Method for power output control of a water propulsion, water propulsion system, water movable device

Abstract

The embodiment of the present application provides a water area propeller power output control method, a water area propulsion system and a water area movable device. The water area propeller power output control method comprises the following steps: receiving a peristalsis mode switching instruction; in response to the peristalsis mode switching instruction, acquiring a maximum peristalsis power set for the peristalsis mode, wherein the maximum peristalsis power is less than the rated output power of the water area propeller; and in response to receiving a power output instruction in the peristalsis mode, determining the power output power of the water area propeller according to the maximum peristalsis power. The technical scheme provided by the embodiment of the present application realizes accurate power output control of the water area propeller.

Description

Technical Field

[0001] This application relates to the field of water propulsion technology, and in particular to a power output control method for a water propulsion device, a water propulsion system, and a water mobile device. Background Technology

[0002] Water propulsion devices, such as outboard motors, are detachable power units that are suspended from the stern of boats, dinghies, or other mobile water-based equipment to propel them.

[0003] In many practical application scenarios (such as berthing and positioning, navigating narrow waterways, and low-speed cruising), users need to control the water propulsion device to move slowly at a low speed or remain basically stationary, and have relatively refined requirements for the smoothness, stability and micro-motion control of power output.

[0004] Therefore, how to achieve precise power output control of water thrusters has become an urgent technical problem to be solved. Summary of the Invention

[0005] This application provides a power output control method for a water propulsion device, a water propulsion system, and a water mobile device.

[0006] In a first aspect, embodiments of this application provide a power output control method for a water-based thruster, comprising: Receive power setting instructions for creep mode; In response to the power setting command, output a power setting prompt message; Receive the maximum creeping power set based on the power setting prompt information, wherein the maximum creeping power is the maximum output power of the water propeller in the creeping mode, and the maximum creeping power is less than the rated output power of the water propeller; In response to receiving a power output command in the creep mode, the power output power of the water propeller is determined based on the maximum creep power.

[0007] Secondly, this application provides a water propulsion system, including... The device comprises a display device, a power control device, a water propulsion device, and a processor, wherein the processor is electrically connected to the display device, the power control device, and the water propulsion device. The display device is used to send the processor a power setting command for the creep mode and a maximum creep power input value, and to display the power setting prompt information sent by the processor. The power control device is used to send a power output command to the processor in response to a power output operation; The processor is configured to respond to the power setting command, output the power setting prompt information, receive the maximum creeping power input value set based on the power setting prompt information, wherein the maximum creeping power is the maximum output power of the water propeller in the creeping mode, the maximum creeping power is less than the rated output power of the water propeller, and when the power output command is received in the creeping mode, determine the power output power of the water propeller based on the maximum creeping power.

[0008] Thirdly, this application provides a water-based mobile device, including the water propulsion system provided in the second aspect above.

[0009] This application embodiment employs the following technical solution: receiving a power setting command for a creeping mode; responding to the power setting command and outputting power setting prompt information; receiving a maximum creeping power set based on the power setting prompt information, wherein the maximum creeping power is the maximum output power of the water propeller in the creeping mode, and the maximum creeping power is less than the rated output power of the water propeller; and responding to receiving a power output command in the creeping mode and determining the power output power of the water propeller based on the maximum creeping power. By introducing a dedicated creeping mode for the water propeller, the maximum output power of the water propeller in this creeping mode is limited to a lower value than the default maximum output power, so that even at a large throttle depth, the actual power output of the water propeller remains at a low level, thereby achieving fine power control of the water propeller in the low-speed range.

[0010] These or other aspects of this application will become more apparent from the description of the following embodiments. Attached Figure Description

[0011] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 A flowchart of an embodiment of a power output control method for a water thruster provided in this application; Figure 2 This application provides a block diagram of a water propulsion system; Figure 3 A structural view of a water-based mobile device provided in an embodiment of this application; Figure 4 A block diagram of one embodiment of a computing device provided in this application. Detailed Implementation

[0012] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0013] It should be noted that, in the cases involving user interaction operations or triggering operations in the embodiments of this application, the user interaction operations or triggering operations involved in the embodiments of this application include, but are not limited to, various interaction operations such as touch operations, gesture operations, voice operations, head movement operations, and eye movement operations; among them, touch operations include, but are not limited to, click operations, double click operations, long press operations, swipe operations, pinch operations, or mouse hover operations. Swipe operations include, but are not limited to, straight line swipes and curved line swipes.

[0014] In realizing the concept of this application, the inventors discovered that water propulsion devices typically only operate in standard driving mode. In standard driving mode, the power output of the water propulsion device is directly determined by the product of the default maximum output power and the throttle depth. The power output variation rate is relatively large, and the throttle adjustment granularity in the small opening range is relatively coarse, making it difficult for users to achieve delicate low-speed control.

[0015] While some water thrusters offer different operating modes (such as high-speed, medium-speed, and low-speed), the maximum output power for each mode is usually a fixed value preset at the factory, which users cannot customize to suit their specific needs. However, the desired low-speed power limit varies significantly depending on water conditions, vessel size, and operational requirements. In calm waters, users may prefer a lower maximum power (e.g., 100W) for more precise micro-manipulation; while in waters with current thrust, users may require a slightly higher power limit (e.g., 300W) to ensure sufficient propulsion. Preset, fixed power levels often fail to accommodate these diverse needs, resulting in an unsatisfactory operating experience for users in certain scenarios.

[0016] To address the existing technical problems, this application provides a solution. The basic idea is as follows: receiving a power setting command for a creeping mode; responding to the power setting command, outputting power setting prompt information; receiving a maximum creeping power set based on the power setting prompt information, wherein the maximum creeping power is the maximum output power of the water propeller in the creeping mode, and the maximum creeping power is less than the rated output power of the water propeller; responding to receiving a power output command in the creeping mode, determining the power output power of the water propeller based on the maximum creeping power. By introducing a dedicated creeping mode for the water propeller, the user can customize the maximum creeping power for this mode. Furthermore, in this creeping mode, the maximum output power of the water propeller can be limited to a maximum creeping power lower than the rated output power, ensuring that even at greater throttle depths, the actual power output of the water propeller remains at a low level, thereby achieving precise power control of the water propeller in the low-speed range.

[0017] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0018] Figure 1 This application provides a flowchart of an embodiment of a power output control method for a water propulsion device. The method can be applied to a processor, such as an Electronic Control Unit (ECU), or to other controllers of the water propulsion device or a control terminal communicatively connected to the water propulsion device.

[0019] The water propulsion device can be a towed motor. It includes a power unit comprising an underwater motor housing and a motor mounted within the housing, as well as a propeller connected to the motor. The water propulsion device also includes a control circuit electrically connected to the motor. The processor is electrically connected to the control circuit and is used to send power control commands to the control circuit to instruct it to control the power output of the motor.

[0020] like Figure 1 As shown, the method may include the following steps: 101: Receive power setting instructions for creep mode.

[0021] In the embodiments of this application, the creep mode can be a special operating mode of the water propulsion device that differs from the standard driving mode. In the standard driving mode, the maximum output power of the water propulsion device is the rated output power, the throttle response sensitivity is high, and the power output can quickly increase to the rated output power as the throttle depth increases, which is suitable for normal navigation scenarios. In creep mode, the maximum output power of the water propulsion device can be limited to a maximum creep power lower than the rated output power, thereby allowing users to obtain fine low-speed power adjustment capabilities within a large throttle travel range, which is suitable for scenarios requiring extremely low-speed operation, such as fishing, navigation in narrow waterways, and mooring and positioning.

[0022] The power setting command can be a control signal used to trigger the configuration of power parameters for the creep mode.

[0023] In embodiments of this application, the power setting command can be generated by the user through a display device communicatively connected to the processor. For example, when the user selects the creep mode power setting option on the interactive interface of the display device, the display device sends the power setting command to the processor. In other embodiments of this application, the power setting command can also be generated by the user through a physical button on the power control device, or through a mobile terminal (such as a mobile application) communicatively connected to the processor. The power setting command can be transmitted to the processor via a Controller Area Network (CAN) bus or other suitable communication bus.

[0024] 102: In response to the power setting command, output a power setting prompt message.

[0025] In the embodiments of this application, after receiving a power setting command, the processor responds by outputting a power setting prompt message. This prompt message can be used to guide the user to set the maximum creeping power in creep mode. The power setting prompt message can be presented through a display device, such as displaying a power setting interface on the display device. This interface can include the current maximum creeping power value, the adjustable power range (e.g., 50W to 300W), and power adjustment controls (e.g., sliders, plus / minus buttons, or numerical input boxes). By outputting the power setting prompt message, the user can be guided to customize the power parameters, allowing the user to flexibly set the upper limit of the creeping mode power according to the actual usage scenario, rather than being limited to fixed factory default values.

[0026] 103: Receive the maximum creeping power set based on the power setting prompt information, wherein the maximum creeping power is the maximum output power of the water propeller in creeping mode, and the maximum creeping power is less than the rated output power of the water propeller.

[0027] In embodiments of this application, guided by power setting prompts, the user can input the desired maximum creeping power through an interactive interface on the display device. The processor can receive and store the user-set maximum creeping power.

[0028] Maximum creep power is the upper limit of the maximum power allowed to be output by the water propulsion system in creep mode, which is less than the rated output power of the water propulsion system in standard operating mode. For example, for a water propulsion system with a rated output power of 500W, the maximum creep power can be set to any value between 50W and 300W, such as 150W; for a water propulsion system with a rated output power of 2200W, the maximum creep power can be set to 200W. It can be understood that the specific value of the maximum creep power is determined by the user based on the actual scenario.

[0029] By limiting the maximum output power in creep mode to a maximum creep power that is much lower than the rated output power, the actual power output of the water propulsion system remains at a low level even when the throttle is pushed to a greater depth, thus preventing sudden lurching of the vessel and improving the precision and safety of low-speed maneuvering.

[0030] 104: In response to receiving a power output command in creep mode, determine the power output power of the water thruster based on the maximum creep power.

[0031] In this embodiment, the power output command can be a control signal used to instruct the user to operate the water propeller and output power. For example, the power output command can be a throttle signal generated when the user operates the throttle lever, which can include throttle depth information (e.g., a percentage value from 0% to 100%). After receiving the power output command, the ECU can determine the actual power output power of the water propeller based on the maximum creep power effective in creep mode and the power output command. It can be understood that since the maximum creep power is much smaller than the rated output power, at the same throttle depth, the power output power obtained in creep mode is also much smaller than the power output power in standard mode, which allows the user to obtain fine low-speed power adjustment capabilities within a large throttle travel range.

[0032] The process of controlling the water propeller to determine its power output based on the maximum creep power is essentially a recalibration of the propeller's power output characteristics under the specific operating state of creep mode. In standard mode, there is a fixed mapping relationship between throttle and output power (the slope of this mapping relationship can be determined by the rated output power); while in creep mode, the slope of this mapping relationship is determined by the maximum creep power. Therefore, the overall power output range is compressed to a lower range, the granularity of throttle operation is magnified, and it is easier for users to achieve micro-motion control.

[0033] In the embodiments of this application, the following technical solution is adopted: receiving a power setting command for the creep mode; responding to the power setting command, outputting power setting prompt information; receiving the maximum creep power set based on the power setting prompt information, wherein the maximum creep power is the maximum output power of the water propeller in creep mode, and the maximum creep power is less than the rated output power of the water propeller; and responding to receiving a power output command in creep mode, determining the power output power of the water propeller based on the maximum creep power. By introducing a dedicated creep mode for the water propeller, the user can customize the maximum creep power for this creep mode, and in this creep mode, the maximum output power of the water propeller can be limited to a maximum creep power lower than the rated output power, so that even at a large throttle depth, the actual power output of the water propeller remains at a low level, thereby achieving fine power control of the water propeller in the low-speed range.

[0034] In some embodiments, the method may further include: receiving a pattern creation instruction, the pattern creation instruction being used to instruct the creation of a creeping pattern; and creating a creeping pattern in response to the pattern creation instruction.

[0035] In embodiments of this application, the pattern creation instruction can be a control signal used to instruct the creation of a new creeping pattern. This pattern creation instruction can be generated by a user through an interactive interface on a display device. For example, the user selects the "Create New Pattern" option on the display device and can name the created pattern (e.g., "Crawling Pattern"), at which point the display device sends the pattern creation instruction to the processor.

[0036] Upon receiving a mode creation command, the processor can create a new creep mode in response. Specifically, the processor can assign a mode identifier (such as a mode number or mode name) to the creep mode and associate it with corresponding power parameter configuration items (such as maximum creep power). In the initial creation phase, the maximum creep power of the creep mode may not yet be assigned a value, awaiting configuration by the user later through the power setting process described in steps 101 to 103; alternatively, a default maximum creep power value can be provided simultaneously during mode creation, which the user can then modify as needed.

[0037] By providing a mode creation function, users can flexibly create peristaltic modes according to their own needs. For example, users can create two different peristaltic modes for still water fishing and flowing water fishing, and configure different maximum peristaltic power for each. In the still water fishing scenario, the water is relatively calm, so a lower maximum peristaltic power (such as 100W) can be set to obtain more delicate micro-motion control; in the flowing water fishing scenario, the water flow has a certain thrust, so a slightly higher maximum peristaltic power (such as 250W) can be set to ensure that the water propeller still has sufficient ability to resist the water flow at low speeds. In this way, users can quickly switch to the pre-created and configured peristaltic mode in different usage scenarios without having to reset the power parameters each time, further enhancing flexibility and scenario adaptability.

[0038] In some embodiments of this application, the pattern creation instruction may also include user-specified pattern name information. When the processor creates a creeping pattern, it associates and stores the pattern name with a pattern identifier so that the user can quickly identify and select the desired creeping pattern in subsequent operations. In other embodiments of this application, the user may also configure trigger rules for the pattern switching component (such as a lever) for the created creeping pattern, such as setting the lever to move backward to enter the creeping pattern and moving the lever forward to exit the creeping pattern.

[0039] In some embodiments, the method may further include: receiving a creep mode switching instruction; in response to the creep mode switching instruction, obtaining a maximum creep power set for the creep mode; and switching the water propeller to the creep mode to adjust the maximum output power of the water propeller from the rated output power to the maximum creep power.

[0040] In this embodiment, the creep mode switching command can be a control signal used to trigger the water propeller to enter creep mode. This creep mode switching command can be generated by the user through operating the physical control components of the water propeller, or by the user through a terminal device communicatively connected to the water propeller. For example, the physical control component can be a lever on the power control device (e.g., throttle handle) of the water propeller; moving the lever backward generates a switching command to enter creep mode, and moving the lever forward generates a switching command to exit creep mode. Another example is that the physical control component can be a dedicated button or switch on the control panel of the water propeller. Yet another example is that the user can send the creep mode switching command through an interactive interface on a terminal device such as a display device or mobile application communicatively connected to the water propeller. The creep mode switching command can be transmitted via a Controller Area Network (CAN) bus or other suitable communication buses.

[0041] By limiting the maximum output power in creep mode to a value far below the default maximum output power, the actual power output of the water thruster remains at a low level even when the throttle is pushed to a greater depth, thus preventing the ship from suddenly jerking.

[0042] In this embodiment, switching the water thruster to creep mode means that the water thruster enters a special operating state that differs from the standard mode. In creep mode, the maximum power reference used by the water thruster to calculate the actual power output is no longer the default rated output power, but is replaced by the maximum creep power. This causes the maximum output power in the subsequent power calculation process to switch from the rated output power (e.g., Pmax_normal) to the maximum creep power (e.g., Pmax_fish).

[0043] It should be noted that adjusting the maximum output power from the rated output power to the maximum creep power does not require physically limiting the maximum output capacity of the water propulsion device itself. Rather, it replaces the upper limit of the power calculation with a lower maximum creep power at the control logic level, thereby achieving the effect of limiting the actual power output.

[0044] To further prevent the power from suddenly returning to a higher level due to accidental activation of the creep mode lever, this application embodiment introduces a power lock mechanism.

[0045] In some embodiments, switching the water thruster to a creep mode to adjust the maximum output power of the water thruster from the rated output power to the maximum creep power can be specifically implemented as follows: in response to switching the water thruster to a creep mode, acquiring a power lock state variable; setting the power lock state variable from a first variable value to a second variable value; and adjusting the maximum output power of the water thruster from the rated output power to the maximum creep power when the power lock state variable is set from the first variable value to the second variable value.

[0046] In this embodiment, the power lock state variable can be a flag indicating whether the current system is in a power-locked state. It can be a Boolean variable or an integer variable. For example, the first variable value can be 0, representing that the power lock is in a released state, at which time the system allows power calculation and operation based on a higher rated output power (Pmax_normal); the second variable value can be 1, representing that the power lock is in a set state, at which time the system locks the maximum output power to the maximum creeping power (Pmax_fish). It should be noted that the specific values ​​of the first and second variables (0 and 1) are only one example, and those skilled in the art can use any other two distinguishable values ​​to represent the released state and the set state respectively.

[0047] During the process of switching the water thruster to creep mode, the ECU first obtains the current value of the power lock status variable, and then modifies it from the first variable value to the second variable value (i.e., setting the power lock). When the power lock status variable is at the second variable value, the ECU switches the reference for maximum output power from the rated output power to the maximum creep power.

[0048] By setting a power lock state variable, the power limitation status of the water thruster can be explicitly recorded. This allows the power calculation method to be determined based on the power lock state during subsequent operation, rather than solely relying on the current position of the creep mode lever. Even if the lever changes position due to accidental external force (e.g., being pushed back from the creep mode position to the standard mode position), as long as the power lock state variable remains at the second variable value, power calculation and operation will continue based on the maximum creep power, thus avoiding sudden power increases caused by accidental lever activation.

[0049] In some embodiments, the method may further include: receiving a creep mode exit command; in response to the creep mode exit command, obtaining the current variable value of a power lock state variable; if the current variable value is a second variable value, controlling the water propeller to determine the power output power based on the maximum creep power; if the current variable value is a first variable value, controlling the water propeller to exit the creep mode to adjust the maximum output power of the water propeller from the maximum creep power to the rated output power.

[0050] In this embodiment, when the ECU receives a creep mode exit command (e.g., the lever is moved from the creep mode position back to the standard mode position), it does not immediately restore the maximum output power to the rated output power. Instead, it first checks the current value of the power lock status variable. If the power lock status variable is still the second variable value (indicating that the power lock has not been released), then even if an exit command has been received, the maximum creep power can still be used as the maximum power reference to determine the power output power. Only when the power lock status variable has been restored to the first variable value (indicating that the power lock has been safely released) does it exit creep mode and restore the maximum output power to the rated output power.

[0051] In the embodiments of this application, by providing a safety judgment step controlled by a power lock state variable, the triggering of exiting the creep mode (change in lever position) can be decoupled from the execution of actual power recovery (switching of the maximum power reference). Therefore, a mere change in lever position does not directly lead to power recovery, thus avoiding a sudden surge in power caused by accidental lever activation, reducing the safety risk of power surges due to operational errors, and providing safety protection for users standing on the boat. It is understood that the release of the power lock state variable (restoring from the second variable value to the first variable value) can be controlled by other safety conditions, such as releasing the power lock only when the gear is in neutral, or releasing the power lock through a specific user confirmation operation.

[0052] In some embodiments, after receiving the creep mode exit command, the method may further include: in response to the creep mode exit command, starting a first timer; and when the first timer reaches a preset duration, setting the power lock state variable from a second variable value to a first variable value.

[0053] In this embodiment, the first timer can be used to time the elapsed time since the creep mode exit command was received. The preset duration can be a pre-configured time length, such as 5 seconds, 10 seconds, or any user-defined duration.

[0054] When the ECU receives the creep mode exit command, it starts the first timer, but does not immediately release the power lock (i.e., it does not immediately restore the power lock status variable from the second variable value to the first variable value). Before the first timer reaches its preset duration, the power lock status variable remains at the second variable value, and the water propeller continues to use the maximum creep power as the maximum power reference to determine the power output. Only after the first timer reaches its preset duration does the ECU set the power lock status variable from the second variable value to the first variable value, after which it can exit creep mode and resume normal power output based on the rated output power.

[0055] In some embodiments, the method may further include: resetting the first timer if the first timing duration of the first timer has not reached the preset duration and a creep mode switching instruction is received.

[0056] In the embodiments of this application, if the ECU receives another creep mode switching command (i.e., the user re-enters creep mode) during the delay period (before the first timing duration reaches the preset duration), the first timer is reset, restarting from zero. Therefore, if the user briefly exits creep mode and then quickly re-enters, it indicates the user may still be in a fishing scenario. In this case, power limiting should be maintained to ensure safety, and power should not be restored after the delay due to the previous exit command. After resetting the timer, the power lock will only be released after another full preset duration without re-entering creep mode.

[0057] In some embodiments, controlling the water thruster to determine the power output power based on the maximum creep power can be specifically achieved by: obtaining the current throttle depth indicated by the power output command; and calculating the power output power based on the current throttle depth and the maximum creep power.

[0058] Throttle depth can be the signal value generated when the user operates the throttle lever, representing the user's desired output intensity, usually expressed as a percentage (0% to 100%) or a corresponding voltage value, digital quantity, etc. After receiving the throttle depth, the ECU multiplies it by the currently effective maximum output power reference (maximum creep power in creep mode) to obtain the calculated power output value. For example, if the maximum creep power is set to 200W and the throttle depth is 30%, the calculated power output power is 200W × 30% = 60W. This calculated power output power value is sent by the ECU to the motor controller via the CAN bus to drive the motor to output the corresponding power.

[0059] In some embodiments, obtaining the current throttle depth indicated by the power output command includes: obtaining a power output command sent by a power control device electrically connected to the water propulsion device, the power output command including throttle depth information; and determining the current throttle depth based on the throttle depth information.

[0060] In embodiments of this application, the power control device can be a physical device for user-controlled power output of the water propulsion system, such as a throttle handle, throttle pedal, or other throttle control mechanism. The power control device and the processor can be electrically connected via wired or wireless communication. In one embodiment of this application, the power control device can communicate with the processor via a Controller Area Network (CAN) bus, meaning the power control device sends power output commands to the processor via the interactive CAN bus.

[0061] When the user pushes the throttle lever, sensors inside the power control unit (such as potentiometers and Hall effect sensors) detect the current position of the throttle lever and convert it into a corresponding electrical signal or digital quantity. Based on this detection signal, the power control unit generates a power output command, which carries throttle depth information. Throttle depth information can be represented as a percentage (e.g., 0% to 100%), a normalized value (e.g., 0 to 1), a voltage value, or a digital code. The power control unit sends the power output command containing the throttle depth information to the processor via the CAN bus.

[0062] After receiving the power output command, the processor parses the throttle depth information from it and determines the current throttle depth based on this information. For example, if the throttle depth information in the power output command is a percentage value of 20%, the processor directly determines the current throttle depth to be 20%. If the throttle depth information is a voltage value (such as 0.5V, corresponding to 20% of the full-scale 2.5V), the processor converts the voltage value into the corresponding percentage value of 20% according to a preset conversion relationship, thereby determining the current throttle depth.

[0063] In this way, the processor can obtain the throttle depth information input by the user through the power control device in real time, and determine the current throttle depth accordingly, providing accurate input parameters for subsequent calculation of power output based on the maximum creep power.

[0064] In some embodiments, the method further includes determining a power output mapping relationship based on the maximum creep power and the maximum throttle depth of the power control device.

[0065] The maximum throttle depth can be the maximum depth value corresponding to the throttle travel of the power control device, that is, the depth value when the throttle is pushed to the full position (full travel). The maximum throttle depth is a calibration reference value, representing the maximum throttle depth signal that the power control device can output. For example, if the throttle travel of the power control device is expressed as a percentage, then the maximum throttle depth is 100%; if expressed as a normalized value, then the maximum throttle depth is 1; if expressed as a voltage value, then the maximum throttle depth can be the corresponding full-scale voltage (such as 2.5V or 5V).

[0066] The power output mapping relationship represents the mapping relationship between any throttle depth and the corresponding power output. This mapping relationship can be determined by the maximum creep power and the maximum throttle depth. In one embodiment of this application, the power output mapping relationship can be expressed as a linear mapping form: Power output = Maximum creep power × (Current throttle depth / Maximum throttle depth). Here, the ratio of (Current throttle depth / Maximum throttle depth) is the normalized value of the throttle depth (a value between 0 and 1 corresponding to 0% to 100%), which, when multiplied by the maximum creep power, yields the corresponding power output. The maximum throttle depth can be the maximum forward throttle depth or the maximum reverse throttle depth.

[0067] In other embodiments of this application, the power output mapping relationship can also adopt a non-linear mapping form. For example, the power output mapping relationship can be set as a piecewise linear function or a non-linear function, so that different power output gains are achieved in different throttle depth ranges. In one possible implementation, in the low throttle depth range (e.g., 0% to 30%), the slope of the power output mapping relationship is smaller, that is, in the low throttle depth range, the power change caused by the change in throttle depth is relatively gentle, allowing the user to obtain more delicate micro-motion control capabilities in this range; in the medium-high throttle depth range (e.g., 30% to 100%), the slope of the power output mapping relationship is relatively larger, allowing the user to obtain a wider power coverage range in this range. In another possible implementation, the power output mapping relationship can also be a smooth curve (e.g., a quadratic or cubic curve), and the specific parameters of the curve can be preset by the system or customized by the user.

[0068] In embodiments of this application, when the creep mode is activated, the processor can pre-calculate and determine the power output mapping relationship based on the stored maximum creep power and the preset or acquired maximum throttle depth in the system, and store it in memory for direct retrieval upon subsequent power output commands. In other embodiments of this application, the processor may not pre-calculate the mapping relationship, but instead perform the calculation in real time based on the maximum creep power and maximum throttle depth each time a power output command is received. Pre-determining the mapping relationship improves the response efficiency of power determination and reduces the processor overhead of each real-time calculation; real-time calculation is more flexible and facilitates timely updates to the power output mapping relationship when the maximum creep power changes dynamically. The choice between the two methods can be made based on the processor capabilities and response requirements of the actual system.

[0069] In some embodiments, calculating the power output power based on the current throttle depth and maximum creep power includes: determining the power output power corresponding to the current throttle depth based on the power output mapping relationship.

[0070] After receiving a power output command in creep mode, the processor obtains the current throttle depth from the command and then, based on a pre-determined power output mapping relationship, looks up the power output corresponding to that current throttle depth. For example, using the aforementioned power output mapping relationship, the processor can quickly look up the corresponding power output by looking up a table or substituting it into a calculation formula based on the current throttle depth, and then control the water propulsion unit to output power at that level.

[0071] Taking linear mapping as an example, if the maximum creep power is set to 200W and the maximum throttle depth is 100%, the power output mapping relationship is determined as: Power output = 200W × (current throttle depth / 100%). When the user pushes the power control device to 50% depth, the processor determines the corresponding power output power as 200W × 50% = 100W based on this mapping relationship; when the user pushes the power control device to 10% depth, the corresponding power output power is 200W × 10% = 20W. It can be seen that although the power control device's travel covers the entire range from 0% to 100%, the actual power output of the water thruster is compressed to the range of 0W to 200W, far below the rated output power (e.g., 500W). This compression effect allows the user to obtain a fine low-speed power adjustment experience within a large throttle travel range, effectively amplifying the granularity of throttle operation.

[0072] Taking nonlinear mapping as an example, if a mapping curve with a gentler slope is adopted in the low throttle depth range, the power change will be more delicate when the user pushes the throttle in the low throttle depth range of 0% to 30%, which is more conducive to micro-position adjustment and precise control in water; while in the medium-high throttle depth range of 30% to 100%, the power change speed is faster, which can respond quickly when a slightly larger power is needed.

[0073] Figure 2 A block diagram of a water propulsion system provided in an embodiment of this application, such as... Figure 2 As shown, the system may include Display device 201, power control device 202, water thruster 203 and processor 204, processor 204 is electrically connected to display device 201, power control device 202 and water thruster 203; The display device 201 is used to send power setting instructions for the creep mode and the maximum creep power input value to the processor 204, and to display the power setting prompt information sent by the processor 204; The power control device 202 is used to send a power output command to the processor 204 in response to a power output operation; The processor 204 is used to respond to a power setting command, output a power setting prompt message, receive a maximum creeping power input value set based on the power setting prompt message, wherein the maximum creeping power is the maximum output power of the water propeller in creeping mode, the maximum creeping power is less than the rated output power of the water propeller, and when a power output command is received in creeping mode, the processor 204 determines the power output power of the water propeller 203 based on the maximum creeping power.

[0074] In some embodiments, the display device 201 is further configured to: In response to the pattern creation operation, a pattern creation instruction is sent to the processor 204, which is used to instruct the creation of a creep pattern; Processor 204 is also used for: Receive a pattern creation command, and in response to the pattern creation command, create a creep pattern.

[0075] In some embodiments, the processor 204 is also used for: Receive peristalsis mode switching command; In response to the peristalsis mode switching command, obtain the maximum peristalsis power set for the peristalsis mode; Switch the water thruster 203 to creep mode to adjust the maximum output power of the water thruster 203 from the rated output power to the maximum creep power.

[0076] This application also provides a water-based mobile device, including... Figure 2 The provided water propulsion system.

[0077] Figure 3 This is a structural view of a water-based mobile device provided in an embodiment of this application.

[0078] Understandably, the display device 201 is connected to the water thruster 203 via a data cable, and the processor 204 is installed inside the housing of the water thruster 203. The processor 204 communicates with the display device 201. The display device 201 is an LCD screen equipped with touch functionality for inputting the maximum peristaltic power value. The processor 204 is also electrically connected to the power control device 202 and the power unit 2031 of the water thruster 203.

[0079] The power unit 2031 includes an underwater motor housing 2032 and a motor 2033 mounted on the underwater motor housing 2032. The power unit 2031 also includes a propeller 2034 connected to the motor 2033. The water propulsion unit 203 further includes a control circuit 2035 electrically connected to the motor 2033. The processor 204 is electrically connected to the control circuit 2035 and is used to send power control commands to the control circuit 2035 to instruct the control circuit 2035 to control the power output of the motor. The water propulsion unit also includes a shaft 2036 connected to the underwater motor housing 2032 and a head housing 2037 connected to the other end of the shaft 2036. The processor 204 is installed inside the head housing 2037. The shaft 2036 is mounted to the water carrier 100 via a connecting device 2038. The water carrier 100 can be a hull. The shaft 2036 can perform actions such as tilting and turning relative to the hull via the connecting device 2038.

[0080] The power control device 202 is connected to the processor 204 via a data cable. The power control device 202 is illustrated using an electronic throttle control box as an example. The power control device 202 is equipped with a creep mode button and a standard mode button. Triggering the creep mode button sends a command to the processor to enter creep mode, and triggering the standard mode button sends a command to the processor to enter standard mode.

[0081] The technical solution of this application will be further explained below with reference to a specific phishing application scenario.

[0082] The water propulsion system involved in this scenario can be adopted. Figure 2 The communication architecture shown in the diagram is in which the processor 204 is electrically connected to the display device 201, the power control device 202, and the water thruster 203.

[0083] See Figure 2 Suppose a user is fishing in a lake in a fishing boat equipped with an electric outboard motor. The user can access the creep mode setting interface via the display device 201 on the control panel, set the maximum power limit (i.e., maximum creep power) in creep mode to 150W based on the relatively calm water conditions of the day, and confirm the setting. This setting value is transmitted from the display device 201 to the processor 204 via the interactive CAN bus and is stored.

[0084] Subsequently, the user moves the creep mode lever on the power control device 202 backward, and the power control device 202 sends a creep mode switching command to the processor 204 via the interactive CAN. Upon receiving the command, the processor 204 reads the stored maximum creep power of 150W and sets the power lock state variable (PowerLock) from a first variable value (e.g., 0) to a second variable value (e.g., 1). Simultaneously, it switches the system's maximum output power reference from the default rated output power (e.g., rated power 500W) to the maximum creep power of 150W. At this point, the water propulsion device enters creep mode.

[0085] In creep mode, the user slowly pushes the power control device 202 to a depth of 20%. The power control device 202 sends a power output command containing throttle depth information to the processor 204 via the interactive CAN. Upon receiving the command, the processor 204 calculates the power output based on the maximum creep power of 150W: 150W × 20% = 30W. The processor 204 sends the calculated 30W power output value to the water propeller 203 via the power CAN. The water propeller 203 outputs 30W of power, and the fishing boat glides smoothly at a very low speed without producing obvious splashes or noise, and without disturbing nearby fish.

[0086] During this process, the user accidentally touches the lever, causing it to spring back from the creep mode position to the standard mode position (i.e., generating an exit command). This exit command is sent by the power control device 202 to the processor 204 via the interactive CAN. However, since the power lock state variable is still the second variable value (1), the processor 204 checks and finds that the power lock has not been released. Therefore, it continues to calculate the power using 150W as the maximum power reference and sends the calculation result to the water propeller 203 for execution via the power CAN. The actual output power of the water propeller 203 does not change abruptly, and the boat continues to operate smoothly. This design protects the user standing on the boat from losing balance due to sudden acceleration of the boat.

[0087] After the user finishes fishing, they shift the gear to neutral (N). The processor 204 detects the neutral state, restores the power lock status variable from the second variable value to the first variable value (0), and starts the first timer. After a preset 10-second delay, and if the system does not re-enter creep mode during this period, the processor 204 restores the system's maximum output power reference from the maximum creep power of 150W to the default rated output power of 500W, and determines the subsequent power output accordingly. The power CAN controller then restores the motor's power output to the normal driving mode.

[0088] In other scenario embodiments of this application, a time-delay-based power recovery mechanism can also be applied. For example, after the user exits the creep mode, the processor 204 starts a 10-second delay timer. During these 10 seconds, even though the lever is in the standard mode position, the processor 204 continues to use 150W as the maximum power reference and sends the corresponding power command to the water propeller 203 via the power CAN. If the user moves the lever back into creep mode within these 10 seconds, the timer is reset, and the power limiting state continues. Only when the full 10-second delay expires and there is no further entry into creep mode during this period does the processor 204 truly restore the maximum power reference to 500W and control the water propeller 203 to output normal maximum power via the power CAN.

[0089] The technical solution provided in this application embodiment can automatically perform safety judgment and power management when the user performs mode switching operation in real fishing operations. Whether in the scenario of accidentally touching the lever or in the scenario of briefly exiting and quickly entering the creep mode, it can effectively ensure the stability and safety of power output and significantly reduce the safety risks in fishing operation.

[0090] It should be noted that some processes described in the above embodiments and accompanying drawings include multiple operations appearing in a specific order. However, it should be clearly understood that these operations may not be executed in the order they appear in this document, or they may be executed in parallel. The operation numbers, such as 101, 102, etc., are merely used to distinguish different operations and do not represent any execution order. Furthermore, these processes may include more or fewer operations, and these operations may be executed sequentially or in parallel. It should also be noted that the descriptions such as "first" and "second" in this document are used to distinguish different messages, devices, modules, etc., and do not represent a sequential order, nor do they limit "first" and "second" to different types.

[0091] Figure 4 This is a schematic diagram of the structure of one embodiment of an electronic device provided in this application. Figure 4 As shown, in practice, the electronic device may include a storage component 401 and a processing component 402.

[0092] Storage component 401 is used to store computer programs and can be configured to store various other data to support operation on the electronic device. Examples of this data include instructions for any application or method used to operate on the electronic device, data structures, contact data, phone book data, messages, pictures, videos, etc.

[0093] Processing component 402, coupled to storage component 401, is used to execute computer programs in storage component 401 for implementing, etc. Figure 1 The power output control method of the water thruster shown is illustrated.

[0094] Furthermore, such as Figure 3 As shown, the electronic device may also include other components such as a communication component 403, a display component 404, a power supply component 405, and an audio component 406. Figure 4 The diagram only shows some components and does not mean that the electronic device includes only these components. Figure 4 The components shown. Additionally... Figure 4 The components within the dashed box are optional, not mandatory, and their specific requirements depend on the form factor of the electronic device. The electronic device in this embodiment can be a terminal device such as a desktop computer, laptop computer, smartphone, or IoT (Internet of Things) device, or a server-side device such as a conventional server, cloud server, or server array. If the electronic device in this embodiment is a terminal device such as a desktop computer, laptop computer, or smartphone, it may include... Figure 4 The components within the dashed box; if the electronic device in this embodiment is implemented as a conventional server, cloud server, or server array, it may be omitted. Figure 4 The component within the dashed box.

[0095] The processing component described above includes one or more processors to execute computer instructions to complete all or part of the steps in the method described above. Alternatively, the processing component may be implemented as one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the method described above.

[0096] The aforementioned storage components can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random-Access Memory (SRAM), Electrically Erasable Programmable Read Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0097] The aforementioned communication component is configured to facilitate wired or wireless communication between the device housing the communication component and other devices. The device housing the communication component can access wireless networks based on communication standards, such as mobile communication networks, or combinations thereof. In one exemplary embodiment, the communication component receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel.

[0098] The aforementioned display components may include a screen, which may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen can be implemented as a touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors can sense not only the boundaries of touch or swipe actions but also the duration and pressure associated with the touch or swipe operation.

[0099] The aforementioned power supply components provide power to various components within the device in which they reside. These power supply components may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power to the device in which they reside.

[0100] The aforementioned audio component can be configured to output and / or input audio signals. For example, the audio component includes a microphone (MIC) configured to receive external audio signals when the device containing the audio component is in an operating mode, such as call mode, recording mode, or voice recognition mode. The received audio signals can be further stored in memory or transmitted via a communication component. In some embodiments, the audio component also includes a speaker for outputting audio signals.

[0101] Accordingly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, enables the processor to implement the steps in the above-described method embodiments. The computer-readable storage medium includes volatile or non-volatile components, or a combination thereof, and can be removable or non-removable. Examples of computer-readable storage media include, but are not limited to, phase-change random access memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random-access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), flash memory or other memory technologies, CD-ROM, Digital Video Disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium.

[0102] Accordingly, this application also provides a computer program product, which includes a computer program or instructions that, when executed by a processor, cause the processor to implement the steps in the above method embodiments. It should be understood that each step or combination of steps in the above method flow can be implemented by the computer program or instructions. Furthermore, these computer programs or instructions can be applied to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device, enabling the processor of the general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing device to function as an apparatus for implementing the corresponding functions in the above method embodiments.

[0103] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0104] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0105] Finally, it should be noted that the above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A power output control method for a water-based thruster, characterized in that, include: Receive power setting instructions for creep mode; In response to the power setting command, output a power setting prompt message; Receive the maximum creeping power set based on the power setting prompt information, wherein the maximum creeping power is the maximum output power of the water propeller in the creeping mode, and the maximum creeping power is less than the rated output power of the water propeller; In response to receiving a power output command in the creep mode, the power output power of the water propeller is determined based on the maximum creep power.

2. The method according to claim 1, characterized in that, The method further includes: Receive a mode creation instruction, the mode creation instruction being used to instruct the creation of the peristalsis mode; In response to the pattern creation instruction, the peristaltic pattern is created.

3. The method according to claim 1, characterized in that, The method further includes: Receive peristalsis mode switching instructions; In response to the peristalsis mode switching command, the maximum peristalsis power set for the peristalsis mode is obtained; Switch the water propeller to the creep mode to adjust the maximum output power of the water propeller from the rated output power to the maximum creep power.

4. The method according to claim 3, characterized in that, Switching the water propeller to the creep mode to adjust the maximum output power of the water propeller from the rated output power to the maximum creep power includes: In response to switching the water thruster to the creep mode, the power lock state variable is acquired; Set the power lock state variable from the first variable value to the second variable value; When the power lock state variable is set from the first variable value to the second variable value, the maximum output power of the water thruster is adjusted from the rated output power to the maximum creeping power.

5. The method according to claim 4, characterized in that, The method further includes: Receive the command to exit peristaltic mode; In response to the creep mode exit command, obtain the current value of the power lock state variable; When the current variable value is the second variable value, the water propeller is controlled to determine the power output power based on the maximum creeping power; When the current variable value is the first variable value, the water propeller is controlled to exit the creep mode, so as to adjust the maximum output power of the water propeller from the maximum creep power to the rated output power.

6. The method according to claim 5, characterized in that, After receiving the creep mode exit command, the method further includes: In response to the peristalsis mode exit command, the first timer is started; When the first timer reaches the preset duration, the power lock state variable is changed from the second variable value to the first variable value.

7. The method according to claim 6, characterized in that, The method further includes: If the first timer fails to reach the preset duration and a creep mode switching command is received, the first timer is reset.

8. The method according to claim 1, characterized in that, Determining the power output power of the water propeller based on the maximum creeping power includes: Obtain the current throttle depth indicated by the power output command; The power output power is calculated based on the current throttle depth and the maximum creep power.

9. The method according to claim 8, characterized in that, The process of obtaining the current throttle depth indicated by the power output command includes: The power output command sent by the power control device electrically connected to the water thruster is obtained, and the power output command includes throttle depth information; The current throttle depth is determined based on the throttle depth information.

10. The method according to claim 9, characterized in that, The method further includes: Based on the maximum creep power and the maximum throttle depth of the power control device, determine the power output mapping relationship; The calculation of the power output power based on the current throttle depth and the maximum creep power includes: The power output power corresponding to the current throttle depth is determined based on the power output mapping relationship.

11. A water propulsion system, characterized in that, include The device comprises a display device, a power control device, a water propulsion device, and a processor, wherein the processor is electrically connected to the display device, the power control device, and the water propulsion device. The display device is used to send the processor a power setting command for the creep mode and a maximum creep power input value, and to display the power setting prompt information sent by the processor. The power control device is used to send a power output command to the processor in response to a power output operation; The processor is configured to respond to the power setting command, output the power setting prompt information, receive the maximum creeping power input value set based on the power setting prompt information, wherein the maximum creeping power is the maximum output power of the water propeller in the creeping mode, the maximum creeping power is less than the rated output power of the water propeller, and when the power output command is received in the creeping mode, determine the power output power of the water propeller based on the maximum creeping power.

12. The system according to claim 11, characterized in that, The display device is also used for: In response to the pattern creation operation, a pattern creation instruction is sent to the processor, the pattern creation instruction being used to instruct the creation of the peristaltic pattern; The processor is also used for: Receive the pattern creation instruction, and in response to the pattern creation instruction, create the peristaltic pattern.

13. The system according to claim 11, characterized in that, The processor is also used for: Receive peristalsis mode switching instructions; In response to the peristalsis mode switching command, the maximum peristalsis power set for the peristalsis mode is obtained; Switch the water propeller to the creep mode to adjust the maximum output power of the water propeller from the rated output power to the maximum creep power.

14. A water-based mobile device, characterized in that, Includes the water propulsion system as described in any one of claims 11 to 13.

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