Marine control system and ship

Abstract

The invention discloses a marine control system and a ship, and relates to the technical field of ship control, and the marine control system comprises a wired control assembly which is used for outputting a corresponding wired control signal based on the interactive operation of a user; the wireless control assembly is used for outputting a corresponding wireless control signal based on the interactive operation of the user; the fishing rod fixing clamping seat is used for fixing a fishing rod, and the fishing rod fixing clamping seat and the wireless control assembly are arranged on the same device; and the main control module is electrically connected with the wired control assembly and the top flow machine, and is also in wireless communication connection with the wireless control assembly, and the main control module is used for controlling the working state of the top flow machine based on the wired control signal or the wireless control signal. The invention aims to meet the requirements of a user for sitting posture cruising and standing operation on a ship.

Description

Technical Field

[0001] This invention relates to the field of ship control technology, and in particular to a ship control system and a ship. Background Technology

[0002] As a key propulsion device for water sports and fisheries operations, the stability of the steering and power control of the top current engine directly affects the safety of ship handling and operational efficiency.

[0003] Currently, most top-flow fishing boats use single-mode propulsion controllers, such as fixed knobs, throttle levers, or handheld remote controls. These devices are typically only suitable for seated, two-handed cruising scenarios. However, in actual use, users often need to fish while standing, requiring both hands to operate fishing rods and other tools, making it difficult to simultaneously control the top-flow fishing boat. Summary of the Invention

[0004] The main objective of this invention is to provide a marine control system and a vessel that can meet the user's needs for both seated cruising and standing operations on board.

[0005] To achieve the above objectives, this invention proposes a marine control system applied to a ship, the ship including a hull and a buoyancy generator, the buoyancy generator being used to drive the hull, and the marine control system including: A wired control component, wherein the wired control component is used to output corresponding wired control signals based on user interaction operations; A wireless control component, wherein the wireless control component is used to output corresponding wireless control signals based on user interaction operations; A fishing rod fixing bracket is used to fix a fishing rod, and the fishing rod fixing bracket and the wireless control component are mounted on the same device. The main control module is electrically connected to the wired control component and the top flow machine, and also establishes a wireless communication connection with the wireless control component. The main control module is used to control the working state of the top flow machine based on the wired control signal or the wireless control signal.

[0006] In one embodiment, the wired control component includes: The system includes a magnetic encoder and a rotating assembly. The magnetic encoder is electrically connected to the main control module. The magnetic encoder is used to measure the rotation angle and steering speed of the rotating assembly and output corresponding rotation angle and rotation speed signals. The main control module is used to control the rotation angle of the top flow machine based on the rotation angle signal and to control the steering speed of the top flow machine based on the rotation speed signal.

[0007] In one embodiment, the main control module is used to process the rotation speed of the rotating component based on a preset speed limiting algorithm, and control the steering speed of the top flow machine according to the processing result; wherein, the preset speed limiting algorithm is: V_thruster = V_knob × f(v_current), where V_thruster is the turning speed of the top current machine, V_knob is the rotation speed of the rotating component, and f(v_current) is the ship speed correction function, which monotonically decreases as the speed of the ship increases.

[0008] In one embodiment, the main control module is further configured to control the lateral acceleration of the hull to not exceed a preset acceleration when the rotational speed of the rotating component is detected to be not less than a preset rotational speed based on the rotational speed signal.

[0009] In one embodiment, the wireless control component includes: An omnidirectional joystick input component and a wireless communication module are provided. The omnidirectional joystick input component is used to calculate the rotation angle θ=arctan2(Y,X) of the joystick offset vector based on the X-axis offset of the joystick relative to the central origin in the horizontal plane and the Y-axis offset of the joystick relative to the central origin in the horizontal plane, and generate the corresponding rotation angle signal. The wireless communication module is used to transmit the rotation angle signal to the main control module. The main control module is used to control the rotation angle of the top flow machine according to the rotation angle signal. The omnidirectional joystick input component outputs a corresponding vector length signal based on the vector length of its joystick. The wireless communication module is used to transmit the vector length signal to the main control module. The main control module is used to control the power of the top flow machine according to the vector length signal.

[0010] In one embodiment, the wireless control component includes: The system comprises a first button, a second button, a third button, and a wireless communication module. The first button, the second button, and the third button are all electrically connected to the wireless communication module. The first button is used to output a first control signal when pressed, the second button is used to output a second control signal when pressed, and the third button is used to output a third control signal when pressed. The wireless communication module is used to transmit the first control signal, the second control signal, and the third control signal to the main control module. The main control module is used to control the top flow machine to rotate to the left at a preset rotation speed when receiving the first control signal, the main control module is used to control the top flow machine to rotate to the right at a preset rotation speed when receiving the second control signal, and the main control module is used to control the power of the top flow machine to increase when receiving the third control signal.

[0011] In one embodiment, the wireless control component includes: The system comprises a first single-axis joystick input component, a second single-axis joystick input component, and a wireless communication module, wherein both the first single-axis joystick input component and the second single-axis joystick input component are electrically connected to the wireless communication module. The first single-axis joystick input component is used to output corresponding rotation direction signals and steering speed signals according to the offset direction and offset amount of its joystick in a single dimension. The wireless communication module is used to transmit the rotation direction signals and the steering speed signals to the main control module. The main control module is used to control the rotation direction and steering speed of the top flow machine according to the rotation direction signals and the steering speed signals. The second single-axis joystick input component is used to output a corresponding vector length signal according to the offset of its joystick in a single dimension. The wireless communication module is used to transmit the vector length signal to the main control module. The main control module is used to control the power of the top flow machine according to the vector length signal.

[0012] In one embodiment, the wireless control component includes a housing and an interaction component. One side of the housing is integrally formed or fixedly connected to the fishing rod fixing bracket, together forming a clamping channel. The interaction component is disposed on the other side of the housing opposite to the clamping channel.

[0013] The present invention also proposes a ship, including a hull, a top current generator, and a marine control system as described in any one of the above claims, wherein the marine control system is electrically connected to the top current generator.

[0014] The marine control system of this invention includes a wired control component for outputting corresponding wired control signals based on user interaction; a wireless control component for outputting corresponding wireless control signals based on user interaction; a fishing rod holder for fixing fishing rods, the fishing rod holder and the wireless control component being mounted on the same device; and a main control module, which is connected to both the wired control component and the top current generator, and also establishes a wireless communication connection with the wireless control component. The main control module is used to control the working state of the top current generator based on the wired control signals or the wireless control signals.

[0015] With this configuration, the wired control component can be fixedly installed on the bridge or near the seat, allowing users to easily operate the dynamometer and control the ship's course while seated or during long voyages. Simultaneously, the wireless control component supports remote wireless communication and is integrated with the fishing rod holder on the same device. When fishing standing up, the user can insert the fishing rod into the holder for secure clamping. In this position, the user can not only fish standing up but also operate the wireless control component with one hand to adjust the dynamometer's steering and thrust in real time. In practical applications, users can switch between wired and wireless control components to control the dynamometer as needed, effectively solving the problem that traditional single-mode controllers cannot simultaneously handle seated cruising and standing operations, thus improving the ease of operation of the marine control system in multiple operating scenarios. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of a module according to an embodiment of the present invention; Figure 2 This is a schematic diagram of a module according to another embodiment of the present invention; Figure 3 This is a schematic diagram of a module according to another embodiment of the present invention; Figure 4 This is a schematic diagram of a module according to another embodiment of the present invention; Figure 5 This is a schematic diagram of a module according to another embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of a fishing rod fixing bracket and a wireless control component according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of a fishing rod fixing bracket and a wireless control component according to another embodiment of the present invention; Figure 8 This is a schematic diagram of the principle of an omnidirectional joystick input component according to an embodiment of the present invention.

[0018] Explanation of icon numbers: 100. Hull; 10. Top flow machine; 20. Wired control component; 21. Magnetic encoder; 22. Rotation component; 30. Wireless control component; 31. Omnidirectional joystick input component; 32. Wireless communication module; 331. First button; 332. Second button; 333. Third button; 341. First single-axis joystick input component; 342. Second single-axis joystick input component; 35. Housing; 36. Interaction component; 40. Main control module; 50. Fishing rod fixing bracket.

[0019] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0021] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0022] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0023] As a key propulsion device for water sports and fisheries operations, the stability of the steering and power control of the top current engine directly affects the safety of ship handling and operational efficiency.

[0024] Currently, most top-flow fishing boats use single-mode propulsion controllers, such as fixed knobs, throttle levers, or handheld remote controls. These devices are typically only suitable for seated, two-handed cruising scenarios. However, in actual use, users often need to fish while standing, requiring both hands to operate fishing rods and other tools, making it difficult to simultaneously control the top-flow fishing boat.

[0025] To address the aforementioned problems, this invention proposes a marine control system applied to a ship, the ship including a hull 100 and a turret 10, the turret 10 being used to drive the hull 100. In one embodiment, referring to... Figure 1 The marine control system includes: Wired control component 20, which is used to output corresponding wired control signals based on user interaction operations; Wireless control component 30, which is used to output corresponding wireless control signals based on user interaction operations; Fishing rod fixing bracket 50, the fishing rod fixing bracket 50 is used to fix the fishing rod, and the fishing rod fixing bracket 50 and the wireless control component 30 are disposed on the same device; The main control module 40 is electrically connected to the wired control component 20 and the top flow machine 10, and also establishes a wireless communication connection with the wireless control component 30. The main control module 40 is used to control the working state of the top flow machine 10 based on the wired control signal or the wireless control signal.

[0026] It should be noted that the thrust generator 10 is typically mounted on a dedicated base at the stern, bottom, or side of the ship and can rotate about a vertical axis perpendicular to the deck of the hull 100. This allows the thrust generator 10 to directly drive the hull 100 to achieve multi-degree-of-freedom motion by changing the direction of thrust. The thrust generator 10 includes a steering motor and a drive motor. The steering motor drives the entire thrust generator 10 or its thrust guiding mechanism to rotate about the vertical axis of the deck of the hull 100, thereby changing the direction of thrust. The drive motor drives the propeller, impeller, or jet pump to rotate, generating forward or backward thrust.

[0027] In this embodiment, the wired control component 20 may include an interaction component and a wired communication module. The interaction component is electrically connected to the main control module 40 via the wired communication module, which is used to transmit the wired control signals output by the interaction component during operation. The interaction component can be implemented using a rotary controller, button assembly, single-axis analog joystick, rotary dial, or foot-operated throttle / direction controller, etc. For example, when the wired control component 20 uses a rotary controller and button assembly, the main control module 40 can control the rotation angle and direction of the top flow machine 10 according to the rotation angle and direction of the rotary controller, and also control the power of the top flow machine 10 through the button assembly. The wired communication module can be implemented using any one of a CAN bus, RS-485 / RS-422 interface, or RS-232 interface.

[0028] In this embodiment, the wireless control component 30 may include an interactive component and a wireless communication module 32. The wireless communication module 32 is used to transmit the wireless control signals output by the user when operating the interactive component to the main control module 40. The interactive component can be implemented using a rotary controller, button assembly, single-axis analog joystick, rotary dial, or foot-operated throttle / direction controller, etc. For example, when the wired control component 20 uses a rotary controller and button assembly, the main control module 40 can control the rotation angle and direction of the top flow machine 10 according to the rotation angle and direction of the rotary controller, and also control the power of the top flow machine 10 through the button assembly. The wireless communication module 32 can be implemented using a Bluetooth module, a WIFI module, or a radio frequency module.

[0029] In this embodiment, reference Figure 6 Optionally, the fishing rod holder 50 is an arc-shaped clamping structure with an opening, which is integrally formed or fixedly connected to the wireless control component 30, together forming a clamping channel for holding the fishing rod. The arc-shaped clamping structure can be implemented using an elastic frame, which can expand according to the diameter of the inserted fishing rod, so that the fishing rod holder 50 can adapt to various different fishing rods, improving the user experience.

[0030] Further reference Figure 7 The wireless control component 30 has a housing 35 and an interaction component 36. One side of the housing 35 is integrally formed or fixedly connected to the fishing rod fixing bracket 50, together forming a clamping channel. The interaction component 36 is disposed on the other side of the housing 35 opposite to the clamping channel. This arrangement, with the interaction component 36 positioned away from the clamping channel, allows the user's palm to naturally wrap around the control area when holding the housing 35, enabling the thumb to directly operate the interaction component 36. The fishing rod is stably clamped from the front or above, preventing the rod from obstructing the operation or interfering with the hand.

[0031] Optionally, the fishing rod holder 50 can also be a magnetic holder. The magnetic holder has a groove. When the magnetic holder is magnetically connected to the wireless control component 30, the groove and the wireless control component 30 together form a clamping channel for inserting the fishing rod and clamping it in a limited position. The user can fix the fishing rod in the groove and then magnetically connect the magnetic holder to the wireless control component 30 to combine the fishing rod and the wireless control component 30, allowing the user to control the top current machine 10 while standing and fishing.

[0032] In this embodiment, the main control module 40 can be implemented using an MCU (Microcontroller Unit), DSP (Digital Signal Processor), FPGA (Field Programmable Gate Array), or SOC (System on Chip). The main control module 40 also integrates a wireless communication module 32, which is used to establish a wireless communication connection with the wireless control component 30.

[0033] In summary, the wired control component 20 can be fixedly installed on the bridge or near the seat of the hull 100, allowing users to control the dynamometer 10 and thus the course of the hull 100 while in a seated position or during long-distance navigation. Simultaneously, the wireless control component 30 supports remote wireless communication and is integrated with the fishing rod holder 50 on the same device. When fishing standing up, the user can insert the fishing rod into the holder and have it reliably held in place. In this state, the user can not only fish standing up but also operate the wireless control component 30 on the device with one hand at any time to adjust the steering and thrust of the dynamometer 10 in real time. In practical applications, users can switch between the wired control component 20 and the wireless control component 30 to control the dynamometer 10 according to the actual situation, effectively solving the problem that traditional single-mode controllers cannot simultaneously meet the needs of seated navigation and standing operation, thus improving the operational convenience of the marine control system of this invention in multiple operating scenarios.

[0034] In one embodiment of the present invention, reference is made to... Figure 2 The wired control component 20 includes: The magnetic encoder 21 and the rotating component 22 are electrically connected to the main control module 40. The magnetic encoder 21 is used to measure the rotation angle and turning speed of the rotating component 22 and output corresponding rotation angle signals and rotation speed signals. The main control module 40 is used to control the rotation angle of the top flow machine 10 based on the rotation angle signal and to control the turning speed of the top flow machine 10 based on the rotation speed signal.

[0035] In this embodiment, the rotating component 22 is the mechanical part for user rotation operation, and can be a knob, handle, or turntable that can rotate around an axis. The magnetic encoder 21 is a non-contact angle sensor, fixed near the rotating shaft of the rotating component 22, used to detect its rotation angle and turning speed, and output the corresponding rotation angle signal and rotation speed signal to the main control module 40. Specifically, the magnetic encoder 21 detects the change in the direction of the magnetic field generated by the permanent magnet installed on the rotating shaft of the rotating component 22, and outputs an electrical signal (such as analog voltage, PWM, or digital angle value) corresponding to the absolute position of the rotating shaft in real time, thereby directly obtaining the rotation angle of the knob component. Based on this, the turning speed of the knob component can be obtained by the main control module 40 through time differential calculation of the rotation angle signal (i.e., the angle change Δθ / Δt per unit time).

[0036] After receiving the rotation angle signal output by the magnetic encoder 21, the main control module 40 maps it to the target orientation of the top flow machine 10 and drives the steering motor of the top flow machine 10 through closed-loop control, so that the actual rotation angle of the top flow machine 10 accurately tracks the target value. At the same time, the main control module 40 can dynamically adjust the steering rate of the top flow machine 10 according to the rotation speed signal of the knob assembly: when the user rotates the knob quickly, the top flow machine 10 responds with a higher angular velocity; when rotated slowly, it makes fine adjustments at a low speed. For example, a mapping relationship is established between the rotation angle of the rotating assembly 22 and the rotation angle of the top flow machine 10. When the rotation angle of the rotating assembly 22 is 0°, the thrust direction of the top flow machine 10 is directly behind the hull 100. When the rotation angle of the rotating assembly 22 is 90°, the thrust direction of the top flow machine 10 is 90° to the starboard side of the hull 100, driving the hull 100 to move laterally to the left or to achieve a right turn torque.

[0037] With this configuration, this embodiment employs a non-contact angle detection method based on magnetic induction. The rotation angle is obtained in real time by sensing changes in the magnetic field of the magnet on the knob shaft using the magnetic encoder 21, eliminating the need for physical electrical contact structures between the rotating components. Compared to photoelectric angle detection schemes, the magnetic induction method has no optical window, is not dependent on a light-transmitting environment, and has stronger resistance to water vapor, salt spray, dust, and vibration interference. It is particularly suitable for high-humidity and highly corrosive water surface operating environments such as ships, significantly improving the long-term reliability and stability of the wired control component 20.

[0038] In existing technology, the dynamometer 10 is generally controlled by a fixed knob. The turning speed of the fixed knob is directly proportional to the turning speed of the dynamometer 10, so that the greater the turning speed of the fixed knob, the greater the turning speed of the dynamometer 10. However, when the user accidentally rotates the knob rapidly, the dynamometer 10 responds with an extremely high turning speed. When the ship speed is high, the rapid turning of the dynamometer 10 will instantly change the thrust direction, generating a large lateral force or yaw moment, which can easily cause the ship 100 to lose control, yaw violently, or even collide with obstacles.

[0039] To address the aforementioned problems, in one embodiment, the main control module 40 is used to process the rotation speed of the rotating component 22 based on a preset speed limiting algorithm, and control the steering speed of the top flow machine 10 according to the processing result; wherein, the preset speed limiting algorithm is: V_thruster = V_knob × f(v_current), where V_thruster is the turning speed of the top current machine 10, V_knob is the rotation speed of the rotating component 22, and f(v_current) is the ship speed correction function, which monotonically decreases as the speed of the hull 100 increases.

[0040] In this embodiment, the ship speed correction function monotonically decreases as the speed of the hull 100 increases, so that when the ship speed is high, the turning speed of the jacking machine 10 is automatically limited to a low level, thereby suppressing the risk of loss of course caused by sudden changes in thrust direction. When the ship speed is low or stationary, the turning speed of the jacking machine 10 can be increased accordingly to ensure responsiveness and operational flexibility. For example, when the ship speed reaches a preset maximum value, the ship speed correction function can be set to 0.6. In this case, even if the user accidentally rotates the rotating component 22 rapidly, outputting a large knob rotation speed, this speed will be significantly attenuated by a correction coefficient of less than 1, so that the final calculated turning speed of the jacking machine 10 is maintained within a safe range, effectively avoiding loss of course or collision accidents caused by sudden changes in thrust direction at high ship speeds. Conversely, when the boat speed is at its minimum (such as when stationary or close to 0 knots), the boat speed correction function can be set to 1.2, which moderately amplifies the response sensitivity of the knob input, enabling the top-flow machine 10 to respond quickly to operating commands at a higher turning speed, thereby improving the control efficiency and flexibility during low-speed or fixed-point operations. In another embodiment, the main control module 40 is further configured to control the lateral acceleration of the hull 100 to not exceed a preset acceleration when the rotational speed of the rotating component 22 is detected to be not less than a preset rotational speed based on the rotational speed signal. The preset acceleration is the maximum permissible lateral acceleration threshold when the hull 100 is approaching a capsizing or loss-of-control critical state during navigation; it can be set to 2° / s², and the specific value can be set by the developers according to actual conditions. The main control module 40 can control the lateral acceleration of the hull 100 to not exceed the preset acceleration by controlling the operating states of the steering motor and power motor of the top flow machine 10. The preset rotational speed is an angular velocity threshold used to determine whether the rotating component 22 is being rapidly operated; it can be set to 60° / s, and the specific value can be set by the developers according to actual conditions.

[0041] With this configuration, when the rotational speed of the rotating component 22 is detected to be no less than the preset rotational speed, the main control module 40 limits the lateral acceleration of the top-flow machine 10 to no more than the preset acceleration, so as to ensure a smooth turning process and avoid the ship from losing control due to sudden changes in thrust direction.

[0042] In one embodiment of the present invention, reference is made to... Figure 3 The wireless control component 30 includes: The system includes an omnidirectional joystick input component 31 and a wireless communication module 32. The omnidirectional joystick input component 31 is used to calculate the rotation angle θ=arctan2(Y,X) of the joystick offset vector based on the X-axis offset of the joystick relative to the central origin in the horizontal plane and the Y-axis offset of the joystick relative to the central origin in the horizontal plane, and generate the corresponding rotation angle signal. The wireless communication module 32 is used to transmit the rotation angle signal to the main control module 40. The main control module 40 is used to control the rotation angle of the top flow machine 10 according to the rotation angle signal. The omnidirectional joystick input component 31 outputs a corresponding vector length signal based on the vector length of its joystick. The wireless communication module 32 is used to transmit the vector length signal to the main control module 40. The main control module 40 is used to control the power of the top flow machine 10 according to the vector length signal.

[0043] In this embodiment, reference Figure 8 The omnidirectional joystick input component 31 is a dual-axis analog joystick that can be omnidirectionally offset by 360°. It is used to simultaneously capture the user's directional and force intentions. It can be implemented using any one of the following: a tunnel magnetoresistive thumb joystick, a Hall effect omnidirectional joystick, a potentiometer omnidirectional joystick, or a magnetoresistive joystick. Among them, the tunnel magnetoresistive thumb joystick adopts a low-power design, which can reduce the power consumption of the wireless control component 30.

[0044] When the user pushes the joystick, its tip deviates from the center origin in the horizontal plane, forming a two-dimensional vector V=(X,Y), where: the X-axis offset represents the normalized displacement of the joystick in the left-right direction (the transverse axis of the hull 100); the Y-axis offset represents the normalized displacement of the joystick in the forward-backward direction (the longitudinal axis of the hull 100). The main control module 40 calculates the angle of the joystick in the coordinate system using the mathematical function θ=arctan2(Y,X), and uses this angle as the steering angle of the top-flow machine 10, so that the steering angle of the top-flow machine 10 pushing the hull 100 is consistent with the angle of the joystick in the coordinate system.

[0045] In this embodiment, the formula for calculating the vector length L of the joystick is: The omnidirectional joystick input component 31 outputs a corresponding vector length signal according to the vector length of its joystick. After receiving the vector length signal, the main control module 40 controls the power of the motor of the top flow machine 10 according to the vector length of the joystick.

[0046] It should be noted that when the user is standing, the hull 100 is swaying, or the hand is unstable, the joystick will continuously deviate slightly near the center point due to minute vibrations, even when the user is not actively operating it. If the main control module 40 does not respond to such minute inputs, it will continuously analyze minute angle changes, causing the top current generator 10 to frequently adjust its direction, resulting in thrust direction vibrations, which in turn cause the hull 100 to sway, increase energy consumption, and even interfere with fishing or affect operational stability.

[0047] To address this issue, the main control module 40 can introduce a configurable joystick dead zone mechanism: a dead zone region is set with the joystick center as the origin. For example, when the maximum joystick offset is 1, the circular dead zone region can have a value of 0.03 to 0.08. When the joystick offset is within this dead zone, it is considered an invalid input, the angle change is ignored, the current orientation of the top flow machine 10 remains unchanged, and the thrust is either zeroed or kept in a steady state. Only when the offset exceeds the dead zone is the vector direction and vector length used to control the top flow machine 10. This setting, by reasonably setting the dead zone size, avoids control jitter caused by unintentional jitter and ensures that valid operation commands are responded to in a timely manner, thereby achieving a stable, reliable, and intuitive vector control experience.

[0048] By adopting the above configuration, compared to traditional ship control solutions (such as fixed joysticks or remote controls with only a single function), this embodiment integrates a vector analog joystick, a wireless communication module 32, and a fishing rod mounting bracket 50 into one unit, constructing a portable wireless control device that supports intuitive vector control. By deflecting the joystick to the target direction, the user can automatically align the thrust generator 10 with the corresponding thrust angle, while the thrust of the thrust generator 10 is linearly adjusted according to the vector length of the joystick deflection. This solution not only significantly improves the intuitiveness and precision of control but also enables reliable rod fixation and one-handed collaborative control of the thrust generator 10 while standing, effectively solving the problems of fragmented operation, delayed response, and two-handed occupation in traditional solutions during multi-posture operation scenarios.

[0049] In one embodiment of the present invention, reference is made to... Figure 4 The wireless control component 30 includes: The system comprises a first button 331, a second button 332, a third button 333, and a wireless communication module 32. The first button 331, the second button 332, and the third button 333 are all electrically connected to the wireless communication module 32. The first button 331 is used to output a first control signal when pressed, the second button 332 is used to output a second control signal when pressed, and the third button 333 is used to output a third control signal when pressed. The wireless communication module 32 is used to transmit the first control signal, the second control signal, and the third control signal to the main control module 40. The main control module 40 is used to control the top flow machine 10 to rotate to the left at a preset rotational speed when receiving the first control signal; the main control module 40 is used to control the top flow machine 10 to rotate to the right at a preset rotational speed when receiving the second control signal; and the main control module 40 is used to control the power of the top flow machine 10 to increase when receiving the third control signal. The preset rotational speed is a fixed angular velocity value at which the main control module 40 controls the steering motor of the top flow machine 10 to run when receiving the first / second control signal; it can be 5° / s or 8° / s, and is not limited thereto.

[0050] In this embodiment, after receiving the first control signal / second control signal, the main control module 40 drives the steering motor of the top flow machine 10 to rotate left / right at a preset rotational speed. After releasing the button, the main control module 40 stops receiving the first control signal / second control signal and stops the rotation of the top flow machine 10. After receiving the third control signal, the main control module 40 increases the power of the drive motor of the top flow machine 10 until the speed of the hull 100 reaches the preset travel speed. When the third control signal is not received, the power of the drive motor of the top flow machine 10 decreases until it reaches zero.

[0051] It should be noted that the preset rotation speed can be set lower than the maximum steering speed achievable by the user through traditional manual direct control (such as the main control stick on the bridge). This is to make the steering action of the top-flow engine 10 slower and smoother, thereby preventing the ship from suddenly yawing, losing control, or experiencing severe swaying due to accidental operation causing the top-flow engine 10 to turn too quickly, significantly improving safety and handling stability. The preset travel speed can be set lower than the maximum travel speed achievable by the user through traditional manual direct control (such as the throttle pedal on the bridge), for example, 40% of the maximum travel speed, which can effectively prevent loss of ship control due to accidental operation or prolonged pressing of the throttle pedal.

[0052] With this configuration, the wireless control component 30 in this embodiment is a combination of three clearly defined physical buttons (left turn, right turn, throttle) and the wireless communication module 32. Users can turn the top current machine 10 left or right or increase thrust simply by pressing the corresponding button. In practical applications, when users are fishing, they can hold the fishing rod with one hand and lightly press the button with the thumb of the other hand to fine-tune the boat position, which improves the usability of the invention in complex working environments.

[0053] In one embodiment of the present invention, reference is made to... Figure 5 The wireless control component 30 includes: The system comprises a first single-axis joystick input component 341, a second single-axis joystick input component 342, and a wireless communication module 32, wherein the first single-axis joystick input component 341 and the second single-axis joystick input component 342 are both electrically connected to the wireless communication module 32. The first single-axis rocker input component 341 is used to output corresponding rotation direction signals and steering speed signals according to the offset direction and offset amount of its rocker in a single dimension. The wireless communication module 32 is used to transmit the rotation direction signals and the steering speed signals to the main control module 40. The main control module 40 is used to control the rotation direction and steering speed of the top flow machine 10 according to the rotation direction signals and the steering speed signals. The second single-axis joystick input component 342 is used to output a corresponding vector length signal based on the offset of its joystick in a single dimension. The wireless communication module 32 is used to transmit the vector length signal to the main control module 40. The main control module 40 is used to control the power of the top flow machine 10 according to the vector length signal. The first single-axis joystick input component 341 and the second single-axis joystick input component 342 can be implemented using any one of a potentiometer-type single-axis joystick, a Hall effect-type single-axis joystick, or a magnetoresistive single-axis sensor.

[0054] In this embodiment, the first single-axis rocker input component 341 can be configured to support only left-right (lateral) single-degree-of-freedom swinging for controlling the steering of the top flow machine 10. The second single-axis rocker input component 342 can be configured to support only forward-backward (longitudinal) single-degree-of-freedom swinging for controlling the thrust magnitude and direction (forward / backward) of the top flow machine 10. When the user controls the rocker of the first single-axis rocker input component 341 to deflect to the left, the first single-axis rocker input component 341 outputs a negative signal to the main control module 40, causing the main control module 40 to control the steering motor of the top flow machine 10 to rotate to the left. When the user controls the rocker of the first single-axis rocker input component 341 to deflect to the right, the first single-axis rocker input component 341 outputs a positive signal to the main control module 40, causing the main control module 40 to control the steering motor of the top flow machine 10 to rotate to the right. The greater the rocker's offset, the higher the amplitude of the negative and positive signals, and the faster the main control module 40 controls the steering motor of the top flow machine 10 to rotate.

[0055] In this embodiment, when the user controls the joystick of the second single-axis joystick input component 342 to deflect forward, the second single-axis joystick input component 342 outputs a corresponding vector length signal to the main control module 40 according to the joystick's deflection, so that the main control module 40 controls the power motor of the top flow machine 10 to advance forward according to the joystick's vector length. The larger the joystick's deflection, the greater the power the main control module 40 controls the power motor of the top flow machine 10 to generate.

[0056] It should be noted that when the user is standing, the hull 100 is swaying, or the hand is unstable, the joystick will continuously deviate slightly near the center point due to minute vibrations, even when the user is not actively operating it. If the main control module 40 does not respond to such minute inputs, it will continuously analyze minute angle changes, causing the top current generator 10 to frequently adjust its direction, resulting in thrust direction vibrations, which in turn cause the hull 100 to sway, increase energy consumption, and even interfere with fishing or affect operational stability.

[0057] To address this issue, the main control module 40 can introduce a configurable joystick dead zone mechanism: a dead zone region is set with the joystick center as the origin. For example, when the maximum joystick offset is 1, the circular dead zone region can have a value of 0.3 to 0.08. When the joystick offset is within this dead zone, it is considered an invalid input, the angle change is ignored, the current orientation of the top flow machine 10 remains unchanged, and the thrust is either zeroed or kept in a steady state. Only when the offset exceeds the dead zone is the vector direction and vector length used to control the top flow machine 10. This setting, by reasonably setting the dead zone size, avoids control jitter caused by unintentional jitter and ensures that valid operation commands are responded to in a timely manner, thereby achieving a stable, reliable, and intuitive vector control experience.

[0058] With this configuration, this embodiment achieves independent, continuous, and stepless adjustment of steering and power through functional decoupling. The first single-axis joystick input component 341 controls the steering direction and speed of the top-flow machine 10, while the second single-axis joystick input component 342 controls the thrust of the top-flow machine 10. This significantly improves control precision and responsiveness. In practical applications, users can operate with one hand. When standing and fishing, with the fishing rod holder 50, one hand can hold the fishing rod, while the other hand's thumb lightly presses the joystick to fine-tune the boat position without interrupting the operation.

[0059] It should be noted that the wireless communication module 32 in the above embodiments can be implemented using a Bluetooth module, a WIFI module, or a radio frequency module. In a preferred embodiment, the wireless communication module 32 can be a Bluetooth module, and establish a communication connection with the main control module 40 based on Bluetooth Low Energy (BLE) technology. Compared with the traditional 2.4GHz proprietary radio frequency communication scheme, Bluetooth Low Energy technology significantly reduces the power consumption of the wireless control component 30 and extends the battery life of the built-in battery while ensuring communication reliability and control responsiveness (typical latency less than 50ms). At the same time, the BLE protocol has a mature pairing mechanism and anti-interference capability, which can effectively avoid the problem of multiple devices interfering on the same frequency and improve the stability of the system in complex electromagnetic environments.

[0060] The present invention also proposes a vessel, including a hull 100, a turret 10, and a marine control system as described above; the marine control system is electrically connected to the turret 10. It is worth noting that since the ship of the present invention is based on the above-mentioned marine control system, the embodiments of the ship of the present invention include all the technical solutions of all the embodiments of the above-mentioned marine control system, and the technical effects achieved are exactly the same, which will not be repeated here.

[0061] The above description is merely an exemplary embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention specification and drawings under the technical concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A marine control system applied to a ship, the ship comprising a hull and a turret, the turret being used to drive the hull, characterized in that, The marine control system includes: A wired control component, wherein the wired control component is used to output corresponding wired control signals based on user interaction operations; A wireless control component, wherein the wireless control component is used to output corresponding wireless control signals based on user interaction operations; A fishing rod fixing bracket is used to fix a fishing rod, and the fishing rod fixing bracket and the wireless control component are mounted on the same device. The main control module is electrically connected to the wired control component and the top flow machine, and also establishes a wireless communication connection with the wireless control component. The main control module is used to control the working state of the top flow machine based on the wired control signal or the wireless control signal.

2. The marine control system as described in claim 1, characterized in that, The wired control component includes: The system includes a magnetic encoder and a rotating assembly. The magnetic encoder is electrically connected to the main control module. The magnetic encoder is used to measure the rotation angle and steering speed of the rotating assembly and output corresponding rotation angle and rotation speed signals. The main control module is used to control the rotation angle of the top flow machine based on the rotation angle signal and to control the steering speed of the top flow machine based on the rotation speed signal.

3. The marine control system as described in claim 2, characterized in that, The main control module is used to process the rotation speed of the rotating component based on a preset speed limiting algorithm, and control the steering speed of the top flow machine according to the processing result; wherein, the preset speed limiting algorithm is: V_thruster = V_knob × f(v_current), where V_thruster is the turning speed of the top current machine, V_knob is the rotation speed of the rotating component, and f(v_current) is the ship speed correction function, which monotonically decreases as the speed of the ship increases.

4. The marine control system as described in claim 2, characterized in that, The main control module is also used to control the lateral acceleration of the hull to not exceed the preset acceleration when the rotational speed of the rotating component is detected to be not less than the preset rotational speed based on the rotational speed signal.

5. The marine control system as described in claim 1, characterized in that, The wireless control component includes: An omnidirectional joystick input component and a wireless communication module are provided. The omnidirectional joystick input component is used to calculate the rotation angle θ=arctan2(Y,X) of the joystick offset vector based on the X-axis offset of the joystick relative to the central origin in the horizontal plane and the Y-axis offset of the joystick relative to the central origin in the horizontal plane, and generate the corresponding rotation angle signal. The wireless communication module is used to transmit the rotation angle signal to the main control module. The main control module is used to control the rotation angle of the top flow machine according to the rotation angle signal. The omnidirectional joystick input component outputs a corresponding vector length signal based on the vector length of its joystick. The wireless communication module is used to transmit the vector length signal to the main control module. The main control module is used to control the power of the top flow machine according to the vector length signal.

6. The marine control system as described in claim 1, characterized in that, The wireless control component includes: The system comprises a first button, a second button, a third button, and a wireless communication module. The first button, the second button, and the third button are all electrically connected to the wireless communication module. The first button is used to output a first control signal when pressed, the second button is used to output a second control signal when pressed, and the third button is used to output a third control signal when pressed. The wireless communication module is used to transmit the first control signal, the second control signal, and the third control signal to the main control module. The main control module is used to control the top flow machine to rotate to the left at a preset rotation speed when receiving the first control signal, the main control module is used to control the top flow machine to rotate to the right at a preset rotation speed when receiving the second control signal, and the main control module is used to control the power of the top flow machine to increase when receiving the third control signal.

7. The marine control system as described in claim 1, characterized in that, The wireless control component includes: The system comprises a first single-axis joystick input component, a second single-axis joystick input component, and a wireless communication module, wherein both the first single-axis joystick input component and the second single-axis joystick input component are electrically connected to the wireless communication module. The first single-axis joystick input component is used to output corresponding rotation direction signals and steering speed signals according to the offset direction and offset amount of its joystick in a single dimension. The wireless communication module is used to transmit the rotation direction signals and the steering speed signals to the main control module. The main control module is used to control the rotation direction and steering speed of the top flow machine according to the rotation direction signals and the steering speed signals. The second single-axis joystick input component is used to output a corresponding vector length signal according to the offset of its joystick in a single dimension. The wireless communication module is used to transmit the vector length signal to the main control module. The main control module is used to control the power of the top flow machine according to the vector length signal.

8. The marine control system as described in any one of claims 1 to 7, characterized in that, The fishing rod fixing bracket is an arc-shaped clamping structure with an opening, which is integrally formed or fixedly connected with the wireless control component, together forming a clamping channel for clamping the fishing rod.

9. The marine control system as claimed in claim 8, wherein the wireless control component includes a housing and an interaction component, one side of the housing is integrally formed or fixedly connected to the fishing rod fixing bracket, together forming a clamping channel, and the interaction component is disposed on the other side of the housing relative to the clamping channel.

10. A ship, characterized in that, It includes a hull, a top current generator, and a marine control system as described in any one of claims 1 to 9, wherein the marine control system is electrically connected to the top current generator.

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