjustment device is 50° minus 10°, that is, 40°.

[0178] After obtaining the external output angle of the steering adjustment device and the steering angle of each propulsion device, the mapping angle difference between the steering adjustment device and each propulsion device is calculated based on the mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device.

[0179] The mapping angle difference between the steering adjustment device and each propulsion device can be mapped on the propulsion device side or on the steering adjustment device side.

[0180] For the case of mapping on the propulsion device side:

[0181] In some embodiments, the mapping angle difference is calculated based on the external output angle, the steering angle of the propulsion device and the mapping relationship, including: determining a third mapping angle mapped by the steering angle of the propulsion device based on the mapping relationship; calculating the absolute value of the difference between the third mapping angle and the external output angle; and mapping the absolute value of the difference between the third mapping angle and the external output angle under the mapping relationship as the mapping angle difference.

[0182] For details, please refer to the introduction in the aforementioned embodiments, which will not be repeated here.

[0183] In other embodiments, the mapping angle difference is calculated based on the external output angle, the steering angle of the propulsion device and the mapping relationship, including: determining a fourth mapping angle for mapping the external output angle based on the mapping relationship; and determining the absolute value of the difference between the fourth mapping angle and the steering angle of the propulsion device as the mapping angle difference.

[0184] For details, please refer to the introduction in the aforementioned embodiments, which will not be repeated here.

[0185] For the case of mapping on the steering control device side:

[0186] In some embodiments, the mapping angle difference is calculated based on the external output angle, the steering angle of the propulsion device and the mapping relationship, including: determining a third mapping angle of the steering angle mapping of the propulsion device based on the mapping relationship; and determining the absolute value of the difference between the third mapping angle and the external output angle as the mapping angle difference.

[0187] For details, please refer to the introduction in the aforementioned embodiments, which will not be repeated here.

[0188] In other embodiments, the mapping angle difference is calculated based on the external output angle, the steering angle of the propulsion device and the mapping relationship, including: determining a fourth mapping angle for mapping the external output angle based on the mapping relationship; calculating the absolute value of the difference between the fourth mapping angle and the steering angle of the propulsion device; and mapping the absolute value of the difference between the fourth mapping angle and the steering angle of the propulsion device under the mapping relationship as the mapping angle difference.

[0189] For details, please refer to the introduction in the aforementioned embodiments, which will not be repeated here.

[0190] The mapping angle difference between the steering adjustment device and each propulsion device is calculated by any of the above methods, and the third propulsion device having a fourth angle relationship with the steering adjustment device and the fourth propulsion device having a fifth angle relationship with the steering adjustment device are determined based on the mapping angle difference.

[0191] S203: Control the third propulsion device to turn synchronously with the steering adjustment device.

[0192] After determining the third propulsion device having a fourth angle relationship with the steering adjustment device, the third propulsion device is controlled to turn synchronously with the steering adjustment device. The specific operation process can be referred to the description in the above embodiment, so it will not be repeated here.

[0193] In some embodiments, before controlling the third propulsion device to follow the steering adjustment device to turn synchronously, the control method of the propulsion system includes: when the third propulsion device does not exist, determining a target set including at least two propulsion devices from multiple propulsion devices, and the steering angle difference between any two propulsion devices in the target set is less than a fifth preset angle threshold; taking the average of the steering angles of all propulsion devices in the target set as the reference angle; determining a third mapping angle of the reference angle mapping based on a preset mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device; determining a third target angle of the steering adjustment device based on the third mapping angle and the alignment strategy corresponding to the current configuration mode of the steering adjustment device; wherein, the steering adjustment device corresponds to different alignment strategies under different configuration modes; and controlling the rotation angle of the steering adjustment device to be the third target angle.

[0194] It should be noted that among the multiple propulsion devices, there may not be a third propulsion device that has a fourth angle relationship with the steering adjustment device. To address this situation, a corresponding fifth preset angle threshold is pre-set. For example, the fifth preset angle threshold can be set to 10°. It is understood that the fifth preset angle threshold can also be 5°, 15°, 20°, etc., and this application does not impose any specific limitation on the fifth preset angle threshold.

[0195] If there is no third propulsion device among the multiple propulsion devices that has a fourth angular relationship with the steering adjustment device, at least two propulsion devices are selected from the multiple propulsion devices based on the fifth preset angle threshold to form a target set, where the steering angle difference between any two propulsion devices in the target set is less than the fifth preset angle threshold. For example, taking the fifth preset angle threshold as 10°, if the target set includes propulsion device A, propulsion device B, and propulsion device C, the steering angle difference between propulsion device A and propulsion device B is less than 10°, the steering angle difference between propulsion device A and propulsion device C is also less than 10°, and the steering angle difference between propulsion device A and propulsion device C is also less than 10°.

[0196] Based on the steering angles of propulsion units A, B, and C, the average of the steering angles of propulsion units A, B, and C is calculated and used as a reference angle. Then, based on the mapping relationship between the rotation angle of the steering control device and the steering angle of the propulsion unit, a mapping angle corresponding to the reference angle is determined. For ease of description, the mapping angle corresponding to the reference angle will be referred to as the third mapping angle. Based on the third mapping angle, a third target angle of the steering control device is determined. The rotation angle of the steering control device is then controlled to be the third target angle.

[0197] In some embodiments, before controlling the third propulsion device to follow the steering adjustment device to turn synchronously, the control method of the propulsion system includes: when the third propulsion device does not exist, based on the mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device, determining the third mapping angle of the steering angle mapping of the target propulsion device, where the target propulsion device is one of the multiple propulsion devices; according to the third mapping angle, based on the alignment strategy corresponding to the current configuration mode of the steering adjustment device, determining the third target angle of the steering adjustment device; wherein the steering adjustment device corresponds to different alignment strategies under different configuration modes; and controlling the rotation angle of the steering adjustment device to be the third target angle.

[0198] In actual applications, there may not be a third propulsion device that has a fourth angle relationship with the steering adjustment device, that is, all propulsion devices have a fifth angle relationship with the steering adjustment device. At this time, one of the multiple propulsion devices is used as the target propulsion device, and based on the target propulsion device, each propulsion device is controlled to follow the steering adjustment device to turn synchronously.

[0199] In some embodiments, one of the multiple propulsion devices of the propulsion system is a main propulsion device, and the others are slave propulsion devices, and the main propulsion device is directly used as the target propulsion device.

[0200] In other embodiments, the control method of the propulsion system further includes: calculating the mapping angle difference between the steering adjustment device and each propulsion device, and selecting the propulsion device corresponding to the minimum mapping angle difference as the target propulsion device.

[0201] The specific processing process can be referred to the introduction in the above embodiment and will not be repeated here.

[0202] Based on the target propulsion device steering angle, a third mapping angle for mapping the target propulsion device steering angle is determined based on a mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device. A third target angle of the steering adjustment device is then determined based on the third mapping angle. The rotation angle of the steering adjustment device is then controlled to be the third target angle.

[0203] In a scenario where the steering adjustment device is currently operating in the first mode, in some embodiments, the third target angle of the steering adjustment device is determined according to the third mapping angle and based on the alignment strategy corresponding to the current configuration mode of the steering adjustment device, including: if the steering adjustment device is currently operating in the first mode, the third mapping angle is determined as the third target angle.

[0204] For example, assuming that there is no third propulsion device among the multiple propulsion devices that has a fourth angle relationship with the steering adjustment device, if the third mapping angle is determined to be 160° through the above operation method, and the steering adjustment device is currently operating in the first mode, at this time, 160° is determined as the third target angle.

[0205] Then, the rotation angle of the steering adjustment device is controlled to be a third target angle. In some embodiments, controlling the rotation angle of the steering adjustment device to be the third target angle includes: automatically updating the rotation angle of the steering adjustment device to the third target angle.

[0206] For details, reference may be made to the process of automatically updating the rotation angle of the steering adjustment device to the first target angle in the aforementioned embodiment, which will not be described in detail here.

[0207] In the scenario where the steering adjustment device is currently operating in the second mode, in some embodiments, the third target angle of the steering adjustment device is determined according to the third mapping angle and the alignment strategy corresponding to the current configuration mode of the steering adjustment device, including: if the steering adjustment device is currently operating in the second mode, the third target angle is determined according to the third mapping angle and the preset centering angle corresponding to the second mode.

[0208] That is, when the steering adjustment device is configured in the centering mode, the third target angle of the steering adjustment device is determined in combination with the third mapping angle and the centering angle.

[0209] In some embodiments, determining the third target angle according to the third mapping angle and the centering angle corresponding to the preset second mode includes: determining the sum of the third mapping angle and the centering angle as the third target angle.

[0210] For example, assuming the centering angle is 10°, the third mapping angle is determined to be 160° using the above operation. The sum of the third mapping angle (160°) and the centering angle (10°) is calculated to be 170°, thus determining the third target angle to be 170°. The steering control device is then controlled to rotate at a 170° angle (corresponding to an external output angle of 160°).

[0211] In some embodiments, controlling the rotation angle of the steering adjustment device to be a third target angle includes: outputting operation prompt information for the user to rotate the steering adjustment device to the third target angle according to the operation prompt information.

[0212] For details, please refer to the introduction in the aforementioned embodiment, which will not be repeated here.

[0213] In some embodiments, before controlling the steering angle of the target propulsion device to be the third target angle, the control method of the propulsion system includes: controlling the steering lock structure to release the lock state to release the restriction of the steering lock structure on the mechanical steering component.

[0214] For details, please refer to the introduction in the aforementioned embodiment, which will not be repeated here.

[0215] S204: When the fourth propulsion device and the steering adjustment device have a fourth angular relationship, control the fourth propulsion device to also turn synchronously with the steering adjustment device.

[0216] After the third propulsion device follows the steering adjustment device to turn synchronously, for the fourth propulsion device, the relationship between the steering angle of the fourth propulsion device and the rotation angle of the steering adjustment device is monitored in real time. If there is currently a fourth propulsion device and the steering adjustment device that also satisfy the fourth angle relationship, for example, the mapping angle difference between the fourth propulsion device and the steering adjustment device is less than or equal to the fourth preset angle threshold, at this time, the fourth propulsion device is controlled to also follow the steering adjustment device to turn synchronously.

[0217] During the operation phase of the propulsion system, the steering angle corresponding to the propulsion device is calculated according to the rotation angle of the steering adjustment device and the mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device, and then the propulsion device is driven to operate to the steering angle according to the steering angle.

[0218] In some embodiments, for the power assemblies of each propulsion device, the power assembly of the third propulsion device that has a fourth angular relationship with the steering adjustment device is permitted to operate, while the power assembly of the fourth propulsion device that has a fifth angular relationship with the steering adjustment device is prohibited from operating. In this case, it can be understood that the third propulsion device has a high degree of alignment with the steering adjustment device. Therefore, allowing the third propulsion device to steer and output power generally does not cause safety issues and can meet user needs. However, if the fourth propulsion device does not have the fourth angular relationship with the target propulsion device, that is, if the fourth propulsion device has a low degree of alignment with the steering adjustment device, allowing the fourth propulsion device to steer and output power may result in a significant difference between the direction of the combined propulsion force output by the multiple propulsion devices and the direction indicated by the steering adjustment device, potentially leading to safety accidents. Therefore, the mechanical steering assembly and power assembly of the fourth propulsion device are only permitted to operate when the fourth propulsion device also has the fourth angular relationship with the steering adjustment device, thereby ensuring the safety of the propulsion system.

[0219] In some embodiments, the control method of the propulsion system also includes: if a mechanical steering component of a propulsion device fails and the fault level is greater than or equal to a preset fault level, the faulty propulsion device is controlled to shut down; before the fault of the mechanical steering component is resolved, the synchronous operation of the mechanical steering component and the power component of the faulty propulsion device is restricted, and when the power component is running, the steering locking structure is in a locked state.

[0220] For details, please refer to the introduction in the aforementioned embodiment, which will not be repeated here.

[0221] In some embodiments, controlling the faulty propulsion device to shut down includes: controlling the output power of the faulty propulsion device to slowly decrease to zero, thereby avoiding instability caused by the sudden shutdown of the faulty propulsion device.

[0222] In some embodiments, the failed propulsion device is allowed to operate while the failed propulsion device is operating in the limp home mode.

[0223] For details, please refer to the introduction in the aforementioned embodiment, which will not be repeated here.

[0224] In some embodiments, when the faulty propulsion device is operating, the output power of the faulty propulsion device is limited to a preset power threshold.

[0225] For details, please refer to the introduction in the aforementioned embodiment, which will not be repeated here.

[0226] The control method of the propulsion system provided in the above embodiment obtains the steering angle of each propulsion device in the propulsion system, and determines, based on the steering angle, a third propulsion device having a fourth angle relationship with the steering adjustment device from multiple propulsion devices, and a fourth propulsion device having a fifth angle relationship with the steering adjustment device, and controls the third propulsion device to steer synchronously with the steering adjustment device. Then, when the fourth propulsion device has the fourth angle relationship with the steering adjustment device, the fourth propulsion device is controlled to steer synchronously with the steering adjustment device. Compared with simultaneously driving multiple propulsion devices to steer synchronously with the steering adjustment device, this steering method reduces the probability of safety problems, thereby improving the safety of the propulsion system operation.

[0227] See also Figure 11 , Figure 11 This is a schematic block diagram of a propulsion system provided in an embodiment of the present application. Figure 11 As shown, the propulsion system 1000 includes a steering adjustment device 100 , a plurality of propulsion devices 200 , a processor 300 and a memory 400 .

[0228] The steering adjustment device 100 includes, but is not limited to, a steering wheel, a tiller, a wireless joystick, etc. The propulsion device 200 includes, but is not limited to, an outboard motor, a rotatable pod propeller, etc. The processor 300 may be a microcontroller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP). The memory 400 may be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a removable hard drive. The memory 400 stores various computer programs for execution by the processor 300.

[0229] Among them, the processor 300 is used to run the computer program stored in the memory 400, and when executing the computer program, executes the control method of the propulsion system provided by any embodiment of the present application. Therefore, the beneficial effects that can be achieved by the control method of the propulsion system provided by the embodiment of the present application can be achieved. Please refer to the previous embodiment for details and will not be repeated here.

[0230] There may be one or more processors 300. When there is only one processor 300, the processor 300 may be a controller for a propulsion device, such as a controller for a main propulsion device. When there are multiple processors 300, the multiple processors 300 may include a controller for at least one propulsion device and may also include a controller for a steering control device.

[0231] An embodiment of the present application also provides a movable device for use in water areas, wherein the movable device for use in water areas includes but is not limited to ships, boats, etc.

[0232] Exemplarily, the water movable device includes a propulsion system, which can be Figure 11 Therefore, the propulsion system can achieve the beneficial effects that can be achieved by the control method of the propulsion system provided in the embodiment of the present application. Please refer to the previous embodiment for details, which will not be repeated here.

[0233] A computer-readable storage medium is also provided in an embodiment of the present application. The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the steps of any one of the control methods for the propulsion system provided in the above embodiments are implemented.

[0234] The computer-readable storage medium may be an internal storage unit of the propulsion system or mobile device for water areas described in the aforementioned embodiments, such as a hard disk or memory of the propulsion system or mobile device for water areas. The computer-readable storage medium may also be an external storage device of the propulsion system or mobile device for water areas, such as a plug-in hard disk, a smart memory card (SMC), a secure digital card (SD card), a flash card, etc., equipped on the propulsion system or mobile device for water areas.

[0235] Since the computer program stored in the storage medium can execute any one of the propulsion system control methods provided in the embodiments of the present application, the beneficial effects that can be achieved by any one of the propulsion system control methods provided in the embodiments of the present application can be achieved. Please refer to the previous embodiments for details and will not be repeated here.

[0236] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present application, and such modifications or substitutions should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A control method for a propulsion system, characterized in that: The propulsion system includes a steering adjustment device and a plurality of propulsion devices, and the method includes: Obtaining a steering angle of each of the propulsion devices; dividing the plurality of propulsion devices into a first propulsion device having a first angular relationship with a target propulsion device and a second propulsion device having a second angular relationship with the target propulsion device according to the steering angle, the target propulsion device being one of the plurality of propulsion devices and having a third angular relationship with the steering adjustment device; Controlling the target propulsion device and the first propulsion device to turn synchronously with the steering adjustment device; and When the second propulsion device and the target propulsion device also have the first angular relationship, the second propulsion device is controlled to also turn synchronously with the steering adjustment device.

2. The method according to claim 1, characterized in that One of the multiple propulsion devices is a main propulsion device, the others are slave propulsion devices, and the target propulsion device is the main propulsion device.

3. The method according to claim 1, characterized in that The method further comprises: The mapping angle difference between the steering adjustment device and each of the propulsion devices is calculated, and the propulsion device corresponding to the minimum mapping angle difference is selected as the target propulsion device.

4. The method according to claim 1, wherein The first angle relationship is that the absolute value of the difference between the steering angle of the propulsion device and the steering angle of the target propulsion device is less than or equal to a first preset angle threshold; The second angle relationship is that the absolute value of the difference between the steering angle of the propulsion device and the steering angle of the target propulsion device is greater than the first preset angle threshold; The third angle relationship is that the mapping angle difference between the target propulsion device and the steering adjustment device is less than or equal to a third preset angle threshold, the third preset angle threshold is less than or equal to the first preset angle threshold, or the mapping angle threshold of the third preset angle threshold under the mapping relationship between the preset rotation angle of the steering adjustment device and the steering angle of the propulsion device is less than or equal to the first preset angle threshold.

5. The method according to claim 4, characterized in that The method further comprises: determining an external output angle corresponding to the rotation angle of the steering adjustment device based on an alignment strategy corresponding to a current configuration mode of the steering adjustment device, wherein the steering adjustment device corresponds to different alignment strategies in different configuration modes; The mapping angle difference is calculated based on the external output angle, the steering angle of the target propulsion device and the mapping relationship.

6. The method according to claim 5, characterized in that When the third preset angle threshold is less than or equal to the first preset angle threshold, calculating the mapping angle difference based on the external output angle, the steering angle of the target propulsion device, and the mapping relationship includes: Based on the mapping relationship, determining a first mapping angle of the steering angle mapping of the target propulsion device; Calculating the absolute value of the difference between the first mapping angle and the external output angle; The absolute value of the difference between the first mapping angle and the external output angle is mapped under the mapping relationship and obtained as the mapping angle difference.

7. The method according to claim 5, characterized in that When the third preset angle threshold is less than or equal to the first preset angle threshold, calculating the mapping angle difference based on the external output angle, the steering angle of the target propulsion device, and the mapping relationship includes: Based on the mapping relationship, determining a second mapping angle of the external output angle mapping; An absolute value of a difference between the second mapping angle and the steering angle of the target propulsion device is determined as the mapping angle difference.

8. The method according to claim 5, characterized in that When the mapping angle threshold is less than or equal to the first preset angle threshold, calculating the mapping angle difference based on the external output angle, the steering angle of the target propulsion device, and the mapping relationship includes: Based on the mapping relationship, determining a first mapping angle of the steering angle mapping of the target propulsion device; An absolute value of a difference between the first mapping angle and the external output angle is determined as the mapping angle difference.

9. The method according to claim 5, characterized in that When the mapping angle threshold is less than or equal to the first preset angle threshold, calculating the mapping angle difference based on the external output angle, the steering angle of the target propulsion device, and the mapping relationship includes: Based on the mapping relationship, determining a second mapping angle of the external output angle mapping; calculating an absolute value of a difference between the second mapping angle and a steering angle of the target propulsion device; The absolute value of the difference between the second mapping angle and the steering angle of the target propulsion device is mapped under the mapping relationship and obtained as the mapping angle difference.

10. The method according to claim 5, characterized in that The configuration mode includes a first mode, and the determining of the external output angle corresponding to the rotation angle of the steering adjustment device based on the alignment strategy corresponding to the current configuration mode of the steering adjustment device includes: If the steering adjustment device currently operates in the first mode, the rotation angle is determined as the external output angle.

11. The method according to claim 5, characterized in that The configuration mode includes a second mode, and the determining of the external output angle corresponding to the rotation angle of the steering adjustment device based on the alignment strategy corresponding to the current configuration mode of the steering adjustment device includes: If the steering adjustment device is currently operating in the second mode, the external output angle is determined according to the rotation angle and a preset centering angle corresponding to the second mode.

12. The method according to claim 11, characterized in that The determining the external output angle according to the rotation angle and a preset centering angle corresponding to the second mode includes: The difference between the rotation angle and the centering angle is determined as the external output angle.

13. The method according to claim 1, wherein Before controlling the target propulsion device and the first propulsion device to turn synchronously following the steering adjustment device, the method includes: When the steering adjustment device and the target propulsion device do not satisfy the third angular relationship, at least one of the steering adjustment device and the target propulsion device is adjusted to make the steering adjustment device and the target propulsion device satisfy the third angular relationship.

14. The method according to claim 13, characterized in that The adjusting at least one of the steering adjustment device and the target propulsion device comprises: Determining a first mapping angle of the steering angle mapping of the target propulsion device based on a preset mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device; determining a first target angle of the steering adjustment device according to the first mapping angle and an alignment strategy corresponding to a current configuration mode of the steering adjustment device; wherein the steering adjustment device corresponds to different alignment strategies in different configuration modes; The rotation angle of the steering adjustment device is controlled to be the first target angle.

15. The method according to claim 14, characterized in that The configuration mode includes a first mode, and determining a first target angle of the steering adjustment device according to the first mapping angle and based on an alignment strategy corresponding to a current configuration mode of the steering adjustment device includes: If the steering adjustment device currently operates in the first mode, the first mapping angle is determined as the first target angle.

16. The method according to claim 15, characterized in that The controlling the rotation angle of the steering adjustment device to be the first target angle includes: The rotation angle of the steering adjustment device is automatically updated to the first target angle.

17. The method according to claim 14, characterized in that The configuration mode includes a second mode, and determining a first target angle of the steering adjustment device according to the first mapping angle and based on an alignment strategy corresponding to a current configuration mode of the steering adjustment device includes: If the steering adjustment device currently operates in the second mode, the first target angle is determined according to the first mapping angle and a preset centering angle corresponding to the second mode.

18. The method according to claim 17, characterized in that The determining the first target angle according to the first mapping angle and a preset centering angle corresponding to the second mode includes: The sum of the first mapping angle and the centering angle is determined as the first target angle.

19. The method according to claim 17, wherein The controlling the rotation angle of the steering adjustment device to be the first target angle includes: Outputting operation prompt information so that the user can rotate the steering adjustment device to the first target angle according to the operation prompt information.

20. The method according to claim 13, wherein The adjusting at least one of the steering adjustment device and the target propulsion device comprises: Determining a second target angle of the external output angle mapping of the steering adjustment device based on a preset mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device; The steering angle of the target propulsion device is controlled to be the second target angle.

21. The method according to claim 20, characterized in that The controlling the steering angle of the target propulsion device to be the second target angle includes: Output alignment prompt information; The target propulsion device is controlled to automatically turn to the second target angle.

22. The method according to claim 20, characterized in that The controlling the steering angle of the target propulsion device to be the second target angle includes: Outputting operation prompt information so that the user can rotate the target propulsion device to the second target angle according to the operation prompt information.

23. The method according to claim 21 or 22, characterized in that The propulsion device includes a steering lock structure and a mechanical steering assembly. Before controlling the steering angle of the target propulsion device to be the second target angle, the method includes: The steering lock structure is controlled to release the locked state, so as to release the restriction of the steering lock structure on the mechanical steering component.

24. The method according to claim 1, wherein The propulsion device includes a steering lock structure, a mechanical steering assembly, and a power assembly, and the method further includes: If a mechanical steering component of a propulsion device fails and the fault level is greater than or equal to a preset fault level, the faulty propulsion device is controlled to shut down; Before the fault of the mechanical steering assembly is cleared, the synchronous operation of the mechanical steering assembly of the faulty propulsion device and the power assembly of the faulty propulsion device is restricted. When the power assembly is running, the steering locking structure is in a locked state.

25. The method according to claim 24, characterized in that The controlling of the faulty propulsion device to shut down comprises: The output power of the faulty propulsion device is controlled to slowly drop to zero.

26. The method according to claim 24, characterized in that When the faulty propulsion device operates in the limp home mode, the faulty propulsion device is allowed to operate.

27. The method according to claim 24, characterized in that When the faulty propulsion device is in operation, the output power of the faulty propulsion device is limited to a preset power threshold.

28. The method according to claim 1, wherein The propulsion device includes a power assembly, the target propulsion device and the power assembly of the first propulsion device are allowed to operate, and the power assembly of the second propulsion device is allowed to operate when the second propulsion device and the target propulsion device also have the first angular relationship.

29. A method for controlling a propulsion system, characterized in that: The propulsion system includes a steering adjustment device and a plurality of propulsion devices, and the method includes: Obtaining a steering angle of each of the propulsion devices; determining, from the plurality of propulsion devices, a third propulsion device having a fourth angular relationship with the steering adjustment device and a fourth propulsion device having a fifth angular relationship with the steering adjustment device based on the steering angle; Controlling the third propulsion device to turn synchronously with the steering adjustment device; When the fourth propulsion device and the steering adjustment device have the fourth angular relationship, the fourth propulsion device is controlled to also turn synchronously with the steering adjustment device.

30. The method according to claim 29, wherein The fourth angle relationship is that the mapping angle difference between the propulsion device and the steering adjustment device is less than or equal to a fourth preset angle threshold; the fifth angle relationship is that the mapping angle difference between the propulsion device and the steering adjustment device is greater than the fourth preset angle threshold.

31. The method according to claim 30, wherein The method further comprises: determining an external output angle corresponding to the rotation angle of the steering adjustment device based on an alignment strategy corresponding to a current configuration mode of the steering adjustment device, wherein the steering adjustment device corresponds to different alignment strategies in different configuration modes; The mapping angle difference is calculated based on the external output angle, the steering angle of the propulsion device, and a mapping relationship between a preset rotation angle of the steering adjustment device and the steering angle of the propulsion device.

32. The method according to claim 31, characterized in that The calculating the mapping angle difference based on the external output angle, the steering angle of the propulsion device, and a mapping relationship between a preset rotation angle of the steering adjustment device and the steering angle of the propulsion device includes: determining a third mapping angle of the steering angle mapping of the propulsion device based on the mapping relationship; Calculating the absolute value of the difference between the third mapping angle and the external output angle; The absolute value of the difference between the third mapping angle and the external output angle is mapped under the mapping relationship and obtained as the mapping angle difference.

33. The method according to claim 31, characterized in that The calculating the mapping angle difference based on the external output angle, the steering angle of the propulsion device, and a mapping relationship between a preset rotation angle of the steering adjustment device and the steering angle of the propulsion device includes: Based on the mapping relationship, determining a fourth mapping angle of the external output angle mapping; An absolute value of a difference between the fourth mapping angle and the steering angle of the propulsion device is determined as the mapping angle difference.

34. The method according to claim 31, wherein The calculating the mapping angle difference based on the external output angle, the steering angle of the propulsion device, and a mapping relationship between a preset rotation angle of the steering adjustment device and the steering angle of the propulsion device includes: determining a third mapping angle of the steering angle mapping of the propulsion device based on the mapping relationship; An absolute value of a difference between the third mapping angle and the external output angle is determined as the mapping angle difference.

35. The method according to claim 31, wherein The calculating the mapping angle difference based on the external output angle, the steering angle of the propulsion device, and a mapping relationship between a preset rotation angle of the steering adjustment device and the steering angle of the propulsion device includes: Based on the mapping relationship, determining a fourth mapping angle of the external output angle mapping; calculating an absolute value of a difference between the fourth mapping angle and a steering angle of the propulsion device; The absolute value of the difference between the fourth mapping angle and the steering angle of the propulsion device is mapped under the mapping relationship and obtained as the mapping angle difference.

36. The method according to claim 31, wherein The configuration mode includes a first mode, and the determining of the external output angle corresponding to the rotation angle of the steering adjustment device based on the alignment strategy corresponding to the current configuration mode of the steering adjustment device includes: If the steering adjustment device currently operates in the first mode, the rotation angle is determined as the external output angle.

37. The method according to claim 31, wherein The configuration mode includes a second mode, and the determining of the external output angle corresponding to the rotation angle of the steering adjustment device based on the alignment strategy corresponding to the current configuration mode of the steering adjustment device includes: If the steering adjustment device is currently operating in the second mode, the external output angle is determined according to the rotation angle and a preset centering angle corresponding to the second mode.

38. The method according to claim 37, wherein The determining the external output angle according to the rotation angle and a preset centering angle corresponding to the second mode includes: The difference between the rotation angle and the centering angle is determined as the external output angle.

39. The method according to claim 29, wherein Before controlling the third propulsion device to turn synchronously with the steering adjustment device, the method includes: When the third propulsion device does not exist, determining a target set including at least two propulsion devices from the plurality of propulsion devices, wherein a difference in steering angles between any two propulsion devices in the target set is less than a fifth preset angle threshold; taking the average of the steering angles of all the propulsion devices in the target set as a reference angle; determining a third mapping angle of the reference angle mapping based on a preset mapping relationship between a rotation angle of the steering adjustment device and a steering angle of the propulsion device; determining a third target angle of the steering adjustment device according to the third mapping angle and based on an alignment strategy corresponding to a current configuration mode of the steering adjustment device; wherein the steering adjustment device corresponds to different alignment strategies in different configuration modes; The rotation angle of the steering adjustment device is controlled to be the third target angle.

40. The method according to claim 29, wherein Before controlling the third propulsion device to turn synchronously with the steering adjustment device, the method includes: When the third propulsion device does not exist, determining a third mapping angle of the steering angle mapping of a target propulsion device based on a preset mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device, the target propulsion device being one of the plurality of propulsion devices; determining a third target angle of the steering adjustment device according to the third mapping angle and based on an alignment strategy corresponding to a current configuration mode of the steering adjustment device; wherein the steering adjustment device corresponds to different alignment strategies in different configuration modes; The rotation angle of the steering adjustment device is controlled to be the third target angle.

41. The method according to claim 40, wherein One of the multiple propulsion devices is a main propulsion device, the others are slave propulsion devices, and the target propulsion device is the main propulsion device.

42. The method according to claim 40, wherein The method further comprises: The mapping angle difference between the steering adjustment device and each of the propulsion devices is calculated, and the propulsion device corresponding to the minimum mapping angle difference is selected as the target propulsion device.

43. The method according to claim 39 or 40, characterized in that The configuration mode includes a first mode, and determining, according to the third mapping angle and based on an alignment strategy corresponding to a current configuration mode of the steering adjustment device, a third target angle of the steering adjustment device includes: If the steering adjustment device currently operates in the first mode, the third mapping angle is determined as the third target angle.

44. The method according to claim 43, wherein The controlling the rotation angle of the steering adjustment device to be the third target angle includes: The rotation angle of the steering adjustment device is automatically updated to the third target angle.

45. The method according to claim 39 or 40, characterized in that The configuration mode includes a second mode, and determining, according to the third mapping angle and based on an alignment strategy corresponding to a current configuration mode of the steering adjustment device, a third target angle of the steering adjustment device includes: If the steering adjustment device currently operates in the second mode, the third target angle is determined according to the third mapping angle and a preset centering angle corresponding to the second mode.

46. ​​The method according to claim 45, characterized in that The determining the third target angle according to the third mapping angle and a preset centering angle corresponding to the second mode includes: The sum of the third mapping angle and the centering angle is determined as the third target angle.

47. The method according to claim 45, wherein The controlling the rotation angle of the steering adjustment device to be the third target angle includes: Output operation prompt information so that the user can rotate the steering adjustment device to the third target angle according to the operation prompt information.

48. The method according to claim 47, wherein The propulsion device includes a steering lock structure and a mechanical steering assembly. Before controlling the steering angle of the target propulsion device to be the third target angle, the method includes: The steering lock structure is controlled to release the locked state, so as to release the restriction of the steering lock structure on the mechanical steering component.

49. The method according to claim 29, wherein The propulsion device includes a steering lock structure, a mechanical steering assembly, and a power assembly. The method further includes: If a mechanical steering component of a propulsion device fails and the fault level is greater than or equal to a preset fault level, the faulty propulsion device is controlled to shut down; Before the fault of the mechanical steering assembly is cleared, the mechanical steering assembly of the faulty propulsion device and the power assembly of the faulty propulsion device are restricted from running synchronously. When the power assembly is running, the steering locking structure is in a locked state.

50. The method according to claim 49, wherein The controlling of the faulty propulsion device to shut down comprises: The output power of the faulty propulsion device is controlled to slowly drop to zero.

51. The method according to claim 49, wherein When the faulty propulsion device operates in the limp home mode, the faulty propulsion device is allowed to operate.

52. The method according to claim 49, wherein When the faulty propulsion device is in operation, the output power of the faulty propulsion device is limited to a preset power threshold.

53. The method according to claim 29, wherein The propulsion device includes a power assembly, the power assembly of the third propulsion device is enabled to operate, and the power assembly of the fourth propulsion device is enabled to operate when the fourth propulsion device has the fourth angular relationship with the steering adjustment device.

54. A propulsion system, characterized in that: The propulsion system includes a memory and a processor; The memory is used to store computer programs; The processor is configured to execute the computer program and implement the control method of the propulsion system according to any one of claims 1 to 53 when executing the computer program.

55. A movable device in water area, characterized in that: The mobile water vehicle comprises the propulsion system of claim 54 .

56. A storage medium, characterized in that The storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the control method of the propulsion system according to any one of claims 1 to 53.

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