Tilting-up apparatus and control method therefor, and water-area propeller, movable device and medium

Abstract

A tilting-up apparatus (100) and a control method therefor, and a water-area propeller (200), a water-area movable device (300) and a medium. The control method comprises: (S21) after a control instruction input by a user is received, if a tilting-up apparatus (100) is in an automatic tilting-up state, determining, on the basis of the current automatic tilting-up process and current tilting-up angle of the tilting-up apparatus (100), whether the current automatic tilting-up process is in an interruptible state; and (S22) if so, controlling the tilting-up apparatus (100) to execute an action indicated by the control instruction. Therefore, the risk caused by the fact that the interruption of automatic tilting-up cannot be implemented when an obstacle is clamped or collided with in an automatic tilting-up process is reduced.

Description

Warping device and control method thereof, water propeller and movable device, medium Technical Field

[0001] The present application relates to the technical field of mobile equipment in water areas, and in particular to a lifting device and a control method thereof, a water area propeller, and a mobile equipment and medium. Background Art

[0002] During the automatic tilting process of a movable device in water, the tilting device automatically tilts to a specified tilting angle. However, the tilting device may get caught or hit an obstacle during the tilting process, resulting in certain risks in the automatic tilting process and affecting the reliability of the propulsion system.

[0003] Summary of the Invention

[0004] In the first aspect, the present application provides a control method for a tilting device, the control method comprising: upon receiving a control instruction input by a user, if the tilting device is in an automatic tilting state, judging whether the current automatic tilting process is in an interruptible state based on the current automatic tilting process and the current tilting angle of the tilting device; if so, controlling the tilting device to perform the action indicated by the control instruction.

[0005] In a second aspect, the present application provides a warping device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the control method for the warping device described in the first aspect of the present application is implemented.

[0006] In a third aspect, the present application provides a water thruster, which includes: a main engine; and the lifting device described in the second aspect of the present application, wherein the lifting device is connected to the main engine.

[0007] In a fourth aspect, the present application provides a movable device in water areas, which includes: a movable body; and the water area thruster described in the third aspect of the present application, wherein the water area thruster is installed on the movable body.

[0008] In a fifth aspect, the present application provides a computer-readable storage medium having computer instructions stored thereon, which, when executed by a processor, implement the control method of the warping device described in the first aspect of the present application.

[0009] In an embodiment of the present application, when the lifting device is in an automatic lifting state, it is determined whether the current automatic lifting process is in an interruptible state based on the current automatic lifting process and the current lifting angle of the lifting device. If so, the current automatic lifting process is interrupted, and the action indicated by the control instruction input by the user is executed, thereby reducing the risk caused by the inability to interrupt the automatic lifting when the automatic lifting process is clamped or hit by an obstacle, effectively avoiding damage to the lifting device, and ensuring the reliability of the operation of the water propulsion device. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0011] FIG1 is a schematic diagram of a movable device for use in water areas according to an embodiment of the present application.

[0012] FIG2 is a block diagram of a water propulsion device according to an embodiment of the present application.

[0013] FIG3 is a schematic diagram of a tilting device according to an embodiment of the present application.

[0014] FIG4 is a schematic structural diagram of a water propulsion device according to an embodiment of the present application.

[0015] FIG5 is a perspective schematic diagram of a tilting device according to an embodiment of the present application.

[0016] FIG6 is a plan view of a warping device according to an embodiment of the present application.

[0017] FIG. 7 is a schematic plan view of a clamp in a warping device according to an embodiment of the present application.

[0018] FIG8 is a schematic cross-sectional view of the warping device in FIG6 along the II-II direction.

[0019] FIG9 is a partially enlarged schematic diagram of the warping device corresponding to area IV in FIG8 .

[0020] FIG10 is a structural diagram of a clamp according to an embodiment of the present application from one perspective.

[0021] FIG11 is a schematic structural diagram of a clamp according to an embodiment of the present application from another perspective.

[0022] FIG12 is a schematic structural diagram of a tilting device according to an embodiment of the present application.

[0023] FIG13 is a schematic cross-sectional view of the warping device in FIG6 along the III-III direction.

[0024] FIG14 is a schematic diagram of a travel switch according to an embodiment of the present application.

[0025] FIG15 is a schematic diagram of an output signal of a single Hall sensor according to an embodiment of the present application.

[0026] FIG16 is a schematic diagram of output signals of two Hall sensors according to an embodiment of the present application.

[0027] FIG17 is a schematic diagram showing the positional relationship among the lifting bracket, the telescopic rod, and the sensor assembly according to an embodiment of the present application.

[0028] FIG18 is a flow chart of a method for controlling a warping device according to an embodiment of the present application.

[0029] FIG19 is a schematic diagram of the warping process of the warping device according to an embodiment of the present application.

[0030] FIG20 is a schematic diagram of the warping device according to an embodiment of the present application entering an interrupted state of the warping process.

[0031] FIG21 is a schematic diagram of an embodiment of the present application showing the tilting device in an interrupted state of the tilting process when the tilting device exits downward.

[0032] FIG22 is a schematic diagram of the overall control process of an embodiment of the present application. DETAILED DESCRIPTION

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

[0034] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0035] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms "a", "said" and "the" used in this application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items. Unless otherwise indicated, similar words such as "front", "rear", "bottom" and / or "top" are only for ease of explanation and are not limited to one position or one spatial orientation. Similar words such as "connected" or "connected" are not limited to physical or mechanical connections, and can include electrical connections, whether direct or indirect. "Multiple" means at least two.

[0036] A movable device in water area refers to a movable device that can operate or move on water and can be used for navigation, diving, entertainment or other water activities. A movable device in water area can be various types of water transportation vehicles such as commercial ships, passenger ships, yachts, fishing boats, sailboats, civilian ships, etc., and can also be equipment that can move in water area such as water area inspection equipment, water area management equipment, water area environment monitoring equipment, etc. This application does not impose any restrictions on this. Figure 1 shows a schematic diagram of a movable device in water area 300. The movable device in water area 300 may include a movable body 301; and a water area propeller 200, which is installed on the movable body 301. The water area propeller 200 serves as a power supply device for the movable device in water area 300. It can change its posture relative to the movable body 301 so that when the water area propeller 200 is needed, it can be placed below the water surface, thereby providing propulsion for the movement of the movable body 301. When the water area propeller 200 is not needed, it is placed above the water surface to reduce the resistance of the water flow to the movable body 301 during movement. The water thruster 200 can be installed at the head, tail, or side. When installed at the side, it can be used as a side thruster to assist the steering of the water movable device 300.

[0037] Referring to Figure 2, the water propeller 200 includes a main unit 201 and a lifting device 100, and the lifting device 100 is connected to the main unit 201. In some embodiments, the main unit 201 includes at least a propeller and a motor, and the propeller is connected to the drive shaft of the motor to rotate under the drive of the motor. The lifting device 100 can be lifted upward, thereby lifting the water propeller 200 to a certain height. Since the water propeller 200 is relatively heavy, after the lifting device 100 is lifted to a certain height, the lifting device 100 may suddenly fall under the influence of the gravity of the water propeller 200, thereby causing certain dangers. Therefore, it is necessary to set a limiting mechanism for the lifting device 100. After the lifting device 100 is lifted to a certain height, the limiting mechanism can enter the limiting position so that the lifting device 100 enters the limiting protection mode (referred to as entering the limit) and remains at a certain height. While the tilting device 100 is in the limit protection mode, the tilting device 100 can be controlled to tilt upward to a set state first, and then controlled to tilt downward until the set angle is reached, so that the tilting device 100 exits the limit protection mode (referred to as exit limit).

[0038] The process of the tilting device 100 entering and exiting the limit position can be automatically executed in response to a tilting instruction. The tilting instruction can include an upward tilting instruction and a downward tilting instruction. Referring to Figure 19, if the tilting device 100 receives an upward tilting instruction, the tilting device 100 can automatically execute the process of entering the limit position, in which the tilting device 100 tilts upward until it reaches the limit position (the tilting position corresponding to the tilting angle α2 in the figure). After the tilting device 100 reaches the limit position, the tilting device 100 enters the limit protection mode.

[0039] In some embodiments, upon receiving an upward tilting instruction, the tilting device 100 is controlled to tilt upward, and the tilting angle of the tilting device 100 is obtained. If the tilting angle reaches the entry angle, the tilting device 100 is maintained in the upward tilting state until the tilting angle of the tilting device 100 reaches the limit angle. The limit angle is greater than the entry angle. When the tilting angle reaches the limit angle, the tilting device 100 enters the limit protection mode. The entry angle can be determined based on the angle at which the tilting device 100 enters the limit protection mode. In some embodiments, the entry angle can be equal to the angle at which the tilting device 100 enters the limit protection mode. In other embodiments, the entry angle can be determined based on the angle at which the tilting device 100 enters the limit protection mode and a first preset angle margin, and the entry angle is less than the angle at which the tilting device 100 enters the limit protection mode. In a non-limiting embodiment, the difference between the angle at which the tilting device 100 enters the limit protection mode and the first preset angle margin can be determined as the aforementioned entry angle. By setting the first preset angle margin, it is possible to reduce the situation where, during user operation, the angle fed back by the sensor component indicates that the tilting device 100 has not yet reached the angle for entering the limit protection mode, but in fact the tilting device 100 has already entered the limit protection mode.

[0040] Continuing to refer to Figure 19, if the tilting device 100 receives a downward tilting instruction, the tilting device 100 can automatically execute the exit limit process. In this process, the tilting device 100 first tilts upward from the limit position to the highest tilting position (the tilting position corresponding to the tilting angle α3 in the figure), and then tilts downward from the highest tilting position until it reaches the exit limit position (the tilting position corresponding to the tilting angle α1 in the figure).

[0041] In some embodiments, while the tilting device 100 is in the position-limited protection mode, if a downward tilting command is received, the tilting device 100 is controlled to tilt upward, and the tilting angle of the tilting device 100 is determined. After detecting that the tilting device 100 has tilted upward to a set state, the tilting device 100 is controlled to tilt downward. When the tilting angle of the tilting device 100 during the downward tilting period reaches the set angle, the tilting device 100 is controlled to stop tilting. At the set angle, the tilting device 100 enters the non-position-limited protection mode. Detecting that the tilting device 100 has tilted upward to the set state specifically includes detecting that the tilting angle has reached a limit angle θmax, which is the maximum angle at which the tilting device 100 can tilt upward. The set angle can be determined based on the angle of the tilting device 100 when it entered the position-limited protection mode and a set angle margin, with the set angle being less than the angle of the tilting device 100 when it entered the position-limited protection mode. In one non-limiting embodiment, the set angle can be determined as the difference between the angle of the tilting device 100 when it entered the position-limited protection mode and the set angle margin. Optionally, the set angle can be the same as the entry angle in the aforementioned embodiment, but the present application is not limited thereto. By setting a preset angle margin, it is possible to reduce the possibility that the tilting device 100 is mistakenly judged to be in a state where it can enter the limit protection mode by directly tilting upward when the tilting device 100 is not yet in a state where it can enter the limit protection mode by directly tilting upward due to inaccurate angle feedback from the sensor assembly, thereby improving the control accuracy of the tilting device 100.

[0042] Referring to Figure 3, the tilting device 100 includes a processor 101, a memory 102, and a computer program stored in the memory 102 and executable on the processor 101. When the processor 101 executes the computer program, a control method for the tilting device 100 is implemented. The user can send a tilting instruction to the processor 101 through a pre-set control component (for example, a physical button on the water propeller 200, a physical button on the throttle control device, or a control module on the display screen of the water movable device 300). The processor 101 can automatically control the tilting device 100 to execute the tilting process corresponding to the tilting instruction. The following examples illustrate the specific structure of the tilting device 100 and the specific methods of entering and exiting the limit.

[0043] In some embodiments, as shown in FIG4 , a tilting device 100 includes a fixture 1 and a tilting bracket 20, wherein a main unit 201 is connected to the tilting bracket 20. The fixture 1 is fixed to a movable body 301, and the tilting bracket 20 is connected to the fixture 1 and can be tilted relative to the fixture 1, so that the main unit 201 connected to the tilting bracket 20 can be tilted relative to the movable body 301. In this way, when the water propeller 200 is not needed, the tilting bracket 20 is tilted to lift the main unit 201 above the water surface. When the water propeller 200 is needed, the tilting bracket 20 is unlocked and released, allowing the main unit 201 to fall back below the water surface.

[0044] Figures 5 to 7 further illustrate the hardware structure of a tilting device 100 according to an embodiment of the present application. The tilting device 100 comprises a fixture 1, a tilting bracket 20, and a limiting bracket 30. The fixture 1 is provided with a tilting spindle 11 and a chute 12. The chute 12 comprises a sliding section 121, a limiting section 122, and an unlocking section 123. The depth of the sliding section 121 is less than that of the limiting section 122, and the depth of the limiting section 122 is less than that of the unlocking section 123. The tilting bracket 20 is connected to the tilting spindle 11 and is configured to tilt relative to the fixture 1. The tilting bracket 20 is connected to a host 201. The limiting bracket 30 includes a bracket body 31 and a limiting shaft 32. One end of the bracket body 31 is rotatably connected to the tilting bracket 20, and the other end is connected to the limiting shaft 32. The limiting shaft 32 is configured to slide relative to the bracket body 31 in a direction parallel to the tilting main axis 11. The end of the limiting shaft 32 also slidably engages with the slide slot 12. One end of the limiting section 122 is set to a locking position W1, and the other end of the limiting section 122 is connected to an unlocking section 123, which is used to allow the limiting shaft 32 to move from the locking position W1 to the unlocking section 123 under the action of a driving force.

[0045] In some embodiments, when the end of the limiting shaft 32 abuts against the limiting section 122, the tilting device 100 is in a limiting protection mode. In other embodiments, when the tilting angle reaches a set angle, the end of the limiting shaft 32 abuts against the sliding section 121. Alternatively, when the tilting angle reaches an entry angle, the end of the limiting shaft 32 abuts against the sliding section 121. The set angle and the entry angle may be the same or different. In other embodiments, when the tilting angle reaches the limiting angle, the end of the limiting shaft 32 abuts against the limiting section 122. When the tilting angle reaches the exit angle or the limit angle, the end of the limiting shaft 32 abuts against the unlocking section 123. Furthermore, when the tilting angle is between the exit angle and the limit angle, the end of the limiting shaft 32 also abuts against the unlocking section 123.

[0046] As shown in Figures 1, 4, 8, and 9, in some embodiments, the clamp 1 includes two clip ears 10, spaced apart and arranged opposite each other. Accordingly, two slide slots 12 are provided, one on each side of the two clip ears 10. A lifting bracket 20 is at least partially mounted between the two clip ears 10, allowing the ends of the lifting shaft 11 to pass through the bracket 20 and then be rotatably mounted on the two clip ears 10. This allows the bracket 20 to rotate about the axis of the lifting shaft 11 under the action of a driving force, thereby causing the bracket 20 to tilt relative to the two clip ears 10. Furthermore, the bracket 20 is connected to the main body 201, and when the bracket 20 tilts, it drives the main body 201 to move, allowing the main body 201 to assume different postures relative to the movable body 301.

[0047] The bracket body 31 is disposed between the two clamping ears 10 and includes a first end 311 and a second end 312. A limiting shaft 32 is mounted on both sides of the first end 311 of the bracket body 31, near the two clamping ears 10. The limiting shaft 32 is arranged parallel to the axis of the lifting main shaft 11. The end of the limiting shaft 32, near the slide groove 12, slides within the slide groove 12. This not only supports the bracket body 31 from both sides of the two clamping ears 10, but also allows the first end 311 of the bracket body 31 to move relative to the slide groove 12 via the limiting shaft 32. In particular, a bushing 321 is provided at the end of the limiting shaft 32 near the slide groove 12. The outer diameter of the bushing 321 is larger than the outer diameter of the limiting shaft 32, and the outer diameter of the bushing 321 is smaller than the minimum groove width of the slide groove 12. The bushing 321 is made of a flexible material and abuts against the wall surface of the slide groove 12 , so that the bushing 321 plays a role of shock absorption and buffering for the movement of the limiting shaft 32 in the slide groove 12 .

[0048] The second end 312 of the bracket body 31 is rotatably connected to the tilting bracket 20 via a rotational axis 22. The rotational axis 22 is arranged parallel to the axis of the tilting main shaft 11, and its ends are fixed to opposite sides of the tilting bracket 20, thereby fixing the rotational axis 22 relative to the tilting bracket 20. The second end 312 of the bracket body 31 is provided with a through hole 3120 for the rotational axis 22 to pass through. This allows the second end 312 of the bracket body 31 to be rotatably mounted on the rotational axis 22, allowing the second end 312 of the bracket body 31 to rotate about the axis of the rotational axis 22.

[0049] In particular, the tilting bracket 20 is provided with an ear plate 21, and the ear plate 21 is provided with a through hole 210 for the rotation shaft 22 to pass through. The ear plate 21 is roughly located at the middle position of the rotation shaft 22, and a torsion spring 23 is sleeved at the middle position of the rotation shaft 22.

[0050] The torsion spring 23 provides a force for the bracket body 31 to open relative to the tilting bracket 20, so that the bracket body 31 opens relative to the tilting bracket 20 under the tension of the torsion spring 23, that is, the opening direction of the bracket body 31 relative to the rotating shaft 22 is opposite to the rotation direction of the tilting bracket 20 relative to the rotating shaft 22, forcing the limit shaft 32 to open relative to the tilting bracket 20 as the bracket body 31 opens, so that the limit shaft 32 always has a tendency to lean outward when the tilting bracket 20 is tilted or released, so that the outer peripheral surface of the limit shaft 32 slides against the inner wall of the slide groove 12, and the inner wall of the slide groove 12 guides the sliding of the limit shaft 32.

[0051] In this manner, when the tilting bracket 20 is tilted by a driving force, which can be provided by a power device or human power and applied to the tilting bracket 20, the tilting bracket 20 can be tilted relative to the movable body 301. The driving force described below is equivalent to the driving force described herein. The tilting bracket 20 drives the bracket body 31 to move along with the tilting bracket 20 via the rotating shaft 22 fixedly connected thereto. At this time, the limiting shaft 32 provided on the first end 311 of the bracket body 31 is constrained by the limiting action of the slide slot 12 and moves approximately along a fixed trajectory, causing the second end 312 of the bracket body 31 to rotate about the axis of the rotating shaft 22, thereby causing the bracket body 31 to change its posture relative to the tilting bracket 20. During this process, the bracket body 31 can limit the tilting angle of the tilting bracket 20, making the tilting process of the tilting bracket 20 more gradual. The tilting angle of the tilting bracket 20 is the angle required for the free end of the tilting bracket 20 to rotate about the rotation axis 22 from a position abutting the clamp 1 to a position separated from the clamp 1. Simultaneously, when the tilting bracket 20 is tilted by a driving force, the tilting bracket 20, via the rotation axis 22 fixedly connected thereto, drives the bracket body 31 to move along with the tilting bracket 20, causing the limiting shaft 32 to move within the chute 12 in the direction of the tilting bracket 20 until it abuts against the inner sidewall of the chute 12. As the tilting bracket 20 continues to tilt, the limiting shaft 32 slides upward against the inner sidewall of the chute 12. The inner sidewall of the chute 12 directly guides the sliding movement of the limiting shaft 32.

[0052] When the lifting bracket 20 falls back under the action of gravity after being released, the bracket body 31 also falls back under its own gravity, causing the limiting shaft 32 to move in the sliding groove 12 in the direction of the lifting bracket 20's fall until it abuts against the inner sidewall of the sliding groove 12. As the bracket body 31 continues to fall, the limiting shaft 32 always slides downward closely against the inner sidewall of the sliding groove 12. The inner sidewall of the sliding groove 12 directly guides the sliding of the limiting shaft 32.

[0053] As shown in Figures 7, 10, and 11, in some embodiments, the limiting section 122 is tilted, one end of the limiting section 122 is connected to the sliding section 121, and the other end of the limiting section 122 is configured as a locking position W1, which is a recessed groove away from the sliding section 121. When the tilting device 100 is tilted under the action of a driving force, the tilting device 100 causes the limiting shaft 32 to enter the limiting section 122 from the sliding section 121, thereby entering the limiting protection mode. Since the groove depth of the sliding section 121 is smaller than the groove depth of the limiting section 122, the end of the limiting shaft 32 moves along its axial direction toward the bottom of the sliding groove 12. The end of the limiting shaft 32 always abuts the bottom of the sliding groove 12, preventing the limiting shaft 32 from moving from the limiting section 122 to the sliding section 121. In this way, after the driving force is removed, the tilting device 100 moves the limiting shaft 32 along the limiting section 122 to the locking position W1 under the action of its gravity and then locks, so that the tilting device 100 can still maintain the tilting state after the load is released.

[0054] It is worth noting that the sliding section 121 and the limiting section 122 are both partial sections of the chute 12. The chute 12 is a groove formed by inwardly slotting from the side of the clip ear 10 facing the limiting axis 32. The groove depth of the chute 12 refers to the vertical distance from the side of the clip ear 10 facing the limiting axis 32 to the bottom of the chute 12. Accordingly, the groove depth of the sliding section 121 is the vertical distance from the side of the clip ear 10 facing the limiting axis 32 to the bottom of the chute 12 corresponding to the sliding section 121, and the groove depth of the limiting section 122 is the vertical distance from the side of the clip ear 10 facing the limiting axis 32 to the bottom of the chute 12 corresponding to the limiting section 122.

[0055] At the same time, the unlocking section 123 is connected to the higher end of the limiting section 122. When the lifting device 100 needs to be unlocked, the lifting device 100 continues to lift under the action of a driving force, so that the limiting shaft 32 is disengaged from the locking position W1 and is moved to the unlocking section 123, so that the lifting device 100 begins to exit the limiting protection mode. Since the groove depth of the limiting section 122 is smaller than the groove depth of the unlocking section 123, the end of the limiting shaft 32 moves along its axial direction toward the bottom of the slide groove 12. The end of the limiting shaft 32 always presses against the bottom of the slide groove 12, so that the limiting shaft 32 cannot move from the unlocking section 123 to the limiting section 122, and the limiting shaft 32 hits the groove bottom of the unlocking section 123 and makes a knocking sound, thereby reminding the outside world that the unlocking action has been completed. Thus, after the unlocking action is completed, the driving force is removed, and the lifting device 100 moves the limiting shaft 32 from the unlocking section 123 to the sliding section 121 under the action of its gravity, and continues to slide along the sliding section 121 to complete the release action.

[0056] It is worth noting that the unlocking section 123 is a partial section of the slide groove 12 . As mentioned above, the groove depth of the unlocking section 123 is the vertical distance from the side of the clamping ear 10 facing the limiting axis 32 to the bottom of the slide groove 12 corresponding to the unlocking section 123 .

[0057] In summary, the lifting device 100 of the present application provides a slide groove 12 on the clamping ear 10 so that the limiting shaft 32 slides in the slide groove 12, and the end of the limiting shaft 32 can slide relative to the slide groove 12 along its axial direction. At the same time, the groove depth of the sliding section 121 is smaller than the groove depth of the limiting section 122. After the limiting shaft 32 enters the limiting section 122 from the sliding section 121, the end of the limiting shaft 32 moves axially to the bottom of the limiting section 122, so that the tilting device 100 is limited; the groove depth of the limiting section 122 is smaller than the groove depth of the unlocking section 123. After the limiting shaft 32 enters the unlocking section 123 from the limiting section 122 under the lifting action of a driving force, the end of the limiting shaft 32 moves axially to the bottom of the unlocking section 123, so that the tilting device 100 is quickly unlocked. The tilting device 100 can be unlocked by simply lifting it slightly. There is no need to set an additional unlocking switch to release the tilting device 100. This simplifies the structure of the entire tilting device 100 while ensuring that the tilting device 100 is quickly limited and unlocked after the tilting is completed.

[0058] Referring to Figures 9 and 14 , the limiting bracket 30 further includes an elastic member 322, which is elastically connected between the limiting shaft 32 and the bracket body 31 and is used to drive the end surface of the limiting shaft 32 into contact with the bottom wall of the chute 12. In one embodiment, an extension protrusion 313 is provided on either side of the first end 311 of the bracket body 31. The extension protrusion 313 extends from the first end 311 of the bracket body 31 away from the second end 312 of the bracket body 31. The extension protrusion 313 defines a mounting hole 3130, in which the limiting shaft 32 is partially received, allowing the limiting shaft 32 to move along the axial direction S of the corresponding mounting hole 3130. A support plate 323 and the elastic member 322 are provided at the end of the limiting shaft 32 away from the chute 12. The support plate 323 is fixed to the end of the limiting shaft 32 away from the chute 12. The elastic member 322 is sleeved around the outer circumference of the limiting shaft 32, with one end of the elastic member 322 connected to the bracket body 31 and the other end elastically abutting and connected to the support plate 323. This elastic member 322 is used to apply an axial elastic force to the limiting shaft 32, causing the limiting shaft 32 to elastically return along its axial direction toward the bottom of the slide groove 12. It is worth noting that the elastic member 322 may be a rectangular spring, for example.

[0059] Referring again to Figures 9, 10, and 11, the limiting section 122 is connected to the unlocking section 123, and a first support surface P1 is provided between the limiting section 122 and the unlocking section 123. The first support surface P1 is used to prevent the limiting shaft 32 from entering the limiting section 122 from the unlocking section 123, thereby causing the tilting device 100 to exit the limiting protection mode. In one embodiment, because the groove depth of the limiting section 122 is less than that of the unlocking section 123, a stepped surface is formed at the connection between the limiting section 122 and the unlocking section 123. This stepped surface serves as the first support surface P1. The first supporting surface P1 is arranged roughly perpendicular to the bottom wall of the unlocking section 123, that is, the first supporting surface P1 is roughly parallel to the axial direction of the limiting shaft 32. Under the action of a driving force, the limiting shaft 32 slides from the limiting section 122 to pass through the first supporting surface P1. Then, under the action of the elastic force provided by the elastic member 322, the limiting shaft 32 slides axially toward the bottom wall of the unlocking section 123, so that the limiting shaft 32 is resisted by the first supporting surface P1 and cannot fall back to the limiting section 122 after the driving force is removed.

[0060] Referring again to Figures 9, 10, and 11, the unlocking section 123 includes a guide slope P4, which connects the unlocking section 123 to the sliding section 121. The guide slope P4 is used to guide the limiting shaft 32 from the unlocking section 123 to the sliding section 121. In one embodiment, the guide slope P4 extends obliquely outward from the unlocking section 123 to the sliding section 121. The guide slope P4 is configured as a flat or curved surface. When the limiting shaft 32 moves to the unlocking section 123 and slides downward due to the gravity of the tilting device 100, the guide slope P4 guides the limiting shaft 32 to move quickly from the unlocking section 123 to the sliding section 121, thereby achieving a rapid return after the tilting device 100 is released (i.e., downward tilting).

[0061] The guiding slope P4 intersects with the first supporting surface P1, ensuring that after the limiting shaft 32 moves through the first supporting surface P1, the limiting shaft 32 directly moves to abut against the guiding slope P4, and is quickly guided by the guiding slope P4 to slide down.

[0062] Referring again to Figures 9, 10, and 11, the sliding section 121 is connected to the limiting section 122, and a second support surface P2 is provided between the sliding section 121 and the limiting section 122. The second support surface P2 is used to prevent the limiting shaft 32 from entering the sliding section 121 from the limiting section 122. In one embodiment, because the groove depth of the limiting section 122 is greater than the groove depth of the sliding section 121, a stepped surface is formed at the connection between the limiting section 122 and the sliding section 121, which serves as the second support surface P2. The second supporting surface P2 is arranged roughly perpendicular to the bottom wall of the limiting section 122. After the limiting shaft 32 slides from the sliding section 121 to pass through the second supporting surface P2 under the action of a driving force, the limiting shaft 32 slides axially toward the bottom wall of the limiting section 122 under the action of the elastic force provided by the elastic member 322, so that the limiting shaft 32 is resisted by the second supporting surface P2 and cannot fall back to the sliding section 121 after the driving force is removed. The lifting device 100 is in the limiting protection mode.

[0063] Referring again to Figures 9, 10, and 11, a third support surface P3 is provided at one end of the limiting section 122, distal from the unlocking section 123. When the limiting shaft 32 is secured within the limiting section 122, the third support surface P3 abuts against the outer circumference of the limiting shaft 32. In one embodiment, the location of the third support surface P3 is defined as a locking position W1 (shown in Figure 7). The third support surface P3 is arc-shaped and aligns with the shape of the bushing 321 of the limiting shaft 32. When the limiting shaft 32 moves until the outer circumference of the bushing 321 abuts against the third support surface P3, the limiting shaft 32 is locked in position W1, preventing the limiting shaft 32 from disengaging from the locking position W1 or from dangling within the locking position W1 due to external forces.

[0064] Furthermore, the third support surface P3 intersects with the second support surface P2, and the third support surface P3 is smoothly connected to the second support surface P2, so that the limit shaft 32 can slide along the second support surface P2 until it hits the third support surface P3 after the driving force is withdrawn, and is locked at the stop position W1.

[0065] In particular, the third support surface P3 is arranged roughly perpendicular to the bottom wall of the limiting section 122, so that the extension direction of the third support surface P3 is the same as the axial direction of the limiting shaft 32, thereby increasing the contact area between the third support surface P3 and the limiting shaft 32 and improving the stability of the limiting shaft 32 at the locking position W1.

[0066] Referring again to Figures 9, 10, and 11, a first transition wall P5 is provided on the side of the limiting section 122 away from the sliding section 121, and a second transition wall P6 is provided on the side of the unlocking section 123 away from the sliding section 121. The first transition wall P5 and the second transition wall P6 are connected to guide the limiting shaft 32 from the limiting section 122 to the unlocking section 123. In one embodiment, the first transition wall P5 is disposed opposite the second support surface P2, and one end of the first transition wall P5 smoothly connects to the third support surface P3. The second transition wall P6 is disposed opposite the guiding inclined surface P4, and the second transition wall P6 smoothly connects to the end of the first transition wall P5 away from the third support surface P3. The third support surface P3, the first transition wall P5, and the second transition wall P6 are sequentially connected end to end, thereby guiding the limiting shaft 32 along a predetermined path when the tilting device 100 is unlocked, thereby unlocking the tilting device 100.

[0067] In particular, the first transition wall P5 and the second transition wall P6 are arranged coplanarly, and the limiting shaft 32 can move smoothly from the first transition wall P5 to the second transition wall P6, which can improve the stability of the limiting shaft 32 when it enters the unlocking section 123 from the limiting section 122.

[0068] In this way, when the tilting device 100 is unlocked, the limiting shaft 32 detaches from the third support surface P3 under the action of a driving force, and slides toward the unlocking section 123 close to the first transition wall P5. Since the first transition wall P5 and the second transition wall P6 are smoothly connected, the limiting shaft 32 can be guided to move close to the first transition wall P5 and the second transition wall P6 to the unlocking section 123, thereby realizing the unlocking of the tilting device 100.

[0069] Referring again to Figures 9, 10, and 11, the sliding section 121 includes a first sidewall P7. When the limiting shaft 32 moves within the sliding section 121 toward the limiting section 122, the first sidewall P7 abuts against the outer circumferential surface of the limiting shaft 32, thereby guiding the limiting shaft 32 within the sliding section 121 toward the limiting section 122. In one embodiment, the trajectory of the sliding section 121 is generally inclined, with the higher end of the sliding section 121 located on the side of the lower end of the sliding section 121 closer to the rotation axis 22, so that the sliding section 121 tilts from bottom to top toward the location of the rotation axis 22.

[0070] The first sidewall P7 is the inner sidewall of the sliding section 121 and is disposed along the extension direction of the sliding section 121 and on the side of the sliding section 121 away from the rotation axis 22. Thus, when the tilting device 100 is tilted, the second end 312 of the bracket body 31 rotates upward about the rotation axis 22, causing the first end 311 of the bracket body 31 to move upward relative to the rotation axis 22. Furthermore, under the tension of the torsion spring 23 mounted on the rotation axis 22, the bracket body 31 also opens relative to the tilting bracket 20, forcing the limiting shaft 32 to also open relative to the tilting bracket 20 as the bracket body 31 opens. That is, the direction in which the bracket body 31 opens relative to the rotation axis 22 is opposite to the direction in which the tilting bracket 20 rotates relative to the rotation axis 22, thereby causing the limiting shaft 32 to always have a tendency to abut outward. Under this tendency, the limiting shaft 32 moves toward the first sidewall P7 until it abuts against the first sidewall P7. The lifting device 100 continues to lift, and the first end 311 of the bracket body 31 continues to move upward relative to the rotating shaft 22. The limiting shaft 32 slides upward in the sliding section 121 close to the first side wall P7, and the first side wall P7 acts as a support for the limiting shaft 32, ensuring the stability of the lifting device 100 when lifting and preventing it from shaking.

[0071] Referring again to Figures 9, 10, and 11, the sliding section 121 includes a second sidewall P8. When the limiting shaft 32 moves away from the unlocking section 123 within the sliding section 121, the second sidewall P8 abuts against the outer circumference of the limiting shaft 32, thereby guiding the limiting shaft 32 in the sliding section 121 away from the unlocking section 123. In one embodiment, the second sidewall P8 is the inner sidewall of the sliding section 121 and is disposed opposite the first sidewall P7. The second sidewall P8 is disposed along the extension direction of the sliding section 121 and is located on the side of the sliding section 121 that is closest to the rotation axis 22. In this way, when the tilting device 100 is released, the second end 312 of the bracket body 31 rotates downward around the rotating shaft 22, causing the first end 311 of the bracket body 31 to move downward relative to the rotating shaft 22, and the bracket body 31 also produces an opening movement relative to the tilting bracket 20 under the action of the tension of the torsion spring 23 installed on the rotating shaft 22, forcing the limit shaft 32 to also produce an opening movement relative to the tilting bracket 20 as the bracket body 31 opens, that is, the opening direction of the bracket body 31 relative to the rotating shaft 22 is opposite to the rotation direction of the tilting bracket 20 relative to the rotating shaft 22, so that the limit shaft 32 always has a tendency to lean outward, and under this tendency, the limit shaft 32 moves toward the second side wall P8 until the limit shaft 32 abuts against the second side wall P8. The lifting device 100 continues to fall under the action of its gravity, and the first end 311 of the bracket body 31 continues to move downward relative to the rotating shaft 22. The limiting shaft 32 slides downward in the sliding section 121 close to the second side wall P8, and the second side wall P8 acts as a support for the limiting shaft 32, ensuring the stability of the lifting device 100 when it is released and not prone to shaking.

[0072] Referring again to Figures 12, 13, 17, and 18, the tilting device 100 further includes a drive assembly 40, the fixed end of which is rotatably connected to the clamp 1. The output end of the drive assembly is provided with a telescopic rod 412 that abuts against the clamp 1 and rotatably cooperates with the tilting bracket 20. The tilting device 100 further includes a sensor assembly 37, which is coupled to the tilting bracket 20 and the telescopic rod 412 and is used to sense the relative rotation of the telescopic rod 412 and the tilting bracket 20. The drive assembly 40 can be communicatively connected to the processor 101 and can provide power for driving the tilting device 100 upward in response to an upward tilting instruction output by the processor 101, and can provide power for driving the tilting device 100 downward in response to a downward tilting instruction output by the processor 101. Optionally, the drive assembly can be a hydraulic cylinder. When the processor 101 receives an upward tilting instruction, the hydraulic cylinder can drive the telescopic rod 412 to gradually extend outward, and sense the relative rotation of the telescopic rod 412 and the tilting bracket 20 through the sensor assembly 37, thereby determining the tilting angle reached when the tilting device 100 tilts upward or downward.

[0073] In one embodiment, a mounting base 13 is provided between the two clip ears 10. The mounting base 13 is connected to the end of the clip ears 10 that is away from the tilting axis 11. One end (i.e., the fixed end) of the driving assembly 40 is mounted on the mounting base 13, and the other end is connected to the tilting bracket 20 to provide a driving force to tilt the tilting bracket 20 around the tilting axis 11.

[0074] Furthermore, the drive assembly 40 includes a lifting base shaft 43, a telescoping mechanism 41, and an actuator 42. The lifting base shaft 43 is rotatably mounted on the fixture 1 at a location away from the lifting main shaft 11. One end of the telescoping mechanism 41 is connected to the lifting base shaft 43, while its other end rotatably abuts the lifting bracket 20. The actuator 42 is connected to the telescoping mechanism 41 to drive the telescoping mechanism 41 to extend and retract. In one embodiment, the lifting base shaft 43 and the lifting main shaft 11 are axially aligned. One end of the lifting base shaft 43 passes through the mounting seat 13 and is rotatably connected to a clamping ear 10. The other end of the lifting base shaft 43 is rotatably mounted within the mounting seat 13. The end of the telescoping mechanism 41 away from the lifting main shaft 11 is passed through by the lifting base shaft 43, allowing the telescoping mechanism 41 to rotate about the axis of the lifting base shaft 43. This allows the telescoping mechanism 41 to move synchronously with the lifting bracket 20 as it lifts, thereby ensuring that the telescoping mechanism 41 maintains its abutment against the lifting bracket 20.

[0075] The telescopic mechanism 41 includes a cylinder 411 and a telescopic rod 412, which is telescopically mounted within the cylinder 411. The end of the telescopic rod 412, which is adjacent to the main lifting shaft 11, is located outside the cylinder 411. A connecting sleeve 413 is provided at this end for mounting a connecting shaft 44. The connecting shaft 44 is rotatably received within the connecting sleeve 413. The connecting shaft 44 and the main lifting shaft 11 have the same axial direction, and both ends of the connecting shaft 44 pass through the connecting sleeve 413. One end of the connecting shaft 44 is mounted to the ear plate 21, and the other end is mounted to the lifting bracket 20. When the telescopic mechanism 41 drives the lifting bracket 20 to lift, the telescopic mechanism 41 can rotate about the axis of the connecting shaft 44, thereby causing the telescopic mechanism 41 to deflect relative to the lifting bracket 20 to cooperate with the lifting action of the lifting bracket 20.

[0076] The actuator 42 is installed on the outside of the telescopic mechanism 41 and can move synchronously with the telescopic mechanism 41. The actuator 42 is used to adjust the telescopic amount of the telescopic rod 412, thereby adjusting the lifting height of the lifting bracket 20 lifted by the telescopic rod 412.

[0077] In particular, when another embodiment is adopted, the driving force can also be provided by manpower, and the tilting bracket 20 is pushed and pulled by manpower to drive the tilting bracket 20 to move.

[0078] Referring again to Figure 13 , the telescopic mechanism 41 is configured as a hydraulic telescopic mechanism, and the actuator 42 is configured as an oil pump motor. The oil pump motor is used to adjust the oil level within the hydraulic telescopic mechanism, thereby adjusting the telescopic length of the hydraulic telescopic mechanism. In one embodiment, the telescopic mechanism 41 is hydraulically driven, which provides greater operational stability and prevents the tilting device 100 from shaking during the tilting process. The actuator 42 is connected to the telescopic mechanism 41 through a pipeline, enabling the exchange of hydraulic oil with the telescopic mechanism 41. This controls the oil level within the cylinder 411 of the telescopic mechanism 41, thereby adjusting the telescopic distance of the telescopic rod 412 of the telescopic mechanism 41.

[0079] In some embodiments, referring again to FIG. 17 , the sensor assembly 37 includes a magnetic portion 371 and a sensing portion 372. The sensing portion 372 moves with the tilting bracket 20, while the magnetic portion 371 moves with the telescopic rod 412. The sensing portion 372 is used to sense the magnetic variation of the magnetic portion 371. In some embodiments, the tilting device 100 further includes a protective housing 38 disposed on the tilting bracket 20. The sensing portion 372 and the magnetic portion 371 are both disposed within the protective housing 38. The sensing portion 372 is fixed within the protective housing 38, and the magnetic portion 371 is rotatably adapted to the protective housing 38. Optionally, the above-mentioned drive assembly 40, sensor assembly 37, protective shell 38, etc. can be installed inside the tilting bracket 20, which is less affected by external interference, which is conducive to improving the detection accuracy of the sensor assembly 37; and, the sensing part 372 and the magnetic part 371 are both arranged in the protective shell 38, which is conducive to further protecting the sensor assembly 37; in addition, one of the sensing part 372 and the magnetic part 371 moves with the tilting bracket 20, and the other moves with the telescopic rod 412, and the two will not produce relative displacement in the radial or axial direction, which is conducive to further improving the detection accuracy of the sensor assembly 37.

[0080] The above embodiment obtains the tilting angle of the tilting device 100 through the sensor component 37, thereby controlling the tilting device 100 to enter the limit protection mode. However, in some embodiments, the sensor component 37 may have insufficient measurement accuracy due to its own process, further resulting in a certain error in the detected tilting angle. Please refer to Figure 14. In order to reduce the error caused by the insufficient measurement accuracy of the sensor component 37, the tilting device 100 also includes a travel switch 36, which can be combined with the sensor component 37 and the travel switch 36 to control the tilting device 100. Among them, the travel switch 36 can form a redundant design with the sensor component 37, and the travel switch 36 can directly detect whether the tilting device 100 enters and leaves the limit. For example, when the tilting device 100 continues to tilt to the limit angle, it can be further determined based on the output signal of the travel switch 36 whether the tilting device 100 has indeed entered the limit protection mode. For another example, when the tilting device 100 tilts downward to a set angle, the output signal of the limit switch 36 can be used to further determine whether the tilting device 100 is indeed in a state capable of normal tilting control. By adding the limit switch 36, on the one hand, it can more intuitively indicate the state of the tilting device 100 entering and leaving the limit; on the other hand, the redundant design of the limit switch 36 and the sensor assembly 37 can reduce the detection error caused by the insufficient measurement accuracy of the sensor assembly 37, thereby improving the detection accuracy of the tilting device 100 entering and leaving the limit. Specifically, the limit switch 36 can be set on the clamp 1 and / or the limit bracket 30. The processor 101 can be connected to the limit switch 36 to determine the abutment section between the end of the limit shaft 32 and the slide groove 12 based on the output signal of the limit switch 36.

[0081] In some embodiments, the limit switch 36 includes a magnetic member 361 and a sensing member 362 arranged opposite to each other, one of the magnetic member 361 and the sensing member 362 is arranged on the side of the limit shaft 32 away from the slide groove 12, and the other is arranged on the bracket body 31, and the sensing member 362 includes a first sensing element and a second sensing element; the processor 101 is connected to the sensing member 362 to determine the abutment section between the end of the limit shaft 32 and the slide groove 12 based on the output signal of the sensing member 362.

[0082] In some embodiments, the magnetic member 361 is disposed at the end of the limiting shaft 32 away from the slide slot 12, and the inductive member 362 is disposed on the bracket body 31. Driven by the limiting shaft 32, the magnetic member 361 slides relative to the inductive member 362 in a direction parallel to the main lift axis 11. Alternatively, the inductive member 362 is disposed at the end of the limiting shaft 32 away from the slide slot 12, and the magnetic member 361 is disposed on the bracket body 31 and opposite to the inductive member 362. Driven by the limiting shaft 32, the inductive member 362 slides relative to the magnetic member 361 in a direction parallel to the main lift axis 11.

[0083] Taking the case where the travel switch 36 can be a Hall sensor, and the sensing member 362 is arranged on the bracket body 31, and the magnetic member 361 slides relative to the sensing member 362 in a direction parallel to the warping main shaft 11 under the drive of the limit shaft 32 as an example, the Hall sensor includes a magnet 361a (i.e., the magnetic member 361) and two Hall chips 362a (i.e., the sensing member 362). The magnet 361a is installed at the end of the limit shaft 32 away from the slide groove 12, and the two Hall chips 362a are installed on the bracket body 31, and the two Hall chips 362a are arranged at intervals. Among them, the two Hall chips 362a are arranged at intervals to provide space for the electronic components on the Hall chips 362a, which can avoid the problem of the two Hall chips 362a being close to each other and causing the electronic components to be squeezed and damaged. In addition, the relative position of the above-mentioned Hall chip 362a and the magnet 361a in the axial direction of the magnet 361a is fixed, and the angle detection accuracy is not affected by the installation.

[0084] As shown in Figure 17, a Hall sensor typically includes a magnet 361a and a Hall chip 362a. Depending on the distance between the magnet 361a and the Hall chip 362a, the magnetic field sensed by the Hall chip 362a varies, and accordingly, the Hall chip 362a outputs two different electrical signals: ON and OFF. In the example shown in Figure 15, when the magnet 361a is close to the Hall chip 362a, the Hall chip 362a outputs an ON signal; when the magnet 361a is farther from the Hall chip 362a, the Hall chip 362a outputs an OFF signal. In other examples, the Hall chip 362a may output an ON signal when the magnet 361a is farther from the Hall chip 362a, and an OFF signal when the magnet 361a is closer to the Hall chip 362a. The Hall sensor shown in Figure 15 is only suitable for detecting two types of distances. Since this application involves detecting three positions, corresponding to three types of distances, two Hall chips 362a are provided, as shown in Figure 16. When the limit shaft 32 slides left and right, the distance between the magnet 361a and the Hall chip 362a changes, the magnetic field sensed by the Hall chip 362a changes, and the Hall chip 362a outputs different electrical signals. Since the groove depths of different sections of the chute 12 are different, the distances between the magnet 361a and the two Hall chips 362a are also different when the limit shaft 32 is in different sections. Therefore, it is possible to determine whether the lifting device 100 enters and leaves the limit based on the electrical signals output by the Hall chips 362a. As shown in Figure 16, if the electrical signals output by the two Hall chips 362a are ON and ON respectively, it means that the limit shaft 32 is in the sliding section 121. If the electrical signals output by the two Hall chips 362a are ON and OFF respectively, it means that the limit shaft 32 is in the limit section 122. If the electrical signals output by the two Hall chips 362a are OFF and OFF respectively, it means that the limit shaft 32 is in the unlocking section 123. In other examples, if the electrical signals output by the two Hall chips 362a are OFF and OFF respectively, it indicates that the limit shaft 32 is in the sliding section 121; if the electrical signals output by the two Hall chips 362a are OFF and ON respectively, it indicates that the limit shaft 32 is in the limit section 122; if the electrical signals output by the two Hall chips 362a are ON and ON respectively, it indicates that the limit shaft 32 is in the unlocking section 123.

[0085] During the process of controlling the tilting device 100 to automatically tilt, the tilting device 100 automatically tilts to a specified tilting angle. However, during the tilting process, the tilting device 100 may be clamped or hit an obstacle, resulting in certain risks during the automatic tilting process of the tilting device 100.

[0086] Based on this, the present application proposes a control method for a tilting device 100. The control method can be applied to the tilting device 100 described in any of the above embodiments, and the control method can be implemented when the processor 101 of the tilting device 100 executes a computer program in the memory 102. The control method of the present application can, when the tilting device 100 is in an automatic tilting state, determine whether the current automatic tilting process is in an interruptible state based on the current automatic tilting process and the current tilting angle of the tilting device 100. If so, the current automatic tilting process is interrupted and the action indicated by the control instruction input by the user is executed, thereby reducing the risk caused by the inability to interrupt the automatic tilting when the tilting device 100 is clamped or hits an obstacle during the automatic tilting process. It can effectively avoid damage to the tilting device 100 and ensure the reliability of the operation of the water propeller 200.

[0087] The following describes an embodiment of the control method of the tilting device 100 of the present application with reference to the specific structures shown in Figures 1 to 17 and the control flow shown in Figure 18. The control method includes:

[0088] Step S1: upon receiving a control command input by a user, if the tilting device 100 is in an automatic tilting state, determining whether the current automatic tilting process is in an interruptible state based on the current automatic tilting process and the current tilting angle of the tilting device 100;

[0089] Step S2: If yes, control the tilting device 100 to execute the action indicated by the control instruction.

[0090] In step S1, the control command can be any command for controlling the tilting device 100 to tilt or stop tilting, including any of the following: an upward tilting control command for controlling the tilting device 100 to tilt upward; a downward tilting control command for controlling the tilting device 100 to tilt downward; and a stop tilting control command for controlling the tilting device 100 to stop tilting. The control command can be sent via a control component on the mobile device 300 (such as a physical button on the water propeller 200 in the aforementioned embodiment, a control module on the display screen, a physical button on the throttle control device, etc.). The user can operate the control component to send the control command.

[0091] The tilting device 100 is in the automatic tilting state, which means that the tilting device 100 is executing the execution logic corresponding to the automatic tilting process. Referring to Figure 19, the automatic tilting process can include at least one of the following: an entry limit process in which the tilting device 100 tilts upward to the limit position; an upward exit limit process in which the tilting device 100, after entering the limit position, begins to tilt upward from the limit position; and a downward exit limit process in which the tilting device 100 tilts downward from the highest tilting position.

[0092] In some embodiments, determining whether the current automatic tilting process is interruptible based on the current automatic tilting process and the current tilting angle of the tilting device 100 includes: if the current automatic tilting process is entering a limit position process, and the difference between the current tilting angle and the tilting angle corresponding to the limit position is within a first preset range, determining that the current automatic tilting process is uninterruptible. The tilting angle corresponding to the limit position may be an entry angle. The magnitude of the entry angle is determined by the structure of the tilting device 100. When the tilting angle reaches the entry angle, the tilting device 100 is structurally capable of entering the limit position. However, due to factors such as insufficient detection accuracy of the angle sensor, certain errors may occur, resulting in the following situations: the tilting device 100 has actually entered the limit position, but the processor 101 mistakenly determines that the tilting device 100 has not entered the limit position based on the detection results of the angle sensor; or the tilting device 100 has not actually entered the limit position, but the processor 101 mistakenly determines that the tilting device 100 has entered the limit position based on the detection results of the angle sensor.

[0093] The user can observe whether the tilting device 100 has entered the limit position. Therefore, the user's observation result may be inconsistent with the processor 101's determination of whether the tilting device 100 has entered the limit position. If the user issues a control command to the tilting device 100 based on the user's observation result, the command may not be properly responded to.

[0094] To address the above issues, during the process of entering the limit position, if the difference between the current tilting angle and the tilting angle corresponding to the limit position is within a first preset range, the current automatic tilting process is determined to be in an uninterruptible state. Thus, during the process of entering the limit position, if the difference between the current tilting angle and the tilting angle corresponding to the limit position is within the first preset range, the processor 101 automatically controls the tilting device 100 to tilt to the tilting angle corresponding to the limit position, thereby reducing problems caused by inconsistencies between user perception and software determination and ensuring the normal execution of the subsequent tilting control process. If the difference between the current tilting angle and the tilting angle corresponding to the limit position is outside the first preset range, the current automatic tilting process can be determined to be in an interruptible state. It should be noted that the difference between the current tilting angle and the tilting angle corresponding to the limit position within the first preset range means that the difference between the larger and smaller values ​​of the current tilting angle and the tilting angle corresponding to the limit position is within the first preset range, or that the absolute value of the difference between the current tilting angle and the tilting angle corresponding to the limit position is within the first preset range. The same applies when the difference between the current tilting angle and the tilting angle corresponding to the limit position is outside the first preset range.

[0095] For example, referring to FIG20 , when entering the limit process, it is still assumed that the warping angle corresponding to the limit position is recorded as α2, and the current warping angle is recorded as y. If the current warping angle y satisfies the following conditions: δ1<|α2-y|<δ2,

[0096] The current automatic tilting process is determined to be in an uninterruptible state. Thus, even if the user attempts to interrupt the limit entry process when the current tilting angle is y, the processor 101 will automatically control the tilting device 100 to continue rising from the current tilting angle y to the tilting angle α2 corresponding to the limit position, and will not interrupt the limit entry process when the current tilting angle is y. The first preset range is (δ1, δ2).

[0097] In some embodiments, based on the current automatic tilting process and current tilting angle of the tilting device 100, it is determined whether the current automatic tilting process is in an interruptible state. Specifically, if the current automatic tilting process is an upward exit limit process, then the current automatic tilting process is in an uninterruptible state. If the current automatic tilting process is an upward exit limit process, if the current automatic tilting process is interrupted, then after receiving a control instruction from the user to control the tilting device 100 to tilt downward, it is impossible to determine whether the user's intention is to control the tilting angle of the tilting device 100 to decrease or to control the tilting device 100 to exit the limit. In the former case, the tilting device 100 will be directly controlled to tilt downward; in the latter case, the tilting device 100 will be controlled to tilt upward first and then downward. Therefore, determining the upward exit limit process as an uninterruptible state can effectively avoid the problem of unclear user operation intentions, which leads to confusion in the tilting operation logic, and ensure the stable operation of the system. In addition, since the execution time of the upward exit limit process is short, the risk of determining the upward exit limit process as an uninterruptible state is relatively small.

[0098] In some embodiments, determining whether the current automatic tilting process is interruptible is based on the current automatic tilting process and the current tilting angle of the tilting device 100. Specifically, if the current automatic tilting process is a downward exit limit process, then the current automatic tilting process is interruptible. Furthermore, at least a portion of the downward exit limit process is interruptible. This at least portion of the process can be determined based on the tilting angle of the tilting device 100 during the downward exit limit process.

[0099] If the current automatic tilting process is a downward exit limit process, the current automatic tilting process is in an interruptible state, including: if the current automatic tilting process is a downward exit limit process, and the difference between the current tilting angle and the tilting angle when the tilting device 100 exits the limit is within a second preset range, the current automatic tilting process is in an uninterruptible state. If the current automatic tilting process is a downward exit limit process, and the difference between the current tilting angle and the tilting angle when the tilting device 100 exits the limit is outside the second preset range, the current automatic tilting process is in an interruptible state.

[0100] Similar to the process of entering the limit, in the process of exiting the limit downward, errors caused by various reasons may lead to the following situations: the tilting device 100 has actually exited the limit position, but the processor 101 mistakenly judges that the tilting device 100 has not yet exited the limit position based on the detection results of the angle sensor; or the tilting device 100 has not actually exited the limit position, but the processor 101 mistakenly judges that the tilting device 100 has exited the limit position based on the detection results of the angle sensor.

[0101] The user can observe whether the tilting device 100 has exited the limit position. Therefore, the user's observation may be inconsistent with the processor 101's determination of whether the tilting device 100 has entered the limit position. If the user issues a control command to the tilting device 100 based on their observation, the command may not be properly responded to.

[0102] In order to solve the above problems, in the downward exit limit process, if the difference between the current tilting angle and the tilting angle when the tilting device 100 exits the limit is within the second preset range, it is determined that the current automatic tilting process is in an uninterruptible state. In this way, in the downward exit limit process, if the difference between the current tilting angle and the tilting angle when the tilting device 100 exits the limit is within the second preset range, the processor 101 will automatically control the tilting device 100 to tilt to the tilting angle when exiting the limit, thereby reducing problems caused by inconsistencies between user perception and software judgment, and ensuring the normal development of subsequent tilting control processes.

[0103] For example, referring to FIG21 , in the downward exit limit process, it is still assumed that the tilting angle when exiting the limit is recorded as α1, and the current tilting angle is recorded as y. If the current tilting angle y satisfies the following conditions: δ3<|α1-y|<δ4,

[0104] The current automatic tilting process is determined to be in an uninterruptible state. Thus, even if the user attempts to interrupt the downward exit limit process when the current tilting angle is y, the processor 101 will automatically control the tilting device 100 to continue descending from the current tilting angle y to the tilting angle α1 for exiting the limit, without interrupting the entry limit process when the current tilting angle is y. The second preset range is (δ3, δ4).

[0105] In some embodiments, a flag bit can be set to identify the current automatic tilting process that is in an interruptible state. For example, a first flag bit can be set for the current automatic tilting process in an interruptible state, and a second flag bit different from the first flag bit can be set for the current automatic tilting process in an uninterruptible state. The first flag bit and the second flag bit can both include at least one of numbers, letters, and symbols. Optionally, the second flag bit can be empty, that is, the flag bit is set only when the current automatic tilting process is in an interruptible state, and the flag bit is not set when the current automatic tilting process is in an uninterruptible state. In the case where a flag bit is set, when a control instruction input by the user is received, the flag bit can be read, and whether the current automatic tilting process is in an interruptible state can be determined based on the read flag bit.

[0106] In step S2, if the current automatic tilting process is in an interruptible state, the process may enter an interrupted state. In this interrupted state, the tilting device 100 may respond to any control command. For example, the control method may further include controlling the tilting device 100 to enter an interrupted state when the tilting device 100 is in the process of exiting the limit downward.

[0107] Specifically, controlling the tilting device 100 to enter the interruption state may be automatically executed in response to the tilting device 100 being in the downward exit limit process, or may be controlled to enter the interruption state in response to a control instruction.

[0108] In the former case, once the tilting device 100 is in the process of exiting the limit position downward, it will directly enter the interrupt state regardless of whether the tilting device 100 has received the control command. This automatic interrupt state does not require the user to input additional control commands to control the tilting device 100 to enter the interrupt state. The tilting device 100 can be controlled to enter the interrupt state based solely on the current automatic tilting process, thereby reducing the user's operational complexity.

[0109] In the latter case, if the tilting device 100 does not receive a control command while in the process of exiting the limit position downward, the tilting device 100 will not enter the suspended state. However, if a control command is received, the tilting device 100 can enter the suspended state based on the control command. By controlling the tilting device 100 to enter the suspended state through user input of a control command, user autonomy is enhanced during the control process.

[0110] It should be noted that the difference between the interrupted state and the non-interrupted state is that when the tilting device 100 is in the interrupted state, if the tilting device 100 receives a control command input by the user, the tilting device 100 can directly respond to the control command based on the special situation that it is currently in the interrupted state. However, when the tilting device 100 is not in the interrupted state, that is, when the tilting device 100 is in the non-interrupted state, if the tilting device 100 receives a control command input by the user, the tilting device 100 needs to determine whether the current automatic tilting process is in an interruptible state based on the current automatic tilting process and the current tilting angle. Only when it determines that it is in an interruptible state can it respond to the control command, and it cannot directly respond to the control command based on the special situation that it is currently in the interrupted state. Compared with the method of determining whether the current automatic tilting process is in an interruptible state based on the current automatic tilting process and the current tilting angle of the tilting device 100, the method of additionally setting the interrupted state is a faster and simpler way to determine whether to respond to the control command.

[0111] Considering that the execution time of the downward exit limit process is relatively long, the additional setting of the interrupt state in this process can greatly reduce the complexity of the control process of the tilting device 100 in the process of downward exit limit.

[0112] After entering the interrupt state, the current automatic tilting process can be interrupted at any time, and the tilting device 100 can respond to control commands. Furthermore, after entering the interrupt state, it can also exit the interrupt state. After exiting the interrupt state, it can be determined whether the current automatic tilting process can be interrupted based on the current automatic tilting process and the current tilting angle of the tilting device 100.

[0113] For example, the control method further includes: after the tilting device 100 enters the interrupted state, if the difference between the current tilting angle and the tilting angle when the tilting device 100 exits the limit is outside a second preset range, the tilting device 100 can be controlled to exit the interrupted state. After the tilting device 100 exits the interrupted state, the control logic in the non-interrupted state can be re-executed. That is, when the automatic tilting process is executed again, if a control command is received during the execution of the automatic tilting process, it can be determined whether the current automatic tilting process can be interrupted based on the current automatic tilting process and the current tilting angle of the tilting device 100.

[0114] It is understandable that if the interrupt state is not exited, then during subsequent tilting, a conflicting situation may arise: the tilting device 100's current automatic tilting process and current tilting angle may determine that the current automatic tilting process cannot be interrupted, but due to the special situation of the tilting device 100 being in the interrupted state, the current automatic tilting process can be interrupted. For example, the tilting device 100 may return to the sliding section but has not exited the interrupted state. At this time, the tilting device 100 receives a one-key tilting command, and the tilting device 100 automatically tilts upward to the limit position and enters the limit process. If the difference between the current tilting angle of the tilting device 100 and the tilting angle corresponding to the limit position is within a first preset range, the tilting device 100 has received a control command input by the user. In this scenario, according to the logic that determines whether the current automatic tilting process of the tilting device 100 can be interrupted based on the current automatic tilting process and the current tilting angle, the current automatic tilting process of the tilting device 100 cannot be interrupted. However, according to the logic that the tilting device 100 can be interrupted at any time when it is in the interrupted state, since the tilting device 100 has not exited the interrupted state and is still in the interrupted state, the current automatic tilting process of the tilting device 100 can be interrupted. This obviously creates a conflicting response scheme, which will cause confusion in the tilting control logic of the tilting device 100. Therefore, when the difference between the current tilting angle and the tilting angle when the tilting device 100 exits the limit is outside the second preset range, it is necessary to control the tilting device 100 to exit the interrupted state so that the tilting device 100 can normally execute subsequent tilting instructions, ensuring the stability and reliability of the operation of the tilting device 100.

[0115] It should be noted that before and after the automatic tilting process is interrupted, the processor 101 executes different control logic for the tilting device 100. Specifically, before the automatic tilting process is interrupted, the processor 101 controls the tilting device 100 to execute an automatic program so that the tilting device 100 automatically tilts to a preset tilting position. For example, if the user inputs an upward tilting command, the processor 101 controls the tilting device 100 to automatically tilt to a limit position. After the tilting device 100 enters a limit position, if the user inputs a downward tilting command, the processor 101 controls the tilting device 100 to first tilt upward to the highest tilting position and then tilt downward to the exit limit position. Therefore, before the automatic tilting process is interrupted, the tilting device 100 can automatically execute a complete tilting process in response to a one-touch control command. Therefore, the control logic before the automatic tilting process is interrupted can also be referred to as one-touch control logic.

[0116] After the automatic tilting process is interrupted, the processor 101 interrupts the automatic program executed before the automatic tilting process was interrupted and detects the control command input by the user in real time, thereby controlling the tilting device 100 to perform the action indicated by the real-time detected control command. The control logic after the automatic tilting process is interrupted can also be called real-time control logic. After the automatic tilting process is interrupted, the user can freely adjust the tilting device 100 to any angle. Taking the exit limit process as an example, before the exit limit process is interrupted, the tilting device 100 should first tilt upward to the highest tilt position and then tilt downward to the exit limit. However, if the downward exit limit process is interrupted, the tilting device 100 can respond to the user's control command to tilt upward or downward, or maintain the current tilting position, rather than directly tilting downward to the exit limit as before the exit limit process was interrupted.

[0117] Referring to FIG22 , upon receiving a control instruction input by the user, if the tilting device 100 is in a non-automatic tilting state, it can be determined whether to respond to the control instruction based on the limit state of the tilting device 100. Specifically, if the tilting device 100 is in a non-limited state, it can directly respond to the control instruction. The control instruction may include a control instruction sent through a physical button on the water propeller 200, a control instruction sent through a throttle control device of the water movable device 300, and / or a control instruction sent through a display screen of the water movable device 300. The type of control instruction may be a type that controls the tilting device 100 to tilt upward, a type that controls the tilting device 100 to tilt downward, or a type that controls the tilting device 100 to stop tilting.

[0118] In one embodiment, whether to respond to a control instruction is determined based on the limit state of the tilting device 100, including: if the tilting device 100 is in a non-limited state, regardless of the source of the control instruction, the tilting action indicated by the control instruction can be directly executed.

[0119] In another embodiment, whether to respond to a control instruction is determined based on the limit state of the tilting device 100, including: if the tilting device 100 is in a limit state, whether to respond to the control instruction can be determined based on the source and / or type of the control instruction. Optionally, whether to respond to a control instruction is determined based on the source and / or type of the control instruction, including: if the source of the control instruction is a physical button on the water propeller 200, the control instruction can be responded to. The user can freely control the tilting angle of the tilting device 100 through the physical buttons. For example, the physical buttons can include a first physical button for controlling the tilting device 100 to tilt upward and a second physical button for controlling the tilting device 100 to tilt downward. The user can continuously press the first physical button to cause the tilting device 100 to continuously tilt upward, or continuously press the second physical button to cause the tilting device 100 to continuously tilt downward. Since the user is relatively close to the physical buttons on the water propeller 200, after observing the tilting state of the tilting device 100 in real time, the user can freely control the physical buttons on the water propeller 200 to control the tilting of the tilting device 100, which can improve the user's control convenience of the tilting device 100.

[0120] Optionally, whether to respond to a control instruction is determined based on the source and / or type of the control instruction, including: if the source of the control instruction is the throttle control device of the movable device 300 in the water area, and the type of the control instruction is a type of controlling the tilting device 100 to tilt upward, the control instruction may not be responded to. The throttle control device may include any one of a remote control box, a local control box, a side throttle lever, etc. Since the tilting device 100 has entered a limit position, if a control instruction to control its upward tilting is responded to, the tilting device 100 will exit the limit position, resulting in an invalid limit position; and when a throttle control device such as a remote control box or a local control box is used for control, the user may not be able to intuitively observe the tilting state of the water thruster 200, and the safety or reliability of the tilting of the tilting device 100 cannot be guaranteed. Therefore, when the tilting device 100 is in a limit position, it may no longer respond to a control instruction to control its upward tilting.

[0121] Optionally, whether to respond to a control instruction is determined based on the source and / or type of the control instruction, including: if the source of the control instruction is the throttle control device of the movable device 300 in the water area, the type of the control instruction is the type of controlling the tilting device 100 to tilt downward, and the duration of the control instruction exceeds a preset time (for example, long pressing a button on the throttle control device), the control instruction can be responded to. In this embodiment, only when the user long presses the button on the throttle control device is it determined that the user's current intention is to control the tilting device 100 to tilt downward, and thus respond to the control instruction. If the user does not long press the button on the throttle control device, the button operation can be locked (that is, the control instruction issued by the button is not responded to). In this way, the situation where the tilting device 100 exits the limit due to the user's accidental touch of the button can be reduced.

[0122] Optionally, whether to respond to a control command is determined based on the source and / or type of the control command, including: if the source of the control command is the display screen of the movable device 300, the control command may not be responded to. A virtual slider may be provided on the display screen. When the tilting device 100 is in an unrestricted state, the user can control the tilting angle of the tilting device 100 by dragging the virtual slider. When the tilting device 100 is in a restricted state, the virtual slider on the display screen may be locked. When the tilting device 100 is in an unrestricted state, the virtual slider on the display screen is unlocked, allowing the user to freely control the tilting angle of the tilting device 100 by dragging the virtual slider. When the tilting device 100 is in a restricted state, if the user inputs a downward tilt control command using the virtual slider on the display screen, it is impossible to determine whether the user intends to control the tilting device 100 to exit the restricted state or to tilt the tilting device 100 downward. Therefore, the virtual slider on the display screen is locked to reduce misjudgment of user intentions.

[0123] Optionally, determining whether to respond to a control command is based on the source and / or type of the control command, including: if the control command is of a one-touch reset type, responding to the control command. The one-touch reset command can be used to control the automatic release of the tilting device 100 from a limit position. A dedicated control component can be provided to control the automatic release of the tilting device 100 from a limit position. If the user operates the dedicated control component, the processor 101 can control the tilting device 100 to first tilt upward to the highest tilt position, and then tilt downward to the exit limit position.

[0124] The present application also provides a computer-readable storage medium having computer instructions stored thereon, which, when executed by a processor, implement the control method of the warping device 100 described in any of the aforementioned embodiments of the present application. The computer-readable storage medium may be a phase change memory (PRAM), a static random access memory (SRAM), a dynamic random access memory (DRAM), other types of random access memory (RAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory or other memory technology, a compact disc read-only memory (CD-ROM), a digital versatile disc (DVD) or other optical storage, a magnetic cassette, a magnetic tape disk storage or other magnetic storage device, or any other non-transmission medium, and may be used to store information that can be accessed by a computing device.

[0125] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. The terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a..." does not exclude the presence of other identical elements in the process, method, article or device that includes the element.

[0126] The above is a detailed introduction to the methods and devices provided in the embodiments of the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the methods and core ideas of the present application. At the same time, for those skilled in the art, based on the ideas of the present application, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A control method for a warping device, characterized in that: The control method comprises: When receiving a control instruction input by a user, if the tilting device is in an automatic tilting state, judging whether the current automatic tilting process is in an interruptible state based on the current automatic tilting process and the current tilting angle of the tilting device; If so, the tilting device is controlled to execute the action indicated by the control instruction.

2. The control method according to claim 1, characterized in that: The determining whether the current automatic warping process is in an interruptible state based on the current automatic warping process and the current warping angle of the warping device includes: If the current automatic tilting process is a process in which the tilting device tilts upward to a limit position and enters a limit position, and the difference between the current tilting angle and the tilting angle corresponding to the limit position is within a first preset range, the current automatic tilting process is in an uninterruptible state.

3. The control method according to claim 1, characterized in that: The determining whether the current automatic warping process is in an interruptible state based on the current automatic warping process and the current warping angle of the warping device includes: If the current automatic tilting process is a process in which the tilting device, after entering the limit position, starts to tilt upward from the limit position and then exits the limit position, the current automatic tilting process is in an uninterruptible state.

4. The control method according to claim 1, characterized in that: The determining whether the current automatic warping process is in an interruptible state based on the current automatic warping process and the current warping angle of the warping device includes: If the current automatic tilting process is a downward exit limit process in which the tilting device tilts downward from the highest tilting position, the current automatic tilting process is in the interruptible state.

5. The control method according to claim 4, characterized in that: If the current automatic tilting process is a downward exit limit process in which the tilting device tilts downward from the highest tilting position, the current automatic tilting process is in the interruptible state, including: If the current automatic warping process is the downward exit limit process, and the difference between the current warping angle and the warping angle when the warping device exits the limit is within a second preset range, the current automatic warping process is in an uninterruptible state; If the current automatic tilting process is the downward exit limit process, and the difference between the current tilting angle and the tilting angle when the tilting device exits the limit is outside the second preset range, the current automatic tilting process is in the interruptible state.

6. The control method according to claim 4, characterized in that: The control method further comprises: When the tilting device is in the downward exit limit process, the tilting device is controlled to enter an interruption state, and in the interruption state, the tilting device can respond to the control instruction.

7. The control method according to claim 6, characterized in that: The controlling the warping device to enter an interruption state comprises: When the tilting device is in the downward exit limit process, in response to receiving the control instruction, the tilting device is controlled to enter the interruption state.

8. The control method according to claim 6, characterized in that: The control method further comprises: After the tilting device enters the interruption state, if the difference between the current tilting angle and the tilting angle when the tilting device exits the limit is outside a second preset range, the tilting device is controlled to exit the interruption state.

9. The control method according to any one of claims 1 to 8, characterized in that: The control instruction includes any one of the following: An upward warping control instruction for controlling the warping device to warp upward; A downward warping control instruction for controlling the warping device to warp downward; A stop warping control instruction is used to control the warping device to stop warping.

10. The control method according to any one of claims 1 to 8, characterized in that: The control method further comprises: When receiving the control instruction input by the user, if the tilting device is in a non-automatic tilting state, it is determined whether to respond to the control instruction based on the limit state of the tilting device.

11. The control method according to claim 10, characterized in that: The determining whether to respond to the control instruction based on the limit state of the warping device includes: If the tilting device is in the limit state, it is determined whether to respond to the control instruction based on the source and / or type of the control instruction.

12. The control method according to claim 11, characterized in that: The determining whether to respond to the control instruction based on the source and / or type of the control instruction comprises: If the source of the control instruction is a physical button on the water propulsion device, respond to the control instruction.

13. The control method according to claim 11, characterized in that: The determining whether to respond to the control instruction based on the source and / or type of the control instruction comprises: If the source of the control instruction is the throttle control device of the movable device in the water area, and the type of the control instruction is the type of controlling the tilting device to tilt upward, the control instruction is not responded to; If the source of the control instruction is the throttle control device of the movable equipment in water area, the type of the control instruction is the type of controlling the lifting device to lift downward, and the duration of the control instruction exceeds the preset time length, respond to the control instruction.

14. The control method according to claim 11, characterized in that: The determining whether to respond to the control instruction based on the source and / or type of the control instruction comprises: If the source of the control command is the display screen of a mobile device in the water area, the control command will not be responded to.

15. The control method according to claim 11, characterized in that: The determining whether to respond to the control instruction based on the source and / or type of the control instruction comprises: If the type of the control instruction is a one-key reset type, respond to the control instruction.

16. The control method according to claim 10, characterized in that: The determining whether to respond to the control instruction based on the limit state of the warping device includes: If the tilting device is in a non-limiting state, respond to the control instruction.

17. A warping device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the control method of the warping device according to any one of claims 1 to 16 is implemented.

18. A water propeller, characterized in that: The water propulsion device comprises: Host; and The tilting device according to claim 17 is connected to the host.

19. A movable device in water area, characterized in that: The movable equipment in the water area includes: A movable body; and The water area thruster as described in claim 18 is installed on the movable body.

20. A computer-readable storage medium, characterized in that: Computer instructions are stored thereon, and when the computer instructions are executed by a processor, the control method of the warping device according to any one of claims 1 to 16 is implemented.

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