Control method, display apparatus, aquatic propulsion system, device, and storage medium

Abstract

A control method, a display apparatus (300), an aquatic propulsion system (400), an aquatic mobile device (10), and a computer readable storage medium. The control method comprises: (S502) receiving an input of a user to generate a tilting instruction, the tilting instruction carrying a target tilting angle; (S504) sending the tilting instruction to a tilting apparatus (220), so that the tilting apparatus (220) tilts to the target tilting angle; (S506) while the tilting apparatus (220) is tilting to the target tilting angle, receiving a real-time tilting angle fed back by said apparatus; and (S508) on the basis of the real-time tilting angle, displaying an animation of the real-time tilting state of an aquatic propeller (200). By means of the described control method, the user may be aware of the tilting state of the tilting apparatus, preventing problems such as stalling during tilting and collision.

Description

Control method, display device, water propulsion system, equipment and storage medium Technical Field

[0001] The present application relates to the technical field of mobile equipment in water areas, and in particular to a control method, a display device, a propulsion system in water areas, a mobile equipment in water areas, and a computer-readable storage medium. Background Art

[0002] A water propulsion system, such as an outboard motor, is a detachable power unit suspended from the transom of a boat or yacht, capable of propelling the vessel or yacht. Water propulsion systems are typically equipped with a tilting mechanism to control the angle of the propeller shaft and the water surface, as well as the propeller's height above the water surface, during navigation to adapt to varying water conditions. This mechanism also allows the outboard motor's underwater portion to be tilted out of the water to prevent corrosion and collisions when the boat is moored or otherwise unused for extended periods.

[0003] The warping process of a water propeller usually takes some time, and during this time, the user may want to know the current warping status of the water propeller in real time. In the related art, if the user wants to know the real-time warping status of the water propeller during the warping process, he must move close to the water propeller to observe the current warping status in person, which is cumbersome and inconvenient.

[0004] Summary of the Invention

[0005] In view of this, one of the objects of the present application is to provide a control method, a display device, a water propulsion system, a water movable device and a computer-readable storage medium.

[0006] In a first aspect, an embodiment of the present application provides a control method for a display device, wherein the display device is communicatively connected to a water thruster, and the water thruster includes a tilting device. The control method includes:

[0007] receiving a user input to generate a tilting instruction, wherein the tilting instruction carries a target tilting angle;

[0008] sending the tilting instruction to the tilting device, so that the tilting device tilts to the target tilting angle;

[0009] receiving a real-time tilting angle fed back by the tilting device during the process of tilting to the target tilting angle;

[0010] An animation showing the real-time tilting state of the water propeller based on the real-time tilting angle.

[0011] In a second aspect, an embodiment of the present application provides a display device, which includes a processor, a memory, and a display unit. The display unit is connected to the processor, and a computer program is stored in the memory. When the processor executes the computer program, the control method mentioned in the first aspect is implemented.

[0012] In a third aspect, an embodiment of the present application provides a water propulsion system, which includes the display device mentioned in the second aspect above, and a water propeller communicatively connected to the display device.

[0013] In a fourth aspect, an embodiment of the present application provides a movable device for water areas, wherein the movable device for water areas includes a movable body and the water area propulsion system of the third aspect mentioned above, and the water area propulsion system is arranged on the movable body.

[0014] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium having computer instructions stored thereon, which, when executed by a processor, implement the control method mentioned in the first aspect.

[0015] According to the solution provided by the embodiments of the present application, after receiving user input to generate a tilting instruction, the display device can issue a tilting instruction to the tilting device of the water propeller. Furthermore, the display device can detect the real-time tilting angle of the tilting device in real time during the tilting process, and then feed it back to the display device. The display device generates an animation based on the real-time tilting angle of the tilting device to display the real-time tilting status of the water propeller, and displays the animation on the display device. Because the display device has the function of displaying the real-time tilting status of the water propeller's tilting device, on this basis, the tilting control function of the tilting device can be further integrated into the display device. This can avoid the user being unaware of the tilting status of the tilting device and directly controlling the tilting device on the display device, which may cause safety issues such as tilting stalls and collisions, thereby improving the safety of tilting control. Furthermore, the user can intuitively perceive the real-time tilting status of the water propeller through the animation displayed on the display device, and can also directly control the tilting through the display device without moving near the water propeller, which is more convenient and improves the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] 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.

[0017] FIG1 is a schematic structural diagram of a movable device for use in water areas provided by an embodiment of the present application.

[0018] FIG2 is a schematic structural diagram of a water propulsion device provided in one embodiment of the present application.

[0019] FIG3 is a schematic structural diagram of a movable device for use in water areas provided by an embodiment of the present application.

[0020] FIG4 is a schematic diagram of the connection between a display device and a water propulsion device provided in one embodiment of the present application.

[0021] FIG5 is a flow chart of a control method provided by an embodiment of the present application.

[0022] Figures 6(a)-6(c) are schematic diagrams of three forms of angle gear adjustment components provided in embodiments of the present application.

[0023] FIG7 is a schematic diagram of a user clicking on an angle adjustment component to set a target tilting angle, provided by an embodiment of the present application.

[0024] FIG8 is a schematic diagram of an angle gear adjustment assembly provided in one embodiment of the present application.

[0025] FIG9 is a schematic diagram of an angle gear adjustment assembly provided in one embodiment of the present application.

[0026] FIG10 is a schematic diagram showing the tilting angle corresponding to the position of the gear adjustment element in real time, provided by an embodiment of the present application.

[0027] FIG11( a ) is a schematic diagram showing a movement of an identification line indicating a current warping angle toward an identification line indicating a target warping angle during a warping process provided by one embodiment of the present application.

[0028] FIG11( b ) is a schematic diagram showing different colors of the angle gear range elements controlled in the warping angle setting stage and the warping stage, provided by an embodiment of the present application.

[0029] FIG12 is a schematic diagram of setting a target pitch angle for a water thruster in linkage mode provided by an embodiment of the present application.

[0030] FIG13 is a schematic diagram showing alignment marks between gear range elements of a water propeller in a linkage mode, provided by an embodiment of the present application.

[0031] FIG14 is a schematic diagram showing association identifiers between water thrusters in linkage mode provided by an embodiment of the present application.

[0032] Figure 15(a) is a schematic diagram of the automatic switching of a one-button lifting component and a one-button reset component provided in one embodiment of the present application.

[0033] FIG15( b ) is a schematic structural diagram of a clamp of a warping device provided in one embodiment of the present application.

[0034] FIG16( a ) is a schematic diagram showing a suspension component during a warping process provided by one embodiment of the present application.

[0035] FIG16( b ) is a schematic diagram of displaying reset prompt information in the main interface according to an embodiment of the present application.

[0036] FIG16( c ) is a schematic diagram of a direction display component provided in accordance with an embodiment of the present application.

[0037] FIG17 is a schematic diagram of distinguishing the warping direction by the direction of the progress bar provided by an embodiment of the present application.

[0038] FIG18 is a schematic diagram of a tilting animation displayed by a virtual water propeller according to an embodiment of the present application.

[0039] FIG19 is a schematic diagram of the logical structure of a display device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0040] 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.

[0041] A water propulsion system, such as an outboard motor, is a detachable power unit suspended from the transom of a boat or yacht, capable of propelling the vessel or yacht. Water propulsion systems are typically equipped with a tilting mechanism to control the angle of the propeller shaft and the water surface, as well as the propeller's height above the water surface, during navigation to adapt to varying water conditions. This mechanism also allows the outboard motor's underwater portion to be tilted out of the water to prevent corrosion and collisions when the boat is moored or otherwise unused for extended periods.

[0042] For example, FIG1 is a schematic diagram of a mobile device 10 for use in water. The mobile device 10 includes a movable body 100 and a water thruster 200, which is movably connected to the movable body 100. The water thruster 200, as the power supply device for the mobile device 10, can change its posture relative to the movable body 100. When the water thruster 200 is needed, it is placed below the water surface to provide propulsion for the movement of the movable body 100. When the water thruster 200 is not needed, it is placed above the water surface to reduce the resistance of the water flow to the movable body 100 during movement.

[0043] The mobile device 10 in the embodiment of the present application can be any type of water transportation vehicle, such as a commercial ship, passenger ship, yacht, fishing boat, sailboat, civilian ship, or other type of water transportation vehicle. It can also be any type of water inspection equipment, water management equipment, water environment monitoring equipment, or other equipment capable of moving in water, and this application does not limit this. When the mobile device 10 in the water is any type of ship, the movable body 100 is correspondingly the hull.

[0044] The water propulsion device 200 of the embodiment of the present application can be an outboard motor, a podded propulsion device, or other device capable of providing power. The water propulsion device 200 can be installed at the bow, stern, or side. When installed at the side, it can be used as a side thruster to assist the water movable device 10 in steering, etc.

[0045] As shown in FIG2 , a schematic diagram of the structure of a water propulsion device 200 is shown. The water propulsion device 200 includes a main unit 210 and a tilting device 220, wherein the tilting device 220 is connected to the main unit 210. Exemplarily, the tilting device 220 includes a clamp 2210, an adjustment mechanism 2220, and a motor 2230. The clamp 2210 is used to be fixed to the movable body 100, the adjustment mechanism 2220 is connected between the clamp 2210 and the main unit 210, and the motor 2230 is installed on the clamp 2210 or the main unit 210 and connected to the adjustment mechanism 2220. The motor 2230 is used to drive the adjustment mechanism 2220 to deform. The deformation of the adjustment mechanism 2220 drives the main unit 210 to rise and fall relative to the clamp 2210, and the main unit 210 is always located outside the movable body 100. Exemplarily, the main unit 210 includes at least a drive motor and a propeller. The drive motor is used to drive the propeller to rotate to achieve propulsion of the movable device 10 (shown in FIG1 ).

[0046] Typically, after a user issues a tilting instruction, the tilting device 220 can tilt based on the tilting instruction. Since the tilting process of the tilting device 220 usually takes a period of time, during which time the user may want to know the tilting status of the tilting device 220 in real time, for example, the current tilting angle of the tilting device 220, the tilting speed, the proportion of the completed tilting process in the entire tilting process, etc.

[0047] In the related art, if a user wants to understand the real-time tilting status of the water propeller 200, the user needs to move near the water propeller 200 and observe the tilting status of the water propeller 200 in person. This method is relatively cumbersome and inconvenient. For example, if the water propeller 200 is installed at the stern of a ship, if the user issues a tilting command through a button in the cabin, if the user wants to understand the real-time tilting status of the water propeller 200, the user needs to walk to the stern where the water propeller 200 is installed to observe it in person, which is very cumbersome. If the user is inside the cabin, it is impossible to intuitively perceive the real-time tilting status of the water propeller 200.

[0048] Based on this, an embodiment of the present application provides a control method. Referring to FIG. 3 , considering that a display device 300 is typically provided in a mobile device 10, the display device 300 is typically used in conjunction with a water propeller 200 to display some operating parameters of the water propeller 200. Therefore, in an embodiment of the present application, the real-time tilting angle of the water propeller 200 can be detected in real time during the tilting process of the water propeller 200, and then fed back to the display device 300. The display device 300 generates an animation based on the real-time tilting angle of the water propeller 200 to display the real-time tilting state of the water propeller 200, and the animation is displayed on the display device 300. Since the display device 300 has the function of displaying the real-time tilting state of the tilting device 220 of the water propeller 200, on this basis, the tilting control function of the tilting device 220 can be further integrated into the display device 300. This can avoid safety issues such as tilting stalls and collisions caused by the user being unable to know the tilting state of the tilting device 220 and directly controlling the tilting on the display device 300, thereby improving the safety of the tilting control. Furthermore, the user can intuitively perceive the real-time tilting status of the water propeller 200 through the animation displayed on the display device 300, and can also directly control the tilting through the display device 300 without having to move near the water propeller 200, which is highly convenient and improves the user experience. As shown in Figure 3, the water movable device 10 includes a movable body 100 and a water propeller 200. The movable device 10 also includes a display device 300. The display device 300 can be a device with display functions such as a display screen, and the display device 300 can be set in the movable body 100. For example, taking the water movable device 10 as a ship as an example, the display device 300 can be a display screen set in the cabin.

[0049] The display device 300 and the water thruster 200 can be connected to each other via wired or wireless communication. For example, FIG4 is a schematic diagram of a method for connecting the display device 300 and the water thruster 200 to each other. The water thruster 200 includes an electronic control unit (ECU) in the central control system. The display device 300 and the ECU communicate via a group C CAN (Controller Area Network), and the tilting device 220 and the ECU communicate via a group A CAN.

[0050] The control method provided in the embodiment of the present application can be implemented by the display device 300 described above. As shown in FIG5 , the control method may include the following steps:

[0051] S502: Receive user input to generate a tilting instruction, where the tilting instruction carries a target tilting angle;

[0052] In step S502, the user's input may be received to generate a tilting instruction, wherein the tilting instruction carries a target tilting angle, wherein the target tilting angle is the tilting angle that the user expects the tilting device 220 to achieve. The user's input may refer to the user's voice input or action input. For example, the display device 300 may be integrated with a sound collector, which may collect the user's voice information, and the user may issue a tilting instruction through voice; or, the display device 300 may be integrated with an image collector, which may collect the user's actions, and the user may issue an instruction through gestures, or; the display device 300 may have a touch button or touch interface for setting the tilting angle, and the user may also operate the touch button or touch interface through the display device 300 to issue a tilting instruction. There are many ways for the user to issue a tilting instruction, which are not limited in the embodiments of the present application.

[0053] S504, sending the tilting instruction to the tilting device 220, so that the tilting device 220 tilts to a target tilting angle;

[0054] In step S504, after generating a tilting instruction based on the user's input, the tilting instruction can be sent to the tilting device 220, so that the tilting device 220 tilts to the target tilting angle based on the tilting instruction. The display device 300 can be connected to the water propeller 200 via a wired or wireless communication method, and then send the generated tilting instruction to the water propeller 200. For example, as shown in Figure 4, the water propeller 200 may include an ECU, which can be connected to the tilting device 220 and the display device 300 respectively. The display device 300 can send the tilting instruction to the ECU, which parses the tilting instruction and controls the tilting device 220 to tilt to the target tilting angle. In other embodiments, the tilting device 220 includes a processing circuit. After parsing the tilting instruction, the ECU can send the parsed instruction to the processing circuit, and the processing circuit controls the tilting device 220 to tilt to the target tilting angle based on the parsed instruction.

[0055] S506, receiving the real-time tilting angle fed back by the tilting device 220 during the process of tilting to the target tilting angle;

[0056] In step S506, while the tilting device 220 is tilting to the target tilting angle, the water propeller 200 can detect the current real-time tilting angle of the tilting device 220 in real time and feed the real-time tilting angle back to the display device 300. For example, the water propeller 200 can include an angle sensor, through which the current real-time tilting angle of the tilting device 220 is detected in real time, or the water propeller 200 can also detect the current real-time tilting angle and feed it back in other ways, such as converting the real-time tilting angle by the Hall signal output by the motor 2230 shown in FIG2 , etc., and the present embodiment is not limited thereto.

[0057] S508: An animation showing the real-time tilting state of the water thruster 200 based on the real-time tilting angle.

[0058] In step S508, after receiving the real-time tilting angle fed back by the water propeller 200, the display device 300 can generate an animation for displaying the real-time tilting state of the water propeller 200 based on the real-time tilting angle, and display the animation. The animation can be any form of animation, which can dynamically display the tilting process of the water propeller 200, so that the user can understand the current real-time tilting state of the water propeller 200 based on the animation. For example, the animation can include a virtual water propeller, through which the actual tilting process of the real water propeller 200 is demonstrated, or the animation can also be a progress bar, through which the current progress of the tilting process is reflected. Of course, the form of the animation can be set based on actual needs, and the embodiments of the present application are not limited.

[0059] In the related art, the display device 300 can usually only display the tilt angle of the water propeller 200, but the user cannot adjust the tilt angle of the water propeller 200 through the display device 300, which is inconvenient. In order to facilitate the user to adjust the tilt angle of the water propeller 200, in some embodiments, the display device 300 can integrate the tilt angle adjustment function. For example, the display interface of the display device 300 can display a tilt angle setting component. The user can set the target tilt angle by interacting with the tilt angle setting component and issue a tilt instruction through the display device 300.

[0060] In some embodiments, in order to make the setting of the tilting angle more convenient, the tilting angle setting component may include an angle gear adjustment component. The interactive operation may be a click operation by the user in the angle gear adjustment component, and the tilting angle corresponding to the user's click position is the target tilting angle. The angle gear adjustment component can display the adjustable range of the tilting angle of the tilting device 220 so that the user can set the target tilting angle within the adjustable range. For example, the angle gear adjustment component can use a bar-shaped or arc-shaped graphic to represent the adjustable range of the tilting angle of the tilting device 220. Different positions of the graphic represent different tilting angles. The user can set the target tilting angle through interactive operations within the graphic.

[0061] For example, as shown in Figures 6(a)-6(c), different styles of angle gear adjustment components are shown. Assuming that the adjustable range of the tilting angle is -4°-60°, as shown in Figure 6(a), the angle gear adjustment component may include a bar-shaped graphic, and a portion of the length of the graphic can represent the adjustable range of the tilting angle; as shown in Figure 6(b), the angle gear adjustment component may include a bar-shaped graphic, and a portion of the height of the graphic can represent the adjustable range of the tilting angle; as shown in Figure 6(c), the angle gear adjustment component may also include an arc-shaped graphic, and a portion of the angle of the arc can represent the adjustable range of the tilting angle. The user can click on a certain position in the above-mentioned graphic to set the target tilting angle to the tilting angle corresponding to the clicked position. In some scenarios, the entire length, height, or angle of the graphic can be used to represent the full angle range, consisting of the lower and upper limit tilt angles that the tilting device 220 can achieve. The adjustable range can be the angle range within which the tilting device 220 can freely adjust, for example, performing any upward or downward tilt adjustment. The angle range outside the freely adjustable angle range is the restricted adjustment angle range. For example, if the tilting device 220 has a lower limit tilt angle of -4° and an upper limit tilt angle of 70°, the full angle range is from -4° to 70°. Within the angle range of -4° to 60°, the target tilt angle can be freely set. However, within the angle range of 60° to 70°, the tilting device 220 may be in a restricted state. At this point, the target tilt angle of the tilting device 220 can no longer be freely set, that is, the upward or downward tilt adjustment can no longer be performed, and the tilt adjustment action corresponding to exiting the restricted state can be performed. Therefore, this angle range is the angle range of limited adjustment.

[0062] In some embodiments, in order to facilitate users to understand the tilting angles corresponding to various positions of the angle gear adjustment component, the angle gear adjustment component can be marked with a tilting angle scale to facilitate users to know the tilting angle corresponding to the current position through the scale and then click to set it.

[0063] In some embodiments, considering the limited size of the angle gear adjustment component, if the identification scale may not be beautiful enough, the angle gear adjustment component may not carry a scale. In this case, in order to facilitate the user to understand the angle corresponding to the currently clicked position, the control method also includes: in response to the user's click operation in the angle gear adjustment component, displaying the tilt angle corresponding to the user's click position. After detecting the user's click operation in the angle gear adjustment component, the display device 300 can display the tilt angle corresponding to the user's click position, so that the user can adjust the click position based on the displayed tilt angle. For example, as shown in Figure 7, it is a schematic diagram of the tilt angle setting interface of an embodiment of the present application. When the user clicks on a certain position in the gear adjustment component, the tilt angle corresponding to the position can be displayed. In addition, the current tilt angle of the water propeller 200, for example, 55°, can also be displayed in the interface.

[0064] In some embodiments, the tilt angle setting component includes an angle range adjustment component, which may include a range element and a range adjustment element. The interactive operation includes a user dragging the range adjustment element within the range element. When the user releases the range adjustment element, the tilt angle corresponding to the current position of the range adjustment element becomes the target tilt angle. The range element can be used to display the adjustable range of the tilt angle of the tilt device 220. For example, the range element can be represented by a bar or arc-shaped graphic, with different positions of the graphic representing different tilt angles. The range adjustment element can be an element that can be moved within the range element to indicate the tilt angle. The range adjustment element can also be represented by various icons, such as a slider, a line, etc. To set the tilt angle, the user can directly drag the range adjustment element within the range element. When the user releases the range adjustment element, the tilt angle corresponding to the current position of the range adjustment element becomes the target tilt angle that the user wants to set. This dragging method makes setting the warping angle more convenient and quick.

[0065] As shown in Figure 8, it is an interface diagram for setting the tilting angle of an embodiment, wherein the gear range element in the angle gear adjustment component can be a bar-shaped graphic, and the height of a part of the graphic represents the adjustable range of the tilting angle of the tilting device 220 (for example, -4°-60°), and the gear adjustment element can be an adjustment slider located in the bar-shaped graphic. The user can drag the adjustment slider up and down in the bar-shaped graphic to set the target tilting angle.

[0066] In some embodiments, when the user drags the gear adjustment element to move within the gear interval element, in order to facilitate the user to know the current position of the gear adjustment element, the angle gear adjustment component may further include a first identification element. The control method further includes: in response to the user dragging the gear adjustment element to move within the gear interval element, displaying the first identification element that identifies the current position of the gear adjustment element in real time. When the user drags the gear adjustment element to move within the gear interval element, the first identification element that identifies the current position of the gear adjustment element may be displayed in real time. The first identification element may be represented by various icons such as a line, as long as it can identify the current position of the gear adjustment element. For example, as shown in FIG9 , when the user drags the gear adjustment element to move within the gear interval element, the current position of the gear adjustment element may be displayed by the first identification element.

[0067] In some embodiments, in order to facilitate the user to understand the current tilting angle of the tilting device 220, that is, the tilting angle corresponding to the position of the gear adjustment component before the user drags the gear adjustment component. The angle gear adjustment component may also include a second identification element. The control method also includes: displaying a second identification element that identifies the position of the gear adjustment component before the user drags the gear adjustment component. The second identification element can also be represented by various icons such as lines. For example, as shown in Figure 9, the current tilting angle of the water propeller 200 is 55°, that is, before the user drags the gear adjustment component, the gear adjustment component is at a position corresponding to 55°, and thus the position can be identified by the second identification element.

[0068] In some embodiments, when the user releases the gear adjustment element, the angle corresponding to the position of the gear adjustment element at that time is the target tilting angle. To facilitate the user's understanding of the currently set tilting angle, the control method further includes: upon detecting that the user has released the gear adjustment element, the tilting angle corresponding to the current position of the gear adjustment element can be displayed. For example, as shown in Figure 9, when the user drags the gear adjustment element to the 36° position, i.e., releases the gear adjustment element, the angle (36°) corresponding to the current position of the gear adjustment element can be displayed nearby.

[0069] In some embodiments, when a user drags the gear adjustment element to move within a gear interval element, in order to facilitate the user to intuitively understand whether the tilt angle corresponding to the current position of the gear adjustment element is the angle they want to set, the control method further includes: after detecting the user's operation of dragging the gear adjustment element to move within the gear interval element, the tilt angle corresponding to the current position of the gear adjustment element can be displayed in real time. For example, as shown in Figure 10, when the user drags the gear adjustment element to move within the gear interval element, the tilt angle corresponding to the gear adjustment element continuously changes. Therefore, the tilt angle corresponding to the current gear adjustment element can be displayed in real time through a tilt angle display window. At the same time, the tilt angle corresponding to the current position can also be displayed next to the first identification element that identifies the current position of the gear adjustment element.

[0070] In some embodiments, in order to allow the user to intuitively understand the difference between the current pitch angle of the water propeller 200 and the set target pitch angle, the angle gear adjustment component also includes a third identification element for identifying the current pitch angle of the water propeller 200 within the gear interval element, and a fourth identification element for identifying the target pitch angle. The third identification element is consistent with the second identification element, and both are used to identify the position corresponding to the current pitch angle in the gear interval element. When the user drags the gear adjustment element to move within the gear interval element, when the user releases the gear adjustment element, the first identification element becomes the fourth identification element. The animation that displays the real-time pitch state of the water propeller 200 based on the real-time pitch angle includes: the third identification element can be controlled to move toward the fourth identification element based on the real-time pitch angle. When the third identification element moves toward the fourth identification element, the pitch angle corresponding to the current position of the third identification element is the same as the real-time pitch angle of the water propeller 200. By controlling the movement of the third indicator element indicating the current pitch angle toward the fourth indicator element indicating the target pitch angle, the real-time pitching status of the water propeller 200 can be dynamically and intuitively displayed, allowing the user to perceive the real-time pitching status. For example, through the above animation, the user can intuitively understand the current real-time pitching angle, the proportion of the currently completed pitching process in the entire pitching process, the distance from the target pitching angle, and so on.

[0071] For example, as shown in FIG11( a ), during the process of the water propeller 200 tilting, the identification line indicating the current tilting angle will automatically move toward the identification line indicating the target tilting angle until it moves to the position of the target tilting angle, and the two identification lines will overlap into one identification line.

[0072] In some embodiments, considering that the angle identification element in the angle adjustment component will move during the stage when the user sets the target tilting angle and the stage when the water propeller 200 performs the tilting action. In order to better distinguish between the two stages, in some embodiments, the control method also includes: in the process of the user dragging the gear adjustment element to move within the gear interval element to set the target tilting angle, controlling the gear interval element to present a first color. The step of displaying the real-time tilting animation of the water propeller 200 based on the real-time tilting angle may include: in the process of the tilting device 220 tilting to the target tilting angle, controlling the gear interval element to present a second color, wherein the first color is different from the second color. By setting the gear interval element to different colors, it can intuitively help the user distinguish whether it is currently in the stage of setting the target tilting angle or the stage when the water propeller 200 performs the tilting action. When controlling a gear interval element to present a first color or a second color, the entire or partial area of ​​the gear interval element can be controlled to present the first color or the second color. For example, the area between the current tilting angle and the target tilting angle in the gear interval element can be controlled to present the first color or the second color, or the entire area of ​​the gear interval element can be controlled to present the first color or the second color. As shown in Figure 11(b), the left figure is a schematic diagram of the tilting angle setting stage, and the right figure is a schematic diagram of the tilting stage. In the two stages, the area between the current tilting angle and the target tilting angle in the gear interval element can be controlled to present different colors (wherein different grayscales in the figures represent different colors).

[0073] In some embodiments, the tilt angle setting component includes an angle editing component, the interactive operation includes a user performing an angle editing operation in the angle editing component, and the target tilt angle is set based on the user's angle editing operation. For example, the angle editing component can be an angle input box, and the user can directly enter the target tilt angle in the angle input box.

[0074] In some embodiments, the tilt angle setting component includes an angle selection component, and the interactive operation includes the user selecting a preset angle through the angle selection component, and the target tilt angle is set based on the user's angle selection operation. For example, the angle selection component may include a drop-down menu. When the user clicks the angle selection component, different tilt angles may be displayed in the drop-down menu, and the user may select the target tilt angle they want to set, thereby eliminating the need for the user to input the angle, which is more convenient. Alternatively, the angle selection component may also include a "+" and a "-" button. The user may click the above two buttons to increase or decrease the tilt angle in sequence based on the existing tilt angle until the target tilt angle the user wants to set is reached.

[0075] In some embodiments, for the case where the tilt angle setting component includes an angle editing component or an angle selection component, or the case where the tilt angle setting component includes a gear adjustment component, and the user sets the target tilt angle by clicking the gear adjustment component, the tilt angle setting component also includes a gear interval element. After the user sets the target tilt angle through the above-mentioned angle editing component or angle selection component, the control method also includes: displaying an identifier corresponding to the target tilt angle set by the user in the gear interval element to identify the target tilt angle in the gear interval element.

[0076] Similarly, in some embodiments, for the case where the pitch angle setting component includes an angle editing component or an angle selection component, or the case where the pitch angle setting component includes a gear adjustment component and the user sets the target pitch angle by clicking the gear adjustment component, the pitch angle setting component also includes a third identification element for identifying the current pitch angle of the water propeller 200 within the gear interval element, and a fourth identification element for identifying the target pitch angle. The step of displaying an animation of the real-time pitch state of the water propeller 200 based on the real-time pitch angle may include: the third identification element can be controlled to move toward the fourth identification element based on the real-time pitch angle. In this way, the real-time pitch state of the water propeller 200 can be displayed dynamically and intuitively so that the user can perceive the real-time pitch state.

[0077] Generally speaking, a plurality of water propellers 200 can be installed in each water movable device 10, and these multiple water propellers 200 work together to provide power for the water movable device 10. In the related art, for the scenario where the water movable device 10 includes multiple water propellers 200, when controlling the tilting of the water propeller 200, each water propeller 200 can only be controlled individually. For example, each water propeller 200 includes a tilting button, and the user needs to touch the tilting button of each water propeller 200 in turn to control the tilting of each water propeller 200. This control method is less efficient. In order to facilitate the control of multiple water propellers 200, some or all of the multiple water propellers 200 can be set to a linkage mode, and the multiple water propellers 200 in the linkage mode can be controlled synchronously. For example, in some embodiments, if there are multiple water thrusters 200, the multiple water thrusters 200 can be divided into one or more groups, and the multiple water thrusters 200 in the same group can be in linkage mode. When the multiple water thrusters 200 in the same group are in linkage mode, the tilting instruction can act on all water thrusters 200 in the group, thereby achieving synchronous control of multiple water thrusters 200 and improving control efficiency.

[0078] For example, assuming that the movable water device 10 includes four water thrusters 200, if the target pitching angles to be set for these four water thrusters 200 are the same, both 50°, then these four water thrusters 200 can be set to a linkage mode to control the four water thrusters 200 to be tilted synchronously to 50°. If the target pitching angles of water thrusters 200 No. 1 and No. 2 of these four water thrusters 200 are the same, both 50°; the target pitching angles of water thrusters 200 No. 3 and No. 4 are the same, both 40°, then water thrusters 200 No. 1 and No. 2 can be divided into a group and set to a linkage mode to control the two water thrusters 200 to be tilted synchronously to 50°, and then water thrusters 200 No. 3 and No. 4 can be divided into a group and set to a linkage mode to control the two water thrusters 200 to be tilted synchronously to 40°.

[0079] In some embodiments, if the movable water device 10 includes multiple water propellers 200, in order to facilitate the setting of the pitch angles of the multiple water propellers 200, each water propeller 200 may correspond to a pitch angle setting component. The control method also includes: for multiple water propellers 200 in the same group, if the multiple water propellers 200 in the group are in linkage mode, the target pitch angles of all water propellers 200 in the group can be set at the same time based on the user's interaction with the pitch angle setting component of any water propeller 200 in the group. That is, for multiple water propellers 200 in linkage mode, the user only needs to use the pitch angle setting component of one of the water propellers to simultaneously set the target pitch angles of the multiple water propellers 200, which can improve the efficiency of the user in setting the pitch angle. For example, as shown in Figure 12, the two water propellers 200 in the figure are in linkage mode. At this time, the current tilting angles of the two water propellers 200 are both 55°. The user can drag the gear adjustment element in the angle gear adjustment component of one of the water propellers 200 to move within the corresponding gear interval element to move to the position corresponding to the target tilting angle of 36°. While the user is dragging the gear adjustment element of one of the water propellers 200 to move within the gear interval element, the gear adjustment element of the other water propeller 200 will also move synchronously within the gear interval element to the position corresponding to the target tilting angle of 36°. That is, the user completes the setting of the target tilting angles of the two water propellers 200 through one interactive operation. Of course, for scenarios with a larger number of water propellers 200 in linkage mode, the same method can also be used to set the target tilting angle.

[0080] Taking into account the multiple water propellers 200 in the linkage mode, since it is necessary to synchronously set the target pitching angles of the multiple water propellers 200 and synchronously control the pitching of the multiple water propellers 200, before performing synchronous angle setting and synchronous pitching control on the multiple water propellers 200, their current pitching angles can be aligned to make their current pitching angles consistent, so as to facilitate subsequent synchronous angle setting and synchronous pitching control. Therefore, in some embodiments, based on the interaction between the user and the pitching angle setting component of any water propeller 200 in the group, before simultaneously setting the target pitching angles of all water propellers 200 in the group, the control method further includes: if it is determined that the current pitching angles of any two water propellers 200 in the group are inconsistent, a pitching alignment instruction is sent to the pitching devices 220 of all water propellers 200 in the group, so that the current pitching angles of all water propellers 200 in the group are adjusted to the same angle.

[0081] When aligning the pitch angles of multiple water thrusters 200 in linkage mode, a reference angle can be determined, and then the pitch angles of the multiple water thrusters 200 in linkage mode are adjusted to the reference angle. The reference angle can be the current pitch angle of one of the multiple water thrusters 200, that is, the user only needs to adjust the pitch angles of the remaining water thrusters 200 to the current pitch angle. Alternatively, the reference angle can also be an angle determined based on the current pitch angles of the multiple water thrusters 200, such as an average angle, so that the efficiency of adjusting the multiple water thrusters 200 to the reference angle is the highest. Alternatively, in some scenarios, the reference angle can also be a default angle, such as 0°.

[0082] In some embodiments, the user can align the current tilt angles of the multiple water thrusters 200 through the tilt angle setting component of the water thrusters 200. For example, the step of sending a tilt alignment instruction to the tilting devices 220 of all water thrusters 200 in the group includes: based on the user's interactive operation with the tilt angle setting component of at least one water thruster 200 in the group, the base angle of all water thrusters 200 in the group can be determined, and then a tilt alignment instruction is sent to the tilting devices 220 of at least some of the water thrusters 200 in the group so that the tilting devices 220 of all water thrusters 200 in the group are tilted to the base angle, wherein the current tilt angle of at least some of the water thrusters 200 is different from the base angle.

[0083] For example, assuming that the No. 1 water thruster 200, the No. 2 water thruster 200, the No. 3 water thruster 200, and the No. 4 water thruster 200 are in linkage mode, and their current tilting angles are 10°, 15°, 20°, and 25°, respectively. Assuming that the current tilting angle of the No. 1 water thruster 200 is used as the reference angle, the user can interact with the tilting angle setting components of the No. 2 water thruster 200, the No. 3 water thruster 200, and the No. 4 water thruster 200 (for example, drag the gear adjustment element to move within the gear interval element), set their respective tilting angles to 10°, and send tilting instructions to the No. 2 water thruster 200, the No. 3 water thruster 200, and the No. 4 water thruster 200 respectively to control these water thrusters 200 to tilt to 10°, thereby aligning the current tilting angles of the four. After alignment, the user can simultaneously set the target tilting angles of the four water thrusters 200 and synchronously control the four water thrusters 200 to tilt to the target tilting angles.

[0084] In some embodiments, when aligning the current tilting angles of multiple water propellers 200 in linkage mode, considering that the user needs to adjust the tilting angles of multiple water propellers 200 in turn and adjust them to the reference angle, the process is cumbersome and inefficient. In order to improve the efficiency of the alignment operation, the display device 300 can also display a one-key alignment component, and the step of sending a tilting alignment instruction to the water propellers 200 in the group includes: in response to the user clicking the one-key alignment component, sending a tilting alignment instruction carrying a reference angle to the tilting devices 220 of at least some of the water propellers 200 in the group, wherein the current tilting angle of at least some of the water propellers 200 is different from the reference angle, and by adjusting the tilting angle of the water propellers 200 whose current tilting angle is different from the reference angle to the reference angle, the tilting devices 220 of all water propellers 200 in the group can be tilted to the reference angle.

[0085] For example, the tilting angle corresponding to the one-key alignment component can be a default angle, such as 0°, or the tilting angle corresponding to the one-key alignment component can also be pre-entered by the user. Taking the alignment angle of 0° as an example, after the user clicks on the one-key alignment component, the display device 300 can determine which of the multiple water thrusters 200 in the linkage mode have a current tilting angle that is not 0°, and then send a tilting instruction to these water thrusters 200 to control these water thrusters 200 to tilt to 0°. Alternatively, after the user clicks on the one-key alignment component, the display device 300 can send a tilting instruction to all the multiple water thrusters 200 in the linkage mode, and when any of the multiple water thrusters 200 finds that its current tilting angle is not 0°, it executes a tilting action to tilt to 0°.

[0086] In some embodiments, the tilt angle setting component includes an angle gear adjustment component, which includes a gear range element and a gear adjustment element. The control method includes: for multiple water propellers 200 in the same group, when the user drags the gear adjustment element of one of the water propellers 200 to move within the gear range element of the one of the water propellers 200, if it is detected that the tilt angle corresponding to the current position of the gear adjustment element deviates from the current tilt angle of any other water propeller 200 in the group by less than a preset deviation, then an alignment mark is displayed between the gear range element of the one of the water propellers 200 and the gear range element of any other water propeller 200. Taking into account the multiple water thrusters 200 in linkage mode, users usually need to align their current pitch angles. Therefore, for any of the water thrusters 200, when the user drags its gear adjustment element to move within the gear interval element to set the pitch angle, if it is found that the pitch angle corresponding to the gear adjustment element is close to the current pitch angle of other water thrusters 200 (i.e., less than the preset deviation), the alignment mark can be automatically displayed. The alignment mark can be an auxiliary line, etc., so that the user can adjust the position of the gear adjustment element based on the alignment mark. Among them, the preset deviation can be set based on actual needs, for example, it can be 3°, 5°, etc.

[0087] In some embodiments, when it is detected that the pitch angle corresponding to the gear adjustment element dragged by the user is close to the current pitch angle of the other water propeller 200, in addition to displaying an alignment mark between the gear interval elements of the two water propellers 200, the gear adjustment element dragged by the user can also be automatically adjusted to the position corresponding to the current pitch angle of the other water propeller 200 within the gear interval element, so that the current pitch angles of the two water propellers 200 are aligned. In other words, the automatic alignment function can be implemented, eliminating the need for the user to continue dragging, which is more convenient and quick.

[0088] For example, as shown in Figure 13, the two water thrusters 200 in the figure are in linkage mode, wherein the current tilting angle of the water thruster 200 on the left is 36°, and the current tilting angle of the water thruster 200 on the right is 55°. Before the two water thrusters 200 are synchronously controlled, the current tilting angles of the two can be aligned first. For example, the user can manually drag the gear adjustment element of the water thruster 200 on the left to move within the gear interval element to move to the 55° position. When it is detected that the gear adjustment element is at a position close to 55 degrees (for example, 50°), at this time, an auxiliary line can be displayed at the 55° position of the two gear interval elements to facilitate the user to adjust the position of the gear adjustment element based on the auxiliary line. Alternatively, the gear adjustment element can be automatically moved to the 55° position without the user having to continue dragging. In this way, the adjustment of the tilting angle is more convenient.

[0089] For multiple water propellers 200 in linkage mode, since their current pitching angles need to be aligned first, that is, before linkage control, their current pitching angles are usually consistent. In order to allow users to visually perceive that they are in linkage mode more intuitively and also facilitate users to intuitively perceive that the current pitching angles of these water propellers 200 are consistent, these water propellers 200 can be associated through some visual identifiers to reflect that they are in a linkage state. For example, in some embodiments, each water propeller 200 corresponds to a pitching angle setting component, and the pitching angle setting component includes a gear interval element and a third identification element for identifying the current pitching angle of the water propeller 200 in the gear interval element. The step of displaying the animation of the real-time pitching state of the water propeller 200 based on the real-time pitching angle includes: if it is detected that all water propellers 200 in the same group are in linkage mode, displaying the association identifier between the multiple third identification elements corresponding to all water propellers 200 in the group. For example, the third identification element is used to identify the current tilting angle of the water propeller 200. Alignment marks such as alignment lines and connecting lines can be displayed between the third identification elements, so that the user can intuitively perceive that these water propellers 200 are in a linked state and the current tilting angles are consistent.

[0090] For example, as shown in Figure 14, the four water thrusters 200 in the figure are in linkage mode, and the current tilting angles are all 55°. Therefore, an association mark (such as the lines in the figure) can be displayed between the identification lines used to identify the current tilting angles in the gear range elements of the two water thrusters 200. These water thrusters 200 can be associated with each other through the association mark. Therefore, based on the association mark, the user can intuitively know that these water thrusters 200 are currently in a linkage state.

[0091] In some embodiments, in order to facilitate the user to turn on the linkage mode, the display device 300 can display the linkage mode activation component, and the control method includes: when it is detected that the user touches the linkage mode activation component, the linkage mode can be turned on. Of course, before turning on the linkage mode, the user can first group the water thrusters 200. For example, the user can check the multiple water thrusters 200 that need to be controlled in linkage in the display interface of the display device 300. After completing the check, touch the linkage mode activation component to set the selected multiple water thrusters 200 to the linkage mode. As shown in Figure 14, a linkage mode activation component with a "linkage" logo can be displayed in the display interface. The component includes a selection box. After the user selects the selection box, the linkage mode can be turned on. If the user does not select the selection box, it is in a separate control mode.

[0092] Of course, in actual application scenarios, users can also turn on the linkage mode through other control components other than the display device 300. For example, for some existing physical buttons, the function of turning on the linkage mode can also be integrated for them at the same time. In order to distinguish it from its existing functions, different control instructions can be issued by changing the touch duration or touch method of these physical buttons. For example, each water propeller 200 includes a tilting button. When the user touches the tilting button, the water propeller 200 can be controlled to tilt. In order to facilitate the activation of the linkage mode, the linkage mode activation function can also be integrated into the tilting button. When the user touches the tilting button for a short time, the water propeller 200 can be controlled to tilt. When the user presses the tilting button for more than the preset time, the linkage mode is activated.

[0093] In some embodiments, for two water thrusters 200 in separate control mode (i.e., not in linkage mode), the user can also simultaneously drag the gear adjustment components of the two water thrusters 200 to move within their respective gear interval elements to simultaneously set the tilting angles of the two water thrusters 200. For example, the user can use his left hand to drag the gear adjustment component of one of the water thrusters 200 to move within its gear interval element and drag the gear adjustment component to a 36° position. At the same time, the user can use his right hand to drag the gear adjustment component of the other water thruster 200 to move within its gear interval element and drag the gear adjustment component to a 40° position. That is, for separate control scenarios, the tilting angles of different water thrusters 200 can also be set simultaneously to improve control efficiency.

[0094] For safety reasons, when the operating parameters of the water area propeller 200 are different, the adjustable range of its tilting angle is also inconsistent. For example, when the power of the water area propeller 200 is relatively large, for example, greater than 20KW, at this time, the tilting angle of the water area propeller 200 is usually not too large (for example, not more than 12°). If the tilting angle is too large, safety accidents such as capsizing are likely to occur. Alternatively, when the speed of the water area propeller 200 is too large, its tilting angle cannot be set too large. In order to ensure the safety of the water area propeller 200 during operation, the control method also includes: detecting the operating parameters of the water area propeller 200, and adjusting the setting authority of the tilting angle setting component according to the operating parameters. For example, the range of the tilting angle that can be set by the tilting angle setting component is adjusted to prevent the user from setting the tilting angle too large or too small, resulting in a safety hazard to the water area propeller 200.

[0095] Among them, the operating parameters can be the power and speed of the water propeller 200. The power of the water propeller 200 can be calculated based on the throttle size, and the speed of the water propeller 200 can be calculated based on the position data collected by the GPS positioning device.

[0096] In some embodiments, when the operating parameters of the water propeller 200 do not exceed a preset threshold, the pitch angle range that can be set by the pitch angle setting component is limited to a first preset angle range. When the operating parameters exceed the preset threshold, the pitch angle range that can be set by the pitch angle setting component is limited to a second preset angle range, wherein the maximum value of the second preset angle range is less than the maximum value of the first preset angle range. Among them, the preset threshold, the first preset angle range, and the second preset angle range can all be flexibly set based on the performance of the water propeller 200. Taking the operating parameter power as an example, when the power is greater than 20KW, the pitch angle of the water propeller 200 usually cannot exceed 12°. Therefore, the second preset angle range can be set to -4° to 12°. When the power is less than 20KW, the pitch angle of the water propeller 200 can be freely adjusted within -4° to 60°. Therefore, the first preset angle range can be set to -4° to 60°.

[0097] Among them, the determination of whether the operating parameters of the water thruster 200 exceed the preset threshold can be completed by the water thruster 200, and then the determination result can be sent to the display device 300, or the display device 300 can obtain the operating parameters from the water thruster 200 and then complete the above-mentioned determination process.

[0098] By setting an angle gear adjustment component in the display device 300, the angle gear adjustment component includes a gear interval element and a gear adjustment element that can be moved within the gear interval element to adjust the tilting angle, so that the user can set the target tilting angle by dragging the gear adjustment element to move within the gear interval element, which provides great convenience for the user to set the tilting angle. However, this way of setting the tilting angle also has some problems. For example, the tilting device 220 of the water propeller 200 usually has a limit angle (for example, 60°). After exceeding the limit angle, the tilting device 220 will be mechanically limited. When the tilting angle is equal to or greater than the limit angle, the water propeller 200 is in a limited state. When the mechanical limit is released, the tilting angle of the water propeller 200 will usually increase by a certain angle first, and then gradually become smaller after the mechanical limit is released. For example, assuming that the water thruster 200 is currently in a limited state, that is, the current tilting angle is 60°, if the user issues a tilting instruction, the target tilting angle of the tilting instruction is 50°, at this time, the tilting angle of the water thruster 200 will usually increase first, for example, increase to 65°, so that the mechanical limit can be released, and then gradually decrease to 50°.

[0099] Since there are many control components that can control the tilting of the water propeller 200, such as the display device 300, the tilt button on the water propeller 200, and the tilt button on the remote control box, these control components can all issue a tilting command to the tilting device 220 and release the restricted state. In scenarios where the user issues a tilting command to release the restricted state using a control component such as the tilt button on the water propeller 200 or the tilt button on the remote control box, even if the tilting angle needs to be increased and then decreased, it takes a certain amount of time to release the restricted state, which is not obvious to the user. However, in scenarios where the user issues a tilting command to release the restricted state by dragging the gear adjustment element on the display device 300, because the display device 300 displays a real-time animation of the current tilting state during the tilting process, the user can perceive that the tilting angle does not change directly to the user-set angle, but instead increases and then decreases. In addition, the gear adjustment unit does not move directly to the target tilting angle. This clearly does not meet the functional requirements of the product and is not intuitive to the user.

[0100] In addition, in the scenario where the water thruster 200 is in a limited state, if the limited state can be released by directly dragging the gear adjustment element, it is also easy for the user to accidentally touch the gear adjustment element in the display device 300, causing the limited state to be released, which will bring certain safety hazards.

[0101] In order to avoid the above problems, when it is detected that the water propeller 200 is in a limited state, the gear adjustment element can be controlled to be in a locked state, that is, the user cannot drag the gear adjustment element to move to set the tilt angle. Therefore, in some embodiments, if the tilt angle setting component includes an angle gear adjustment component, and the angle gear adjustment component includes a gear interval element and a gear adjustment element that can be moved within the gear interval element to adjust the tilt angle, then the operating parameter can be the current tilt angle of the water propeller 200. The step of adjusting the setting authority of the tilt angle setting component based on the operating parameter includes: detecting the current tilt angle in real time, and determining whether the water propeller 200 is in a limited state based on the current tilt angle, and if so, controlling the gear adjustment element to be in a locked state. When the gear adjustment element is in a locked state, the user cannot drag the gear adjustment element to move within the gear interval element.

[0102] In some embodiments, when the gear adjustment element is in a locked state, the gear adjustment element cannot be used to set the tilting angle, but the gear adjustment element can move within the gear interval element based on the real-time tilting angle of the tilting device 220 to dynamically display the real-time tilting state of the tilting device 220.

[0103] In some embodiments, in order to allow users to more intuitively understand whether the gear adjustment element is in a locked state, the gear adjustment element can be set to different colors to distinguish between the locked state and the unlocked state. For example, when the gear adjustment element is in an unlocked state, it can be set to blue, and when it is in a locked state, it can be set to gray. Alternatively, a lock mark can be added to help users intuitively understand whether the gear adjustment element is in a locked state. For example, when the gear adjustment element is in a locked state, a lock mark is added at or around the gear adjustment element, and when the gear adjustment element is in a locked state, the lock mark is not displayed.

[0104] Generally, in scenarios such as when the movable device 10 in the water area is docked or stationed, it is necessary to tilt the water area thruster 200 to the limit angle so that the underwater part of the water area thruster 200 can be tilted out of the water to avoid corrosion or collision due to long-term non-use. In order to facilitate the tilting control in such scenarios, in some embodiments, the tilting angle setting component may include a one-button tilting component, as shown in Figure 15 (a). The interactive operation may be an operation in which the user clicks on the one-button tilting component, wherein the target tilting angle corresponding to the one-button tilting component is the limit angle. By directly clicking on the one-button tilting component, the water area thruster 200 can be automatically controlled to tilt to the limit angle, thereby eliminating the need to continuously touch the tilting control-related components until the tilting device 220 reaches the limit state, which is more convenient and quick.

[0105] Similarly, after the user docks the movable water device 10, if the user wants to reuse the movable water device 10, the propeller part of the water propeller 200 needs to be lowered underwater again so that power can be provided to the movable water device 10. In this scenario, the user needs to adjust the tilting angle of the water propeller 200 to the release limit angle so that the tilting angle can be adjusted. In order to facilitate the user to adjust the tilting angle to the release limit angle, in some embodiments, the tilting angle setting component can also include a one-button reset component, as shown in Figure 15 (a), and the target tilting angle corresponding to the one-button reset component is the release limit angle. After the user touches the one-button reset component, the water propeller 200 can be automatically controlled to tilt to the release limit angle. By directly clicking the one-button tilting component, the water propeller 200 can be automatically controlled to tilt to the release limit angle, so there is no need to continuously touch the tilting control related components until the tilting device 220 reaches the release limit state, which is more convenient and quick.

[0106] Among them, the limit release angle can be the minimum tilting angle of the water thruster 200, for example, it can be 0°, -4°, etc. The limit release angle can also be the boundary angle between the locking section and the unlocking section of the tilting device 220, or the limit release angle can also be the boundary angle between the unlocking section and the free control section, etc., which can be flexibly set based on actual needs.

[0107] As an example, FIG15( b ) shows a schematic diagram of the structure of the clamp 2210 in the tilting device 220. The slide groove in the clamp 2210 includes a free control section 2210a, a locking section 2210b, and an unlocking section 2210c. The groove depth of the free control section 2210a is less than that of the locking section 2210b, and the groove depth of the locking section 2210b is less than that of the unlocking section 2210c. One end of the locking section 2210b is set to a stop position W1, and the other end of the locking section 2210b is connected to the unlocking section 2210c, so that the limit shaft (not shown in the figure) in the tilting device 220 is released from the stop position W1 under the action of the driving force and enters the unlocking section 2210c. When the lifting device 220 is lifted by the driving force, the limiting shaft of the lifting device 220 moves from the free control section 2210a to the locking section 2210b. Because the groove depth of the free control section 2210a is less than that of the locking section 2210b, the end of the limiting shaft moves along its axial direction toward the bottom of the chute. The end of the limiting shaft always abuts the bottom of the chute, preventing the limiting shaft from moving from the locking section 2210b to the free control section 2210a. In this way, after the driving force is removed, the lifting device 220, under the action of its gravity, causes the limiting shaft to move along the free control section 2210a to the locking position W1 and then lock. This allows the lifting device 220 to remain in the lifted state even after the load is released, that is, it is in the limited state.

[0108] At the same time, the unlocking section 2210c is connected to the higher end of the locking section 2210b. When the lifting device 220 needs to be unlocked, the lifting device 220 continues to lift under the action of a driving force, so that the limit shaft is disengaged from the stop position W1 and moved to 2210c. Since the groove depth of the locking section 2210b is smaller than the groove depth of the unlocking section 2210c, the end of the limit shaft moves toward the bottom of the slide groove along its axial direction. The end of the limit shaft always presses against the bottom of the slide groove, making it impossible for the limit shaft to move from the unlocking section 2210c to the locking section 2210b, and the limit shaft hits the bottom of the groove of the unlocking section 2210c and makes a knocking sound, thereby reminding the outside world that the unlocking action has been completed. Once unlocking is complete, the driving force is removed, and the lifting device 220, under the action of gravity, causes the limiting shaft to move from the unlocking section 2210c to the free control section 2210a. It then continues to slide down along the free control section 2210a before completing the release action, effectively releasing the limiting state. Once the limiting shaft is released, it can slide freely up and down within the free section 2210a.

[0109] Based on the embodiment shown in Figure 15(b), the limit release angle can be understood as the lift angle corresponding to the lift device 220 when the limit axis is located at the boundary between the locking section and the unlocking section; or, the limit release angle can be understood as the lift angle corresponding to the lift device 220 when the limit axis is located at the boundary between the unlocking section and the free control section.

[0110] In some embodiments, considering that after the user uses the one-button tilting component to tilt the water propeller 200 to the limit angle, the subsequent operation is likely to tilt the water propeller 200 to the release limit angle for subsequent use. Therefore, the control method also includes: after the tilting device 220 is tilted to the limit angle, the one-button tilting component can be switched to the one-button reset component. For example, as shown in Figure 15 (a), the one-button tilting component and the one-button reset component can be mutually exclusive. After the user clicks the one-button tilting component and the water propeller 200 is tilted to the limit angle, the one-button tilting component in the display interface can be switched to the one-button reset component. The display device 300 can adaptively display to the user the components that the user may need to use in the current state according to the current state of the tilting device 220, and can optimize the component configuration in the interface, making it easier for the user to identify the position of each component and facilitate the user's interaction with each component.

[0111] Of course, considering that when the power and speed of the water propeller 200 are too large, its tilting angle cannot be too large, otherwise safety accidents are likely to occur, therefore, the one-button tilting component is not always in an effective state (i.e., usable state). Therefore, in some embodiments, the control method also includes: the operating parameters of the water propeller 200 can be detected in real time, and when the operating parameters meet the preset conditions, the one-button tilting component is controlled to be in an invalid state. Among them, the preset condition can be any one of the power of the water propeller 200 being greater than the preset power and the movement speed of the water propeller 200 being greater than the preset speed.

[0112] In some embodiments, if the water thrusters 200 include multiple water thrusters 200, when the multiple water thrusters 200 are in linkage mode, in order to facilitate the synchronous adjustment of the tilting angles of the multiple water thrusters 200, the one-button tilting component can also be used to control the multiple water thrusters 200 in linkage mode to be synchronously tilted to the limit angle. Since it is necessary to ensure that the current tilting angles of the multiple water thrusters 200 are consistent when the multiple water thrusters 200 are synchronously adjusted, when it is determined that the multiple water thrusters 200 are in linkage mode, it can be further determined whether the current tilting angles of the multiple water thrusters 200 are consistent. If they are inconsistent, the one-button tilting component can be controlled to be in an invalid state, that is, at this time, the operation of synchronously tilting the multiple water thrusters 200 to the limit angle cannot be performed at the same time.

[0113] Among them, in order to facilitate users to distinguish the current status of the one-button lift component, the one-button lift component can be set to different colors when it is in an available state and an invalid state.

[0114] In some embodiments, when the one-touch tilting component is in a disabled state, the control method further includes: if it is detected that the user clicks the one-touch tilting component, a prompt message can be displayed on the display device 300 to indicate the reason why the one-touch tilting component is in a disabled state. For example, the prompt message can be that the operating parameters (speed or power) of the current water propeller 200 are too large, or the prompt message can be that the current tilting angles of multiple water propellers 200 in the linkage mode are not aligned.

[0115] In some embodiments, as shown in FIG15( a ), in response to a user clicking the one-touch reset component, after the tilting device 220 is tilted to the aforementioned release angle, considering that the user's next operation is likely to tilt the tilting device 220 to the limit angle, the one-touch reset component can be switched to the one-touch tilting component. That is, the control method can further include: after the tilting device 220 is tilted to the release angle, switching the one-touch reset component to the one-touch tilting component.

[0116] In some embodiments, considering that after the user touches the one-button reset component, the propeller and other components of the water propeller 200 need to be lifted from the water surface to underwater, there may be underwater obstacles that touch the propeller and other components, causing damage to the water propeller 200. In order to avoid the above problems, the control method also includes: when it is detected that the user touches the one-button reset component, a reset prompt message can be displayed. The prompt message can be used to remind the user that the lifting angle of the water propeller 200 is being lifted to the limit release angle, so that the user can check whether there are obstacles in the water area around the water propeller 200. As shown in Figure 16 (a), the reset prompt message can be displayed in the interface.

[0117] In some embodiments, the step of detecting the user touching the one-button reset component and displaying the reset prompt information includes: receiving the environmental information detected and sent by the water propeller 200 to be reset, generating a prompt message based on the environmental information, and displaying the prompt message. For example, a sensor (such as a binocular camera, radar, etc.) can be set on the water propeller 200, and the surrounding environmental information is collected by the sensor, and then a prompt message is generated based on the environmental information. For example, if it is detected that there is an obstacle in the water area near the water propeller 200, which may collide with the water propeller 200, then a prompt "There are obstacles around, danger!" can be displayed.

[0118] In some embodiments, the display duration of the prompt information can be determined based on the reset duration of the tilting device 220. For example, the prompt information can be displayed on the display device 300 during the entire reset process of the tilting device 220 until the reset is completed.

[0119] In some embodiments, the one-touch reset component is displayed on the tilting interface. In response to the user touching the one-touch reset component, the step of displaying a reset prompt message includes: if a user input to return to the main interface is detected during the display of the prompt message, the tilting interface can be exited and the main interface can be returned. At this time, if the tilting device 220 has not yet tilted to the release limit angle, the prompt message can continue to be displayed on the main interface until the tilting device 220 tilts to the release limit angle. By continuing to display the prompt message on the main interface after the user exits the tilting interface, the user can be continuously prompted during the reset process, thereby improving safety during the reset process.

[0120] As shown in FIG16( b ), if a user input instruction to return to the main interface is detected during the display of the prompt information, the user can exit the tilting interface and return to the main interface, and continue to display the prompt information in the main interface.

[0121] In some embodiments, the tilt angle setting component is displayed on the tilt interface. The control method further includes: if no user interaction is detected in the tilt interface within a first preset time period, it indicates that the user does not need to set the tilt angle at this time, and the main interface can be automatically returned to. The main interface displays information of greater user interest, such as the power and speed of the water propeller 200. In this embodiment, the display device 300 automatically returns to the main interface, eliminating the need for user interaction to return to the main interface, which increases convenience and provides a better user experience.

[0122] In some embodiments, changes to the tilting interface can also be detected in real time. The control method further includes: if no change in the tilting angle of the tilting device 220 displayed in the tilting interface is detected within a second preset time period, indicating that the tilting device 220 is not currently being manipulated, the user can return to the main interface. The main interface displays information of particular interest to users, such as the power and speed of the water propeller 200. In this embodiment, the display device 300 automatically returns to the main interface, eliminating the need for user interaction to return to the main interface, providing increased convenience and a better user experience.

[0123] In some embodiments, the main interface further displays a direction display component, such as a dashboard, which is used to indicate the direction of the mobile device 10 in the water area where the water propeller 200 is located. The direction display component includes a meter body and a pointer, and the direction indicated by the pointer is the current direction of the mobile device 10. The control method may further include: when the direction of the mobile device 10 in the water area changes, controlling the meter body to rotate relative to the pointer so that the pointer points to the changed direction.

[0124] As shown in Figure 16(c), the orientation display component is a dashboard. Assuming the mobile device 10 is initially oriented toward north, as shown in the left figure, with the pointer pointing north, when its orientation changes to east, the dashboard pointer can be controlled to remain stationary while the dial rotates to point east. More specifically, the pointer's orientation can be aligned with the direction from the stern to the bow of the mobile device 10. Since the pointer indicating the orientation remains stationary, the user does not need to move their eyes when reading the indicator, making it more convenient for the user to read the indicator from the dashboard.

[0125] In some embodiments, the main interface of the display device 300 also displays a propeller setting component. The control method may also include: after detecting that the user has set the propeller type of the water propeller 200 through the propeller setting component, the propeller type set by the user can be sent to the water propeller 200, so that the water propeller 200 determines its own working mode based on the received propeller type. Among them, the propeller types of the water propeller 200 include positive propeller and reverse propeller. When the motor of the water propeller 200 is connected to different types of propellers, its rotation direction is also different. As an example, when the motor is connected to the positive propeller, the motor can rotate clockwise, and when the motor is connected to the reverse propeller, the motor can rotate counterclockwise. In this embodiment, the rotation direction of the motor when working can be determined based on the propeller type set by the user, without the user having to distinguish the propeller type by himself and then control the rotation direction of the corresponding motor separately, which is more convenient.

[0126] In some embodiments, during the tilting process of the tilting device 220, the display device 300 may also display a stop component to facilitate the user to terminate the tilting of the tilting device 220 at any time. During the process of the tilting device 220 being tilted to the target tilting angle, the control method further includes: if a user touches the stop component, a tilting stop instruction may be sent to the tilting device 220 to terminate the tilting action of the tilting device 220. For example, as shown in Figure 16(a), after the tilting instruction is issued to the tilting device 220, the stop component may be displayed on the display interface, and the user may touch the stop component to terminate the tilting action of the tilting device 220.

[0127] In some embodiments, the tilt angle setting component includes one or more of a one-touch tilt component and a one-touch reset component. The control scheme may further include: upon detecting a user touching the one-touch tilt component or the one-touch reset component, displaying a stop component on the display device 300 so that the user can stop the tilting of the tilting device 220 through the stop component.

[0128] In some embodiments, during the automatic tilting process of the tilting device 220, a progress bar can be displayed around the suspension component, and the progress bar is used to indicate the current progress of the automatic tilting process. The control method may also include: after detecting that the automatic tilting process is over, the progress bar and the suspension component can be stopped from being displayed. The progress bar can be in various shapes, such as a bar or an arc, and the progress bar can change continuously to dynamically display the current progress of the automatic tilting process. For example, after the user issues a tilting command through a one-button tilting component, a one-button reset component, other components that issue a tilting command, or a control component, the tilting device 220 can automatically tilt. During this process, a progress bar can be displayed around the suspension component, and the progress bar can indicate the current progress of the automatic tilting.

[0129] In some embodiments, the progress bar includes multiple change directions, which can correspond to the multiple tilting directions of the tilting device 220. For example, the progress bar can be in the form of a bar, and the bar-shaped progress bar can continuously lengthen to indicate the current tilting progress. The longer the progress bar, the closer it is to the target tilting angle. For example, the progress bar can lengthen from left to right or from right to left. In this case, lengthening from left to right indicates that the tilting device 220 is tilting upward, and lengthening from right to left indicates that the tilting device 220 is tilting downward.

[0130] For example, as shown in Figure 17, which is a schematic diagram of the Abort component, a progress bar can be displayed below the Abort component to indicate the current progress of the warping process. For example, when the user touches the Abort component, the progress bar of the Abort component can change direction from right to left. When the user touches the Reset component, the progress bar of the Abort component can change direction from left to right. When the progress bar ends, it indicates that the warping process is complete, and at this time, the Abort component disappears from the display interface.

[0131] In some embodiments, to more vividly display the current real-time pitching status of the water propeller 200, the pitch angle setting component can be displayed on a pitching interface, which also displays a virtual water propeller. Specifically, the step of displaying an animation of the real-time pitching status of the water propeller 200 based on the real-time pitching angle can include controlling the pitching of the virtual water propeller based on the real-time pitching angle so that the real-time pitching angle of the virtual water propeller is consistent with the real-time pitching angle of the water propeller 200. In other words, the virtual water propeller displayed on the display device 300 can mimic the real-time pitching process of the real water propeller 200, so that the user can intuitively perceive the real-time pitching status of the real water propeller 200 by viewing the pitching animation of the virtual water propeller. As shown in FIG. 18 , for each water propeller 200, its corresponding virtual water propeller can be displayed, and during the pitching process of the water propeller 200, the virtual water propeller can simultaneously display a pitching animation. During the pitch angle setting phase, as the user drags the gear adjustment element within the gear interval element to set the target pitch angle, the virtual water propeller can also be synchronously pitched. During the pitching phase of the water propeller 200, the virtual water propeller can also synchronously display the pitching animation of the real water propeller 200. The above two phases can also be distinguished by the color of the ring around the virtual water propeller, or by the transparency of the virtual water propeller, etc., which is not limited by this application.

[0132] The various technical features in the above embodiments can be arbitrarily combined as long as there is no conflict or contradiction between the combinations of features. Therefore, the arbitrary combination of the various technical features in the above embodiments also falls within the scope of disclosure of this specification.

[0133] In addition, an embodiment of the present application also provides a display device 300, as shown in Figure 19, the display device 300 includes a processor 301, a memory 302 and a display unit 303, the display unit 303 is connected to the processor 301, and a computer program is stored in the memory 302. When the processor 301 executes the above computer program, it implements the control method introduced in any of the above embodiments.

[0134] The specific process of the display device 300 implementing the above control method can be referred to the description in the above method embodiment, which will not be repeated here.

[0135] In addition, an embodiment of the present application further provides a water propulsion system 400 , as shown in FIG3 . The propulsion system 400 includes the display device 300 described in the above embodiment, and a water propeller 200 communicatively connected to the display device 300 .

[0136] The specific process of the display device 300 implementing the above control method can be referred to the description in the above method embodiment, which will not be repeated here.

[0137] In addition, an embodiment of the present application further provides a water area movable device 10, as shown in FIG3, the water area movable device includes a movable body 100 and the water area propulsion system 400 introduced in the above embodiment, and the water area propulsion system 400 is arranged on the movable body 100.

[0138] Among them, the specific process of the display device 300 in the water propulsion system 400 implementing the above control method can refer to the description in the above method embodiment, and will not be repeated here.

[0139] The present application also provides a non-transitory computer-readable storage medium. The non-transitory computer-readable storage medium stores computer instructions. When the computer instructions in the non-transitory computer-readable storage medium are executed by a processor, the control method described in any of the above embodiments can be implemented. The non-transitory computer-readable storage medium can be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.

[0140] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such 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 that are not explicitly listed, or also includes elements that are 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.

[0141] 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, characterized in that: Used for a display device, the display device is communicatively connected with a water area thruster, the water area thruster includes a warping device, and the control method includes: receiving a user input to generate a tilting instruction, wherein the tilting instruction carries a target tilting angle; Sending the warping instruction to the warping device so that the warping device warps to the target warping angle; receiving a real-time warping angle fed back by the warping device during the warping process to the target warping angle; An animation showing the real-time tilting state of the water propeller based on the real-time tilting angle.

2. The control method according to claim 1, characterized in that: The display device displays a tilt angle setting component, and the target tilt angle is set based on the interactive operation between the user and the tilt angle setting component.

3. The control method according to claim 2, characterized in that: The tilting angle setting component includes an angle gear adjustment component, the interactive operation includes a click operation of the user within the angle gear adjustment component, and the tilting angle corresponding to the click position of the user is the target tilting angle.

4. The control method according to claim 3, characterized in that: The control method further comprises: In response to the user's clicking operation within the angle gear adjustment component, the tilting angle corresponding to the user's clicking position is displayed.

5. The control method according to claim 2, characterized in that: The tilting angle setting component includes an angle gear adjustment component, and the angle gear adjustment component includes a gear interval element and a gear adjustment element. The interactive operation includes an operation in which a user drags the gear adjustment element to move within the gear interval element. When the user releases the gear adjustment element, the tilting angle corresponding to the current position of the gear adjustment element is the target tilting angle.

6. The control method according to claim 5, characterized in that: The angle gear adjustment component includes a first identification element, and the control method further includes: In response to the user's operation of dragging the gear adjustment element to move within the gear interval element, the first identification element identifying the current position of the gear adjustment element is displayed in real time.

7. The control method according to claim 6, characterized in that: The angle gear adjustment component includes a second identification element; the control method also includes: The second identification element is displayed to identify the position of the gear adjustment element before the user drags the gear adjustment element.

8. The control method according to any one of claims 5 to 7, characterized in that: The control method further comprises: In response to the user releasing the gear adjustment element, the tilting angle corresponding to the current position of the gear adjustment element is displayed.

9. The control method according to any one of claims 5 to 7, characterized in that: The control method further comprises: In response to the user's operation of dragging the gear adjustment element to move within the gear interval element, the tilting angle corresponding to the current position of the gear adjustment element is displayed in real time.

10. The control method according to claim 5, characterized in that: The angle gear adjustment component further includes a third identification element for identifying the current pitching angle of the water propeller in the gear interval element, and a fourth identification element for identifying the target pitching angle; the animation for displaying the real-time pitching state of the water propeller based on the real-time pitching angle includes: The third identification element is controlled to move toward the fourth identification element based on the real-time warping angle.

11. The control method according to claim 10, characterized in that: The control method further comprises: When the user drags the gear adjustment element to move within the gear interval element to set the target tilting angle, controlling the gear interval element to present a first color; The animation for displaying the real-time tilting state of the water propeller based on the real-time tilting angle further includes: During the process of the tilting device tilting to the target tilting angle, the gear range element is controlled to present a second color, wherein the first color is different from the second color.

12. The control method according to claim 2, characterized in that: The tilt angle setting component includes an angle editing component, the interactive operation includes an angle editing operation of the user in the angle editing component, and the target tilt angle is set based on the angle editing operation of the user; and / or The tilting angle setting component includes an angle selection component, and the interactive operation includes the user selecting an angle through the angle selection component. The operation of the preset angle, the target tilting angle is set based on the angle selection operation of the user.

13. The control method according to claim 12, characterized in that: The tilting angle setting component further includes a gear interval element, and the control method further includes: A mark corresponding to the target tilting angle set by the user is displayed in the gear interval element.

14. The control method according to claim 3 or 13, characterized in that: The pitching angle setting component further includes a third identification element for identifying the current pitching angle of the water propeller in the gear interval element, and a fourth identification element for identifying the target pitching angle; the animation for displaying the real-time pitching state of the water propeller based on the real-time pitching angle includes: The third identification element is controlled to move toward the fourth identification element based on the real-time warping angle.

15. The control method according to claim 2, characterized in that: The water area thrusters include multiple water area thrusters, which can be divided into one or more groups. When multiple water area thrusters in the same group are in linkage mode, the warping instruction acts on all water area thrusters in the group.

16. The control method according to claim 15, characterized in that: Each of the water thrusters corresponds to a pitch angle setting component. For multiple water thrusters in the same group, if the multiple water thrusters in the group are in the linkage mode, the target pitch angles of all the water thrusters in the group can be set at the same time based on the interactive operation of the user with the pitch angle setting component of any water thruster in the group.

17. The control method according to claim 16, characterized in that: Before simultaneously setting the target pitching angles of all the water thrusters in the group based on the interactive operation between the user and the pitching angle setting component of any water thruster in the group, the control method further includes: If the current tilting angles of any two water thrusters in the group are inconsistent, a tilting alignment instruction is sent to the tilting devices of all water thrusters in the group to adjust the current tilting angles of all water thrusters in the group to the same angle.

18. The control method according to claim 17, characterized in that: The method of sending the warping alignment instruction to the warping devices of all water body thrusters in the group includes: Determine the reference angles of all the water thrusters in the group based on the interactive operation between the user and the pitch angle setting component of at least one water thruster in the group; The tilting alignment instruction is sent to the tilting devices of at least some of the water thrusters in the group, so that the tilting devices of all the water thrusters in the group are tilted to the reference angle, and the current tilting angle of at least some of the water thrusters is not the reference angle.

19. The control method according to claim 17, characterized in that: The display device displays a one-touch alignment button, and the sending of the warping alignment instruction to the water thrusters in the group includes: In response to the user clicking the one-key alignment button, a tilting alignment instruction carrying a reference angle is sent to the tilting devices of at least some of the water thrusters in the group, so that the tilting devices of all the water thrusters in the group are tilted to the reference angle, and the current tilting angle of at least some of the water thrusters is not the reference angle.

20. The control method according to claim 16, characterized in that: The tilting angle setting component includes an angle gear adjustment component, and the angle gear adjustment component includes a gear interval element and a gear adjustment element. The control method also includes: For multiple water thrusters in the same group, when the user drags the gear adjustment element of one of the water thrusters to move within the gear interval element of one of the water thrusters, if it is detected that the deviation between the tilt angle corresponding to the current position of the gear adjustment element and the current tilt angle of any other water thruster in the group is less than a preset deviation, an alignment mark is displayed between the gear interval element of one of the water thrusters and the gear interval element of any other water thruster.

21. The control method according to claim 15, characterized in that: Each of the water thrusters corresponds to a pitching angle setting component, and the pitching angle setting component includes a gear interval element and a third identification element for identifying the current pitching angle of the water thruster in the gear interval element; the animation for displaying the real-time pitching state of the water thruster based on the real-time pitching angle includes: If all the water body thrusters in the same group are in the linkage mode, the association identification is displayed between the multiple third identification elements respectively corresponding to all the water body thrusters in the group.

22. The control method according to any one of claims 15 to 21, characterized in that: The display device displays a linkage mode activation component; the control method further includes: In response to the user touching the linkage mode enabling component, the linkage mode is enabled.

23. The control method according to claim 2, characterized in that: The control method further comprises: Detecting the operating parameters of the water body propeller; The setting authority of the tilting angle setting component is adjusted based on the operating parameters.

24. The control method according to claim 23, characterized in that: When the operating parameter does not exceed the preset threshold, the tilting angle range that can be set by the tilting angle setting component is limited to a first preset angle range; When the operating parameter exceeds the preset threshold, the tilting angle range that can be set by the tilting angle setting component is limited to a second preset angle range, and the maximum value of the second preset angle range is smaller than the maximum value of the first preset angle range.

25. The control method according to claim 23, characterized in that: The tilting angle setting component includes an angle gear adjustment component, the angle gear adjustment component includes a gear interval element and a gear adjustment element that can move within the gear interval element to adjust the tilting angle, and the operating parameter includes the current tilting angle of the water propeller; The step of adjusting the setting authority of the warping angle setting component based on the operating parameters includes: When it is determined that the water area thruster is in a limited state based on the current tilting angle, the gear adjustment element is controlled to be in a locked state.

26. The control method according to claim 25, characterized in that: When the gear adjustment element is in the locked state, the gear adjustment element cannot be used to set the tilting angle, and the gear adjustment element can move within the gear interval element based on the real-time tilting angle of the tilting device.

27. The control method according to claim 2, characterized in that: The tilting angle setting component includes a one-key tilting component, the interactive operation includes the operation of the user clicking the one-key tilting component, and the target tilting angle corresponding to the one-key tilting component is a limit angle.

28. The control method according to claim 27, characterized in that: The tilting angle setting component also includes a one-button reset component; the control method also includes: After the lifting device is lifted to the limit angle, the one-button lifting component is switched to the one-button reset component, wherein the target lifting angle corresponding to the one-button reset component is the limit release angle.

29. The control method according to claim 27, characterized in that: The control method further comprises: When the operating parameters of the water propeller meet the preset conditions, the one-button lifting component is controlled to be in a failure state; The preset condition includes any one of the power of the water area propeller being greater than a preset power and the movement speed of the water area propeller being greater than a preset speed.

30. The control method according to claim 2, characterized in that: The tilting angle setting component includes a one-key reset component, the interactive operation includes the operation of the user touching the one-key reset component, and the target tilting angle corresponding to the one-key reset component is a limit release angle.

31. The control method according to claim 30, characterized in that: The control method further comprises: After the lifting device is lifted to the limit release angle, the one-button reset component is switched to a one-button lifting component, wherein the target lifting angle corresponding to the one-button lifting component is the limit angle.

32. The control method according to claim 30, characterized in that: The control method further comprises: In response to the user touching the one-key reset component, reset prompt information is displayed.

33. The control method according to claim 32, characterized in that: The displaying of reset prompt information in response to the user touching the one-key reset component includes: Receiving environmental information detected and sent by the water body thruster to be reset; Generate the prompt information shown based on the environmental information; Display the prompt information shown.

34. The control method according to claim 32, characterized in that: The display duration of the prompt information is determined based on the reset duration of the tilting device.

35. The control method according to claim 34, characterized in that: The one-button reset component is displayed on the lift interface; The displaying of reset prompt information in response to the user touching the one-key reset component includes: During the display of the prompt information, if the tilting interface is exited in response to an instruction to return to the main interface, and the tilting device has not been tilted to the limit release angle, the prompt information continues to be displayed in the main interface until the tilting device is tilted to the limit release angle.

36. The control method according to claim 2, characterized in that: The tilting angle setting component is displayed on the tilting interface, and the control method further includes: If no interactive operation of the user in the tilted interface is detected within a first preset time period, returning to the main interface; and / or, If the tilting angle of the tilting device displayed in the tilting interface does not change within the second preset time period, return to the main interface.

37. The control method according to claim 35 or 36, characterized in that: The main interface displays a direction display component for indicating the movable device in the water area where the water area thruster is located, and the direction display component includes a watch body and a pointer; The control method further comprises: When the orientation of the movable device in the water area changes, the watch body is controlled to rotate relative to the pointer so that the pointer points to the changed orientation.

38. The control method according to claim 35 or 36, characterized in that: The main interface displays a propeller setting component; the control method also includes: In response to the user setting the water propeller through the propeller setting component, the propeller type set by the user is sent to the water propeller, so that the water propeller determines its own working mode based on the received propeller type.

39. The control method according to claim 1, characterized in that: The display device displays a suspension component; the control method further includes: During the process of the tilting device tilting to the target tilting angle, in response to the user touching the stop component, a tilting stop instruction is sent to the tilting device to stop the tilting action of the tilting device.

40. The control method according to claim 39, characterized in that: The display device displays a tilting angle setting component, the tilting angle setting component includes a one-key tilting component and / or a one-key reset component, and the control method further includes: In response to the user touching the one-key lift component or the one-key reset component, the suspension component is displayed.

41. The control method according to claim 40, characterized in that: The control method further comprises: During the automatic warping process of the warping device, a progress bar is displayed around the suspension component, and the progress bar is used to indicate the current progress of the automatic warping; In response to the completion of the automatic warping, the progress bar and the suspension component are stopped from being displayed.

42. The method according to claim 41, characterized in that The progress bar includes a plurality of change directions, and the plurality of change directions correspond to the plurality of warping directions of the warping device.

43. The control method according to claim 2, characterized in that: The tilting angle setting component is displayed on a tilting interface, and a virtual water area thruster is displayed in the tilting interface. The animation of displaying the real-time tilting state of the water area thruster based on the real-time tilting angle includes: The virtual water area propeller is controlled to tilt based on the real-time tilt angle, so that the real-time tilt angle of the virtual water area propeller is consistent with the real-time tilt angle of the water area propeller.

44. A display device, characterized in that: The display device includes a processor, a memory and a display unit, the display unit is connected to the processor, a computer program is stored in the memory, and the processor implements the control method described in any one of claims 1-43 when executing the computer program.

45. A water propulsion system, characterized in that: The propulsion system includes the display device as described in claim 44, and a water propeller communicatively connected to the display device.

46. ​​A movable device in water area, characterized in that: The water area movable device includes a movable body and the water area propulsion system as described in claim 41, and the water area propulsion system is arranged on the movable body.

47. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the control method according to any one of claims 1 to 43 is implemented.

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