Fault processing method, propeller, propulsion system, mobile device, and storage medium

Abstract

A fault processing method, a water propeller (201), a water propulsion system (200), a water mobile device (300), and a computer-readable storage medium. The fault processing method is used for each water propeller (201) among a plurality of water propellers (201), and the plurality of water propellers (201) are connected to a same communication system. The fault processing method comprises: (S101) when a local machine is used as a host, obtaining at least one piece of first fault information, the first fault information being generated by at least one water propeller (201) among a plurality of water propellers (201); (S102) on the basis of the at least one piece of first fault information, performing fault diagnosis to determine second fault information; and (S103) on the basis of the second fault information, sending a first control instruction to the water propeller (201), so that the water propeller (201) that receives the first control instruction performs an operation indicated by the first control instruction. According to the fault processing method, faults can be quickly and accurately detected and processed, the operation reliability and stability of a water propeller system are improved, and the risks and losses caused by faults are reduced.

Description

Fault handling method, propeller, propulsion system, mobile device 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 fault handling method, a water area thruster, a water area propulsion system, a mobile equipment in water areas, and a computer-readable storage medium. Background Art

[0002] In actual application scenarios, movable water devices such as boats and submarine sterns can be equipped with multiple water thrusters based on actual needs. Multiple water thrusters jointly provide power support for the movable water devices and propel the boats and submarines to sail.

[0003] In the related art, for a solution of installing multiple water thrusters on a movable water device, if each water thruster has independent processing capabilities and performs tasks such as fault handling tasks alone, it will increase the load on the communication system and lead to low processing efficiency. In addition, improper fault handling may pose a safety risk.

[0004] Summary of the Invention

[0005] In view of this, one of the purposes of the present application is to provide a fault handling method, a water propulsion 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 fault handling method, which is applied to each of a plurality of water thrusters connected to the same communication system; the fault handling method includes:

[0007] When the local machine serves as a host, obtaining at least one first fault information, where the first fault information is generated by at least one water area thruster among the plurality of water area thrusters;

[0008] Performing fault diagnosis based on the at least one first fault information to determine second fault information;

[0009] A first control instruction is sent to the water thruster according to the second fault information, so that the water thruster receiving the first control instruction executes the operation indicated by the first control instruction.

[0010] In a second aspect, an embodiment of the present application provides a water-based thruster, comprising:

[0011] processor; and

[0012] a memory storing executable instructions that can be run on the processor;

[0013] Wherein, when the processor executes the executable instructions, the steps of the fault handling method described in the first aspect are implemented.

[0014] In a third aspect, an embodiment of the present application provides a water propulsion system comprising a plurality of water propellers as described in the second aspect.

[0015] In a fourth aspect, an embodiment of the present application provides a mobile device for use in water areas, comprising:

[0016] a movable body; and

[0017] The water area propulsion system described in the third aspect is installed on the movable body.

[0018] 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 steps of the fault handling method described in the first aspect.

[0019] The embodiments of the present application provide a fault handling method, a water propeller, a water propulsion system, a water mobile device, and a computer-readable storage medium. A host computer among multiple water propellers connected to the same communication system obtains first fault information generated by at least one of the multiple water propellers, performs fault diagnosis on the at least one first fault information, determines second fault information, and then controls the relevant water propellers to perform operations based on the second fault information. The host computer performs fault arbitration from a global perspective, which can better monitor and manage fault conditions, help to quickly and accurately detect and handle faults, improve the reliability and stability of the water propeller system operation, and reduce the risks and losses caused by faults. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] 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.

[0021] FIG1 is a schematic structural diagram of a mobile device provided in an embodiment of the present application;

[0022] FIG2 is a schematic diagram showing the connection of multiple water-based thrusters in a water-based propulsion system provided by an embodiment of the present application;

[0023] FIG3 is a schematic diagram showing the connection between a preset component and multiple water propellers in a water propulsion system provided by an embodiment of the present application;

[0024] FIG4 is a schematic structural diagram of a water propeller provided in an embodiment of the present application;

[0025] FIG5 is a flow chart of a fault handling method provided in an embodiment of the present application;

[0026] FIG6 is a flow chart of a master-slave identification process according to an embodiment of the present application;

[0027] FIG7 is a flow chart of another master-slave identification process provided in an embodiment of the present application;

[0028] FIG8 is a schematic structural diagram of another water propulsion device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0029] 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.

[0030] As shown in Figure 1, this embodiment provides a mobile device 300. The mobile device 300 includes a movable body 301 and a propulsion system 200, which is installed on the movable body 301. The propulsion system 200 includes multiple propellers 201 connected to the same communication system.

[0031] The movable device 300 of this embodiment can be any type of water transportation vehicle, such as a commercial ship, passenger ship, yacht, fishing boat, sailboat, or civilian ship. It can also be equipment capable of moving in water, such as water inspection equipment, water management equipment, or water environment monitoring equipment. It can also be underwater operation equipment, etc., and this application does not impose any restrictions on this. When the movable device 300 of water is any type of ship, the movable body 301 is correspondingly the hull.

[0032] The water propulsion device 201 of this embodiment can be an outboard motor, an inboard motor, a podded propulsion device, or other device capable of providing power. The water propulsion device 201 can be installed at the head, tail, side, or bottom of the movable body 301. When installed at the side, the water propulsion device 201 can be used as a side thruster to assist the movable body 300 in steering, etc.

[0033] Referring to FIG. 2 , this embodiment provides a water propulsion system 200. The water propulsion system 200 includes a plurality of water thrusters 201, and the plurality of water thrusters 201 are connected to the same communication system. As an example, the plurality of water thrusters 201 can be connected to the same bus communication system, such as the plurality of water thrusters 201 shown in FIG. 2 , which can be connected via a bus 203. As another example, the plurality of water thrusters 201 can also be connected to the same wireless communication system, wherein the wireless communication method in the wireless communication system can include any one of Bluetooth communication, WiFi communication, mobile data communication, etc., which is not limited here.

[0034] The water propulsion system 200 further includes a preset component 202, which can be connected to the same communication system as the water propulsion unit 201. For example, taking a bus communication system as an example, multiple water propulsion units 201 can be connected via a first bus, and the preset component 202 can be connected to multiple water propulsion units 201 via a second bus. The first bus and the second bus can be the same bus (as shown in FIG3 ), or the first bus and the second bus can be different buses (not shown), and specific settings can be made according to actual application scenarios.

[0035] Exemplarily, the preset component 202 includes at least one of an interaction component and an energy component.

[0036] The interactive components include, but are not limited to, a display screen, a remote control box, a steering wheel, a side throttle lever, etc., which are installed on the mobile device in the water area. Alternatively, the interactive components can also be wirelessly connected to the water area thruster 201, for example, the interactive components include a mobile terminal, such as a mobile phone, a laptop, a tablet, or a wearable device.

[0037] The energy component is connected to the same bus communication system as the multiple water thrusters 201. The energy component includes at least one battery pack. The battery pack is a device that stores energy and supplies electricity at any time. It is usually composed of a plurality of battery cells. It can convert chemical energy into electrical energy through chemical reactions and release power when needed. When the interactive component is connected to the water thrusters 201 through the bus communication system, the energy component is used to provide power to the interactive component and the water thrusters 201 to meet their energy requirements for normal operation. For example, one battery pack can be used to power the interactive component and all the water thrusters 201. Alternatively, when the energy component includes multiple battery packs, the multiple battery packs can also be used to power the interactive component and the multiple water thrusters 201 in a one-to-one correspondence. This embodiment does not impose any restrictions on the specific form of power supply.

[0038] It should be noted that the energy components can also be various types of equipment that can provide electrical energy, such as wind power generation components, photovoltaic components, and diesel generator components, and this application does not impose any restrictions on this.

[0039] Referring to FIG4 , this embodiment provides a water propulsion device 201, comprising a main engine 110 and a lifting device 100, wherein the lifting device 100 is connected to the main engine 110. Exemplarily, the lifting device 100 comprises a clamp 120, an adjustment mechanism 130, and a motor 140, wherein the clamp 120 is used to be fixed to the movable body 301, the adjustment mechanism 130 is connected between the clamp 120 and the main engine 110, and the motor 140 is mounted on the clamp 120 or the main engine 110 and connected to the adjustment mechanism 130, and is used to drive the adjustment mechanism 130 to deform. The deformation of the adjustment mechanism 130 drives the main engine 110 to rise and fall relative to the clamp 120, and the main engine 110 is always located outside the movable body 301. Exemplarily, the main engine 110 comprises at least a drive motor and a propeller, and the drive motor is used to drive the propeller to rotate to achieve propulsion of the movable device 300 in the water. It should be noted that FIG4 takes the water propulsion device 201 as an outboard motor as an example. In other examples, the water propulsion device 201 may also be a pod propulsion device, an inboard engine, etc., and this application does not impose any restrictions on this.

[0040] In response to the problem in the related technology that multiple water thrusters independently perform fault handling tasks, resulting in increased communication system load, low processing efficiency and possible security risks, this embodiment provides a fault handling method. It can be understood that the structures of components such as water thrusters, water propulsion systems, water movable equipment, etc. mentioned in the following description of the fault handling method can be referred to the relevant descriptions in Figures 1 to 4.

[0041] In the fault handling method provided in this embodiment, a host computer among multiple water propulsion systems obtains first fault information generated by at least one of the multiple water propulsion systems, performs fault diagnosis on the at least one first fault information, determines second fault information, and then controls the relevant water propulsion systems to perform operations based on the second fault information. Implementing fault arbitration from a global perspective by the host computer allows for better monitoring and management of fault conditions, facilitates rapid and accurate fault detection and handling, improves the reliability and stability of the water propulsion system, and reduces the risks and losses caused by faults.

[0042] For example, by sending the first fault information to the master, the master can centrally manage the entire water propulsion system. The master can aggregate and analyze fault information from multiple slaves and fault information generated by the master itself, providing a global view and making unified decisions.

[0043] For example, by performing fault diagnosis on at least one first fault information and implementing comprehensive analysis to determine the second fault information, the host can make better fault handling decisions based on the second fault information, select appropriate fault handling methods, and avoid unnecessary downtime or losses.

[0044] Next, an exemplary description of a fault handling method provided in an embodiment of the present application is provided. Referring to Figure 5 , a flow chart illustrating a fault handling method is shown. The fault handling method is applied to each of multiple water-based thrusters connected to the same communication system. The communication system may include a bus system or a wireless communication system. The fault handling method includes:

[0045] In S101, when the local machine serves as a host, at least one first fault information is obtained, where the first fault information is generated by at least one water body propeller among a plurality of water body propellers.

[0046] For example, based on the differences in external communication priorities among the multiple propulsion systems, one of the multiple propulsion systems can be identified as the master, and the other propulsion systems can be identified as slaves. The master-slave identification process is described in detail below. After determining the master and slave, the master can receive first fault information generated by at least one of the multiple propulsion systems and perform fault arbitration, enabling centralized fault management and comprehensive analysis.

[0047] In S102 , a fault diagnosis is performed based on at least one first fault information to determine second fault information.

[0048] For example, if there is only one first fault message, the second fault message can be equivalent to the first fault message. If there are multiple first fault messages, a certain first fault message may be the root cause of the fault, causing the generation of other first fault messages. In this case, the root cause can be used as the second fault message. Subsequently, only the root cause needs to be processed, without processing other non-root cause faults. This helps reduce the processing burden of the host, avoids unnecessary processing actions, and reduces resource waste.

[0049] In S103, a first control instruction is sent to the water thruster according to the second fault information, so that the water thruster receiving the first control instruction executes the operation indicated by the first control instruction.

[0050] For example, the operation indicated by the first control instruction may be a fault resolution operation, or an operation of changing operating parameters of the water propulsion device when the fault is not resolved, etc. This application does not impose any limitation on this.

[0051] In addition, the water thrusters to which the first control instruction is sent according to the second fault information may be all water thrusters or part of the water thrusters. For example, when the second fault information determined is that the motor of a certain water thruster is overheated, the first control instruction for reducing the operating power can be sent to the water thruster to cause the water thruster to reduce the power operation, thereby allowing the temperature of the motor of the water thruster to return to normal. For another example, when the second fault information determined is that the energy component is undervoltage, the first control instruction for reducing the power operation can be sent to all water thrusters to cause all water thrusters to reduce the power operation.

[0052] This embodiment allows the host to perform fault arbitration from a global perspective, enabling better monitoring and management of fault conditions, helping to quickly and accurately detect and handle faults, improving the reliability and stability of the water propulsion system, and reducing the risks and losses caused by faults. Furthermore, unnecessary processing actions can be avoided, reducing resource waste.

[0053] In some embodiments, multiple water propulsion units are connected to the same communication system. Each of the multiple water propulsion units, excluding the master unit, is designated as a slave unit. Upon detecting a fault, a slave unit may generate and send a first fault message to the master unit. The master unit may also generate a first fault message upon detecting a fault in the slave unit. Acquiring at least one first fault message in S101 includes: receiving the first fault message sent by the slave unit; and / or acquiring the first fault message generated by the master unit.

[0054] Of course, multiple water thrusters can also be connected through wireless communication, such as Bluetooth or WIFI, and this embodiment does not impose any restrictions on this.

[0055] Here, the process of the host obtaining the first fault information generated by the host is exemplarily described.

[0056] Acquiring first fault information generated by the host includes: the host can periodically perform fault detection in response to meeting a fault diagnosis start condition, and then generate the first fault information when a fault is detected.

[0057] Exemplarily, the host computer may detect faults on hardware ports, components, and the like. Fault diagnosis initiation conditions may include: the hardware port to be detected is in use, and / or the component to be detected is powered on and operating. For example, the hardware port to be detected and the component to be detected may be in the same communication network as the host computer; or the hardware port is a hardware component of the host computer, and the component is a hardware component of the host computer.

[0058] In some possible implementations, the host may periodically perform fault detection in response to the fault diagnosis startup conditions being met, including: periodically performing fault detection on the hardware port in response to the hardware port to be detected being in use; and / or periodically performing fault detection on the component in response to the component to be detected being powered on and running.

[0059] Exemplarily, the process of fault detection of the hardware port may be to detect whether the relevant IO signal can be correctly transmitted through the hardware port, or to detect the transmission efficiency of the data transmitted through the hardware port, or to detect the power supply status of the hardware port, etc., but is not limited thereto.

[0060] Exemplarily, the process of fault detection of a component may be to detect the operating status of the component, such as obtaining the operating parameters of the component and detecting whether the operating parameters of the component exceed the set values. The operating parameters include but are not limited to operating temperature, voltage or current, etc.; but are not limited to this.

[0061] When a fault is detected, first fault information is generated, including: when a fault is detected in a hardware port in use, first fault information corresponding to the hardware port is generated to indicate the fault condition of the hardware port; and / or, when a fault is detected in a running component, first fault information corresponding to the component is generated to indicate the fault condition of the component.

[0062] For example, the first fault information corresponding to a hardware port may be that an IO signal cannot be transmitted through the hardware port, or that the data transmission efficiency does not meet preset transmission conditions, or that power is not supplied normally, etc. For example, the first fault information corresponding to a component may be that an operating parameter of the component exceeds a set value, etc.

[0063] In some possible implementations, to avoid or reduce false fault detections, generating first fault information upon detecting a fault includes generating the first fault information when the fault is detected and the fault duration exceeds a third preset duration. In this embodiment, the first fault information is generated after a period of time has passed since the fault occurred, thereby avoiding or reducing false fault detections and improving fault detection accuracy.

[0064] It should be noted that the structures of the multiple water thrusters are the same, and the process of generating the first fault information by the slave is the same as the process of generating the first fault information by the master. The relevant details of the process of generating the first fault information by the slave can be found in the above description and will not be repeated here. After generating the first fault information, the slave sends the generated first fault information to the master.

[0065] In some embodiments, as shown in FIG3 , the water propulsion system is further communicatively connected to a preset component. Exemplarily, the preset component includes at least one of an interaction component and an energy component. The interaction component may be connected to the water propulsion system via a bus system or a wireless communication system; the energy component may be connected to the water propulsion system via a bus system.

[0066] In one possible implementation, certain faults of the preset components need to be detected by the host and the first fault information generated. For example, the preset components include a battery. When the battery powers the water propulsion system, there may be faults such as high-voltage response timeout and high-voltage interlock failure. These faults need to be detected by the water propulsion system. The first fault information generated by the host includes at least one of the following: (1) the first fault information generated by the host when it detects a fault in the host; (2) the first fault information generated by the host when it detects a fault in the preset component.

[0067] For example, in response to a fault diagnosis enabling condition being met, the host may periodically perform fault detection on a predetermined component and generate first fault information when a fault is detected. The fault diagnosis enabling condition may include: a hardware port of the predetermined component being in use, and / or a component of the predetermined component being powered on and operating.

[0068] For example, the host can generate the first fault information when a fault is detected and the fault duration is greater than a third preset duration. The first fault information needs to be generated after a period of time after the fault occurs to avoid or reduce false fault detection and improve fault detection accuracy.

[0069] The process of the host detecting faults on this unit is the same as the process of the host detecting faults on preset components. Please refer to the above description for relevant details and will not be repeated here.

[0070] In another possible implementation, the preset component may generate first fault information when a fault is detected and send the information to the host. The method of obtaining at least one first fault information further includes: receiving the first fault information sent when the preset component fails.

[0071] For example, a preset component may periodically perform fault detection in response to a fault diagnosis activation condition being met, and generate first fault information when a fault is detected. The fault diagnosis activation condition may include: a hardware port of the preset component being in use, and / or a component of the preset component being powered on and operating.

[0072] For example, the preset component can generate first fault information when a fault is detected and the fault duration is greater than a third preset duration. The first fault information needs to be generated after a period of time after the fault occurs, thereby avoiding or reducing false fault detection and improving fault detection accuracy.

[0073] The process of the preset component generating the first fault information is the same as the process of the host generating the first fault information. The relevant details can be found in the above description and will not be repeated here.

[0074] In some embodiments, for S102, after obtaining first fault information generated by at least one of the multiple water propulsion devices and / or first fault information generated by a preset component, the host can perform fault diagnosis based on the at least one first fault information to determine second fault information. This enables the host to perform fault arbitration from a global perspective, facilitating rapid fault detection.

[0075] In some possible implementations, when the first fault information includes multiple items, various situations may exist. For example, the occurrence of a root fault may lead to the cascading occurrence of other faults, that is, these faults are causally related; or the causes of multiple faults may be unrelated. Therefore, fault diagnosis is performed based on at least one first fault information to determine the second fault information, including the following two determination methods:

[0076] In the first determination method, the host can jointly perform fault diagnosis on the first fault information with a causal relationship among multiple first fault information, and determine the second fault information that corresponds to the first fault information with a causal relationship; the first fault information with a causal relationship may have a certain correlation with each other. By diagnosing them at the same time, the problem can be discovered more efficiently, and the second fault information corresponding to them can be derived, reducing the time for fault diagnosis; and by analyzing multiple first fault information with a causal relationship, the cause of the fault can be located more accurately. These first fault information with a causal relationship may affect each other or cause other faults to occur. By jointly performing fault diagnosis and finding the correlation between them, the entire fault chain can be restored and traced back to the root source of the fault, thereby providing guidance for subsequent fault repair.

[0077] For example, considering that a root cause fault is often the starting point of a fault chain, a fault diagnosis is performed on multiple pieces of first fault information that have a causal relationship, and second fault information corresponding to the first pieces of causal relationship are determined. This includes: determining the first fault information that is the root cause fault from the first pieces of causal relationship; and performing fault diagnosis based on the first pieces of causal relationship that are the root cause fault to determine the second fault information that is the causal relationship corresponding to the first pieces of causal relationship. In this embodiment, by determining the root cause fault in the first pieces of causal relationship, the core issue that causes other faults can be accurately identified. The root cause fault is often the starting point of a fault chain, and by performing fault diagnosis on it, the source of the fault can be precisely located so that targeted measures can be taken to repair it.

[0078] For example, suppose the host receives first fault information from the energy component: ① Battery undervoltage in the energy component, and also receives first fault information from the water propulsion system: ② Bus undervoltage in the water propulsion system. The battery undervoltage in the energy component will cause bus undervoltage in the water propulsion system. In other words, these two pieces of first fault information are causally related, and the battery failure in the energy component is the root cause. Based on this root cause, the second fault information corresponding to the two causally related first fault information can be determined to be: Battery failure in the energy component.

[0079] In the second determination method, fault diagnosis is performed separately on the first fault information pieces that are not causally related among the multiple first fault information pieces, and the second fault information corresponding to each of the first fault information pieces that are not causally related is determined. By separately diagnosing the first fault information pieces that are not causally related and determining the corresponding second fault information, multiple independent fault situations can be comprehensively considered, helping to avoid confusion or erroneous attribution of different fault information to the same fault, thereby improving the accuracy and comprehensiveness of fault diagnosis.

[0080] Exemplarily, the degree of influence of at least two first fault information that do not have a causal relationship on the water propulsion system may also be different. Therefore, different first fault information can be pre-set to correspond to different priorities. In the case where the priorities of multiple first fault information received by the host are different, fault diagnosis is performed on the first fault information that does not have a causal relationship among the multiple first fault information, and the second fault information corresponding to the first fault information that does not have a causal relationship is determined, including: determining the processing order of the first fault information that does not have a causal relationship according to the priority of the first fault information that does not have a causal relationship, wherein the higher the priority of the first fault information, the higher the processing order of the first fault information; fault diagnosis is performed on the first fault information that does not have a causal relationship according to the processing order, and the second fault information corresponding to the first fault information that does not have a causal relationship is determined. In this embodiment, by determining the processing order of the first fault information that does not have a causal relationship, the limited resources of the host can be reasonably allocated, and faults with higher priorities can be processed first, which can avoid resource waste, improve resource utilization efficiency, and speed up fault processing. And placing the first fault information with a higher priority in the front for diagnosis will help to solve the critical faults that have the greatest impact on the stability and function of the water propulsion system as soon as possible. By quickly troubleshooting and repairing these higher-priority faults, the normal operation of the water propulsion system can be restored as soon as possible, reducing potential losses and risks.

[0081] For example, the host receives the first fault information from one of the water thrusters: ① The temperature of the drive motor in the water thruster is too high (for example, the temperature of the MOS tube in the drive motor exceeds the set MOS severe overtemperature upper limit threshold, and continued operation will risk component damage). The host also receives the first fault information from another water thruster: ② The communication module in the water thruster is faulty. These two first fault information are not causally related, and the priority of "① The temperature of the drive motor in the water thruster is too high" is higher than "② The communication module in the water thruster is faulty", so the host will first perform fault diagnosis on the ① first fault information, and then perform fault diagnosis on the ② first fault information.

[0082] Here, a process of determining whether there is first fault information with a causal relationship among a plurality of first fault information is exemplarily described.

[0083] In one possible implementation, in order to improve the efficiency of fault diagnosis, the possible faults of the water thruster and the preset components can be pre-predicted by the developers and recorded in a fault mapping table. That is to say, the water thruster can pre-store a fault mapping table, and the fault mapping table includes the causal relationship between different first fault information. Fault diagnosis is performed based on at least one first fault information to determine the second fault information, and further includes: based on the fault mapping table, determining whether there is a first fault information with a causal relationship among the multiple first fault information, and then performing the above-mentioned fault diagnosis process for the first fault information with a causal relationship and the first fault information without a causal relationship. This embodiment realizes the rapid determination of whether there is a first fault information with a causal relationship by querying the fault mapping table, which is conducive to improving the efficiency of fault diagnosis.

[0084] For example, referring to Table 1, Table 1 records a variety of first fault information and records the causal relationship between different first fault information.

[0085] Table 1

[0086] In another possible implementation, in order to improve the efficiency of fault diagnosis, the possible faults of the water propulsion device and the preset components can be pre-specified by the developers, and different first fault information corresponding to different priorities and categories can be set in advance. For example, it can be set that among at least two first fault information with a causal relationship, at least two first fault information have the same category, and the priority of the first fault information that is the root cause of the fault is higher than the priority of the remaining first fault information. Then, in the case where the priorities of multiple first fault information are different, fault diagnosis is performed according to at least one first fault information to determine the second fault information, and it also includes: based on the priorities and categories of multiple first fault information, determining whether there is a first fault information with a causal relationship in the multiple first fault information, and then performing the above-mentioned fault diagnosis process for the first fault information with a causal relationship and the first fault information without a causal relationship. This embodiment realizes the rapid determination of whether there is a first fault information with a causal relationship by comparing the priorities of different first fault information, which is conducive to improving the efficiency of fault diagnosis.

[0087] For example, please refer to Table 2, which records the priorities and categories of various first fault information.

[0088] Table 2

[0089] In some embodiments, to improve fault diagnosis efficiency, developers can pre-estimate possible faults of the water propulsion system and pre-set components and record them in a fault mapping table. That is, the fault mapping table can store a correspondence between at least one first fault information and a second fault information. Performing fault diagnosis based on the at least one first fault information and determining the second fault information includes: performing fault diagnosis on the at least one first fault information based on the pre-stored fault mapping table to determine the second fault information. This embodiment enables rapid determination of the second fault information by querying the fault mapping table, which helps improve fault diagnosis efficiency.

[0090] For example, please refer to Table 3, which shows the corresponding relationship between different first fault information and second fault information.

[0091] Table 3

[0092] In some embodiments, to achieve standardized processing of first fault information, performing fault diagnosis based on at least one first fault information and determining second fault information includes: performing fault diagnosis on first fault information received within a first preset time interval to determine second fault information. This embodiment implements regular fault diagnosis of first fault information, establishing a standardized fault handling process, thereby improving the efficiency and consistency of fault handling, reducing unnecessary human intervention and subjective judgment, and reducing errors and mistakes during fault handling.

[0093] It should be noted that the "preset" or "setting" involved in each embodiment of this application can be understood as information pre-stored in the water propulsion device before it leaves the factory. During the actual use of the water propulsion device, this preset information can remain unchanged or be modified accordingly based on the application scenario of the water propulsion device. This application does not impose any restrictions on this.

[0094] For example, the aforementioned master, slave, and pre-set component with fault detection functionality can all periodically perform fault detection in response to a fault diagnosis activation condition. To achieve efficient fault handling, the first pre-set duration can be an integer multiple of at least one of the fault detection cycles of the master, slave, and pre-set component. In this embodiment, setting the first pre-set duration to an integer multiple of the fault detection cycle can ensure regular fault detection, enabling timely fault detection and reducing fault handling costs.

[0095] In some embodiments, the following situations may occur, for example, the fault indicated by the first fault information may be correspondingly resolved due to the resolution of the root fault, or the fault indicated by the first fault information may be resolved due to misdetection. Therefore, fault diagnosis is performed based on at least one first fault information to determine the second fault information, including: if the duration of the fault indicated by the first fault information reaches a second preset duration, determining whether the fault indicated by the first fault information has been resolved; in response to the fault indicated by the first fault information not being resolved, fault diagnosis is performed based on the first fault information to determine the second fault information. This embodiment enables timely fault diagnosis of the first fault information when the fault indicated by the first fault information has not been resolved for a long time, thereby effectively troubleshooting the fault; it also helps to avoid or reduce the waste of resources that the host needs to perform fault diagnosis on due to misdetection of the fault, improve resource utilization efficiency, and speed up fault handling.

[0096] For example, the first fault information comes from the host, a preset component, or another slave. The source of the first fault information is different, and the process of determining whether the fault indicated by the first fault information has been resolved is also different. If the duration of the fault indicated by the first fault information is greater than the second preset duration, determining whether the fault indicated by the first fault information has been resolved includes the following three possible situations:

[0097] (1) If the first fault information is generated by other water thrusters, and the duration of the fault indicated by the first fault information is greater than the second preset duration, the host sends a query request to the water thruster that generates the first fault information to query the water thruster that generates the first fault information whether the fault indicated by the first fault information has been resolved. The other water thrusters (i.e., slaves) can detect whether the fault indicated by the first fault information has been resolved based on the received query request, and return a query response to the host based on the detection result, which indicates whether the fault indicated by the first fault information has been resolved or not.

[0098] (2) If the first fault information is generated by the host, and the duration of the fault indicated by the first fault information is greater than the second preset duration, the host can directly determine whether the fault indicated by the first fault information has been resolved.

[0099] Among them, if the first fault information is generated by the host performing fault detection on the local machine, and the duration of the fault indicated by the first fault information is greater than the second preset duration, the host can query whether the fault indicated by the first fault information in the local machine has been resolved.

[0100] If the first fault information is generated by the host performing fault detection on a preset component, and the duration of the fault indicated by the first fault information is greater than the second preset duration, the host can query whether the fault indicated by the first fault information in the preset component has been resolved.

[0101] (3) If the first fault information is generated by the preset component, and the duration of the fault indicated by the first fault information is greater than the second preset duration, the host sends a query request to the preset component that generates the first fault information, so as to query the preset component that generates the first fault information whether the fault indicated by the first fault information has been resolved. The preset component may detect whether the fault indicated by the first fault information has been resolved based on the received query request, and return a query response to the host based on the detection result, wherein the query response indicates whether the fault indicated by the first fault information has been resolved or not.

[0102] In some embodiments, for S103, after determining the second fault information, if the second fault information is information related to the water thruster, the host may send a first control instruction to the water thruster based on the second fault information, so that the water thruster that receives the first control instruction performs the operation indicated by the first control instruction. If the second fault information is information related to a preset component, the fault handling method further includes: sending a second control instruction to the preset component based on the second fault information, so that the preset component that receives the second control instruction performs the operation indicated by the second control instruction.

[0103] Exemplarily, the operation indicated by the first control instruction includes at least one of prohibiting the power output of the water propeller, limiting the power output of the water propeller, and prohibiting the reverse charging of the water propeller.

[0104] (1) An example explanation is given for prohibiting the power output of the water propulsion unit: if the second fault information determined by the fault diagnosis indicates that the temperature of the drive motor in the water propulsion unit exceeds the first preset temperature value, such as the temperature of the MOS tube in the drive motor exceeds the set MOS severe overtemperature upper limit threshold (exceeding 105°C); if the operation continues at this time, there will be a risk of damage to the components. The operation indicated by the first control instruction includes: controlling the drive motor to stop output (such as shutting down the drive motor) to protect the components in the drive motor. In addition, the water propulsion unit corresponding to the drive motor can continuously monitor the temperature of the drive motor and operate the drive motor only when the temperature of the drive motor drops to meet the first preset temperature value.

[0105] (2) An example explanation is given for limiting the power output of a water propeller: if the second fault information determined by fault diagnosis indicates that the temperature of the drive motor in the water propeller exceeds the second preset temperature value, and the second preset temperature value is less than the first preset temperature value, for example, the temperature of the MOS tube in the drive motor exceeds the set MOS general over-temperature upper limit threshold (exceeding 95°C); at this time, if it continues to operate, it will approach the MOS serious over-temperature upper limit threshold (exceeding 105°C). The operation indicated by the first control instruction includes: reducing the output power of the drive motor, thereby suppressing the temperature increase trend of the drive motor. And the water propeller corresponding to the drive motor can continuously monitor the temperature of the drive motor, and when the temperature of the drive motor drops to meet the second preset temperature value, it will operate the drive motor according to the output power before the drop.

[0106] (3) For example, if the second fault information indicates that the driving motor in the water thruster needs to be actively discharged, for example, by releasing the energy in the capacitor of the driving motor through active discharge; at this time, the active discharge of the driving motor in the water thruster will cause power generation to the energy component. The operation indicated by the first control instruction includes: prohibiting the water thruster from being reversed, that is, disconnecting the power supply circuit between the energy component and the water thruster corresponding to the driving motor that needs to be actively discharged.

[0107] Exemplarily, the operation indicated by the second control instruction includes at least one of disconnecting the output of the energy component and limiting the output of the energy component.

[0108] (1) An exemplary explanation of disconnecting the output of the energy component is provided: if the second fault information indicates that the temperature of the battery in the energy component is higher than the first threshold value, continued discharge of the battery will cause the temperature to continue to rise and burn out the components in the energy component; the operation indicated by the second control instruction includes: prohibiting the battery in the energy component from discharging, thereby avoiding damage to the components in the energy component.

[0109] (2) An exemplary explanation of limiting the output of the energy component is provided: if the second fault information indicates that the state of charge of the battery in the energy component is lower than the preset state, continued discharge of the battery will cause an over-discharge problem; the operation indicated by the second control instruction includes: limiting the discharge output capacity of the battery in the energy component to avoid the over-discharge problem of the battery.

[0110] In some embodiments, the water propulsion unit is communicatively connected to the interactive component; the fault handling method further includes: sending a second fault message to the interactive component so that the interactive component displays the second fault message. This embodiment realizes the display of the second fault message in the interactive component so that the user can understand the fault condition in the water propulsion system. For example, if the second fault message is "communication module failure in the water propulsion unit", it can be displayed in at least one of a visual and an auditory manner, such as through a display in the interactive component to display a visual prompt of "the communication module in the water propulsion unit is faulty, please repair the communication module"; or through a speaker in the interactive component to play a voice prompt of "the communication module in the water propulsion unit is faulty, please repair the communication module".

[0111] In some embodiments, the water propeller is connected to the interactive component for communication. When any one of the multiple water propellers fails, the user can continue to send operational requirements related to the water propeller through the interactive component, such as increasing the propulsion speed, maintaining the current propulsion speed, increasing the tilting angle, or maintaining the current posture, etc. The host can then adjust the operating parameters of the water propeller that has not failed based on the user's requirements to meet the user's needs. The first control instruction is sent to the water propeller according to the second fault information, and further includes: when any one of the multiple water propellers fails, based on the second fault information and the third control instruction currently received from the interactive component, determining the operating parameters of the multiple water propellers; sending a first control instruction carrying the corresponding operating parameters to each water propeller, so that the water propeller receiving the first control instruction operates according to the corresponding operating parameters; wherein the operating parameters include at least one of the propulsion parameters, the steering parameters, and the tilting parameters. This embodiment can automatically and dynamically adjust the working mode of the water propeller based on the second fault information determined by fault diagnosis and the third control instruction currently received from the interactive component, thereby improving the flexibility and adaptability of the water propeller system and enabling it to better cope with various operating scenarios and fault conditions.

[0112] For example, multiple water thrusters include water thruster A as the host and water thrusters B, C, D and F as slaves. The second fault information is "the temperature of the drive motor in water thruster F is too high". The user can send a third control instruction to the host through the interactive component. For example, the third control instruction instructs to maintain the current propulsion speed of the water movable device. The host can then modify the propulsion parameters of at least one of the water thrusters A, B, C and D according to the second fault information corresponding to the water thruster F and the third control instruction currently received from the interactive component. For example, the host can increase the propulsion parameters of the water thruster B, keep the propulsion parameters of the water thrusters A, C and D unchanged, and adjust the propulsion parameters of the water thruster F to 0, and then send the first control instruction carrying the corresponding operating parameters to each water thruster. In this way, when a fault occurs in the water thruster F, the propulsion speed of the entire water movable device is maintained unchanged by automatically adjusting the propulsion parameters of the water thrusters that have not failed.

[0113] For multiple water propulsion systems connected to the same communication system, the master water propulsion system can execute the fault handling method described in any of the aforementioned embodiments. However, identifying the master from among the multiple water propulsion systems to coordinate the operation and fault handling of the entire water propulsion system is also a challenge. Based on this, the fault handling method of this application also provides the following master-slave identification scheme to improve the communication, response, and decision-making capabilities of the entire water propulsion system.

[0114] In some embodiments, before the master propeller obtains at least one first fault message, the multiple propellers need to perform master-slave identification. The fault handling method further includes: obtaining the external communication priority of the local propeller; obtaining the external communication priority of other propellers; and performing master-slave identification based on the difference between the external communication priority of the local propeller and the external communication priority of the other propellers.

[0115] For example, the external communication priority refers to the priority order of external communication of the water propulsion device. The water propulsion device with a higher external communication priority can communicate, transmit data or receive instructions first.

[0116] For example, the local machine can communicate with other water propulsion devices through the communication system, broadcast its external communication priority through the communication system, and obtain the external communication priority broadcast by other water propulsion devices through the communication system. Through this broadcasting method, each of the multiple water propulsion devices connected through the communication system can obtain the external communication priority of other water propulsion devices.

[0117] In this embodiment, the master-slave identification is performed based on the difference between the external communication priorities of multiple water thrusters, which is conducive to selecting the water thruster with a higher or highest external communication priority as the master, thereby bringing efficient communication capabilities, enabling timely response and decision-making, and thus improving the overall performance of the water movable device installed with multiple water thrusters.

[0118] In some embodiments, during the process of master-slave identification, master-slave identification is performed based on the difference between the external communication priority of the local machine and the external communication priority of other water thrusters, including: the water thruster can determine whether the external communication priority of the local machine is the highest based on the difference between the external communication priority of the local machine and the external communication priority of other water thrusters; if the external communication priority of the local machine is the highest, the local machine is set as the master; otherwise, the local machine is set as the slave. This embodiment sets the water thruster with the highest external communication priority as the master, which will ensure that the water thruster system has a powerful and efficient external communication capability. The host can communicate with other water thrusters, interactive components, terminals or the cloud more quickly, transmit instructions or obtain required data in a timely manner, thereby quickly responding and making decisions, and achieving more efficient task execution and control.

[0119] Exemplarily, the external communication priority includes: the communication signal strength between the water propulsion device and the cloud; and / or the broadcast priority of the water propulsion device in the communication system.

[0120] In one possible implementation, when a water propeller communicates with the cloud, the communication signal strength is an important factor. A water propeller with a stronger communication signal strength can communicate with the cloud more stably, reducing the possibility of data transmission failure or interruption. Therefore, the external communication priority can include the communication signal strength between the water propeller and the cloud. The higher the communication signal strength between the water propeller and the cloud, the higher the external communication priority of the water propeller. In the process of master-slave identification, the master-slave identification based on the difference between the external communication priority of this unit and the external communication priority of other water propellers includes: the water propeller can judge whether the communication signal strength between this unit and the cloud is the highest based on the communication signal strength between this unit and the cloud, and the difference between the communication signal strength between other water propellers and the cloud; if the communication signal strength between this unit and the cloud is the highest, then this unit is set as the master; otherwise, this unit is set as the slave. The set host can communicate with the cloud more stably.

[0121] In one possible application scenario, a communication module is installed in the water thruster to enable communication with the cloud. The communication module can be, for example, a 4G communication module, a 5G communication module, etc., which is not limited here. For water thrusters such as inboard engines and pod thrusters, since this type of water thruster is installed at the bottom of the movable body, the communication module in the water thruster is easily blocked by the movable body, resulting in weak communication signal strength. Therefore, in order to enhance the communication capability between the water thruster and the cloud while reducing communication costs, a communication signal enhancement device, such as an antenna, can be connected to one of the multiple water thrusters. The communication signal enhancement device is installed in a position that is not blocked by the body of the movable device to achieve unobstructed transmission and unobstructed reception of wireless signals. Among them, the communication signal strength of the water thruster directly connected to the communication signal enhancement device is usually the highest. Therefore, each water thruster obtains the external communication priority of the local machine, including: detecting the communication signal strength at the port of the local machine used to connect to the communication signal enhancement device. In other words, the water thruster serving as the host is equipped with a communication signal enhancement device.

[0122] In another possible implementation, the broadcast priority of a water propeller in a communication system (such as a bus communication system) determines its priority when communicating with other water propellers or components. A water propeller with a higher broadcast priority can send a broadcast message to the outside and obtain a response from other water propellers or components in priority when it needs to exchange information or share data with other water propellers or components. Therefore, the external communication priority can also include the broadcast priority of the water propeller in the communication system. The higher the broadcast priority of the water propeller in the communication system, the higher the external communication priority of the water propeller. In the process of master-slave identification, the master-slave identification is performed based on the difference between the external communication priority of the local machine and the external communication priority of other water propellers, including: the water propeller can judge whether the broadcast priority of the local machine in the communication system is the highest based on the difference between the broadcast priority of the local machine in the communication system and the broadcast priority of other water propellers in the communication system; if the broadcast priority of the local machine in the communication system is the highest, the local machine is set as the master; otherwise, the local machine is set as the slave. In this embodiment, the water thruster with the highest broadcast priority is set as the host. The water thruster serving as the host can obtain a faster response when communicating with other water thrusters or components, which is conducive to more efficient task execution and control.

[0123] For example, a water propeller has an identification code that represents its broadcast priority in the communication system. Different water propellers have different identification codes. For example, the smaller the water propeller's identification code, the higher its broadcast priority in the communication system. Therefore, during master-slave identification, a water propeller can determine whether its identification code is the smallest based on the difference between its own identification code and that of other water propellers. If its identification code is the smallest, indicating that it has the highest broadcast priority in the communication system, it can be set as the master; otherwise, it can be set as the slave. The identification code can be pre-set and stored in the water propeller before it leaves the factory. The identification code can be directly equal to the water propeller's unique identification code or converted from the water propeller's unique identification code. Because the identification code is unique, differentiating the broadcast priority of different water propellers based on the difference in identification code makes it easier to distinguish the broadcast priorities of different water propellers and prevents different water propellers from having the same broadcast priority.

[0124] Of course, the larger the identification code of the water thruster is, the higher the broadcast priority of the water thruster in the communication system is. This embodiment does not impose any limitation on this.

[0125] In another possible implementation, the communication signal strength between the water propulsion system and the cloud, and the broadcast priority of the water propulsion system in the communication system can be comprehensively considered to select the master and slave from multiple water propulsion systems. This can ensure the stability and reliability of communication and optimize the communication efficiency between the water propulsion system and the water movable device.

[0126] In some embodiments, the master-slave identification process can be executed in response to a configuration instruction. Executing the master-slave identification only when there is a configuration instruction can make the master-slave identification of the water propulsion system more orderly and ensure the stability of the system operation.

[0127] The configuration instructions can be automatically generated when the water thruster meets predetermined conditions. This solution, which automatically generates configuration instructions without requiring user manipulation, is more intelligent and convenient.

[0128] Configuration commands can also be triggered manually by the user. Providing a manual trigger method for users provides greater user flexibility. When the user wants to change the host, they can manually operate the water propulsion device or display to re-perform master and slave identification, which improves the user experience.

[0129] As for the case of automatic triggering, it can be automatically triggered during the initialization process, or it can be automatically triggered when the communication signal strength between the water propeller and the cloud changes. For example, the predetermined conditions include any one of the following: (1) the water propeller is in the initialization process of the first power-on; (2) the communication signal strength between all water propellers and the cloud is less than the preset threshold; (3) the communication signal strength between at least one water propeller and the cloud is greater than the preset threshold. Among them, the preset threshold can be specifically set according to the actual application scenario, and this embodiment does not impose any restrictions on this. The preset threshold can be set and stored in the water propeller before the water propeller leaves the factory. The preset threshold can be one or more. When the water propeller is enabled, the corresponding preset threshold can be selected based on the current application scenario of the water propeller, or the pre-stored preset threshold can be updated accordingly according to the preset algorithm corresponding to the current application scenario, etc. This embodiment does not impose any restrictions on this.

[0130] For the case of manual triggering, the water propeller or the interactive component may generate a configuration instruction upon receiving the user's configuration operation, and the water propeller communicates with the interactive component. Exemplarily, the water propulsion system includes an interactive component, which may be connected to the water propeller via a bus. The interactive component includes but is not limited to a display screen, a remote control box, etc.; or, the interactive component may be wirelessly connected to the water propeller, such as when the interactive component includes a mobile terminal. The user may perform configuration operations in the interactive component or the water propeller according to actual needs, and the water propeller or the interactive component may generate a configuration instruction upon receiving the user's configuration operation. For example, during the initialization process of the water propeller when it is powered on for the first time, the display screen may prompt the user to perform master-slave configuration, and the user may operate the display screen or the water propeller so that the display screen or the water propeller generates a configuration instruction. In the case where the display screen generates a configuration instruction, the display screen sends the configuration instruction to the water propeller so that the water propeller performs master-slave identification based on the configuration instruction. For another example, during the operation of the water propeller, the communication signal strength between the water propeller and the cloud may change. If the degree of change is large, for example, the communication signal strength between all water thrusters and the cloud is less than the preset threshold, the user can operate the display screen or water thruster to generate configuration instructions so that the master and slave devices can be re-identified.

[0131] Through the above-mentioned multiple triggering methods, it is possible to set the water thruster with higher or highest external communication capability as the host, which is conducive to ensuring higher communication capability and enabling timely response and decision-making.

[0132] The following is an illustrative description of some triggering scenarios.

[0133] The external communication priority includes the communication signal strength between the water propulsion device and the cloud and the broadcast priority of the water propulsion device in the communication system. The following embodiments are described by taking the communication system as a bus communication system as an example.

[0134] In a possible implementation, the water thruster may respond to a configuration instruction during the initialization process of first power-on, and then perform master-slave identification based on the broadcast priority of the water thruster in the bus.

[0135] Referring to FIG6 , the control method includes:

[0136] In S201, in response to a configuration instruction automatically generated during the initialization process of first power-on or generated based on a user's configuration operation, the water thruster obtains its own broadcast priority in the communication system and the broadcast priority of other water thrusters in the bus.

[0137] In S202 , if the local device has the highest broadcast priority in the bus, the local device is set as the master; otherwise, the local device is set as the slave.

[0138] For example, during the initialization process of initial power-up, each water propeller can automatically generate configuration instructions based on this initialization process. Alternatively, one water propeller can receive a user-generated configuration instruction and send it to the bus. Because the bus shares information, the other water propellers can receive the configuration instruction. Subsequently, each water propeller obtains its own broadcast priority based on the configuration instruction and broadcasts it to the bus. Because the bus shares information, each water propeller can obtain the broadcast priority of the other water propellers. Each water propeller can determine whether it should be set as a master or slave based on its own broadcast priority and the broadcast priorities of the other water propellers. If a water propeller's broadcast priority is the highest among all broadcast priorities, it determines itself as the master, and the other water propellers determine themselves as slaves. Each water propeller can send its own master-slave information to the bus to make its master-slave information known to other water propellers; alternatively, each water propeller can directly determine its own master-slave information based on the broadcast priorities of all water propellers.

[0139] After the master and slave devices are determined, configuration instructions can be generated again to re-identify the master and slave devices. Among them, configuration instructions may be generated again in the following situations.

[0140] In one scenario, a water propulsion system or a powered-on interactive component receives a user's configuration operation and generates a configuration instruction again. If the configuration instruction is generated by the powered-on interactive component, the interactive component can broadcast the configuration instruction to all water propulsion systems via the bus. If the configuration instruction is generated by one water propulsion system, the water propulsion system can broadcast the generated configuration instruction to other water propulsion systems via the bus.

[0141] Specifically, referring to FIG6 , the control method further includes:

[0142] In S203, in response to the configuration instruction generated by the user's configuration operation received by the water propulsion device or the interactive component, if the communication signal strength of the local device is the strongest, the local device is set as the master device; otherwise, the local device is set as the slave device.

[0143] After the water thruster determines the master and slave machines, it also provides users with the opportunity to reset the master and slave machines, which can provide users with greater freedom and a better user experience.

[0144] In another case, based on the need for communication between the water thruster and the cloud, after the master and slave machines are determined, configuration instructions can be generated again (automatically generated or generated by receiving user configuration operations) to enable the water thruster to respond to the configuration instructions and re-identify the master and slave machines based on the communication signal strength between the water thruster and the cloud.

[0145] Specifically, please refer to FIG6 , the control method further includes:

[0146] In S204, it is detected whether the communication signal strengths of all water thrusters are less than a preset threshold.

[0147] In S205 , when the communication signal strength of at least one water propulsion device is greater than a preset threshold, if the communication signal strength of the local device is the strongest, the local device is set as the master device; otherwise, the local device is set as the slave device.

[0148] In S206, when the communication signal strengths of all water thrusters are less than a preset threshold, the original master-slave state of the local machine is maintained.

[0149] After each water propulsion system determines its master and slave based on broadcast priority, it can obtain the communication signal strength of all water propulsion systems and re-determine the master and slave based on the communication signal strength of each water propulsion system. It is understood that during the operation of water propulsion systems, water propulsion systems need to communicate with the cloud to upload operating data or receive data and instructions from the cloud. Therefore, during the operation of water propulsion systems, the water propulsion system with the strongest communication signal strength can be switched to the master to be responsible for interaction with the cloud, which can ensure the stability of the interaction between the water propulsion system and the cloud.

[0150] In another case, since the interactive component is not directly connected to the battery, but rather transmits power through a water propeller connected between the interactive component and the battery. In the scenario where a mobile device is equipped with multiple water propellers, if multiple water propellers simultaneously power the interactive component, there may be problems such as overload and instability. For example, if multiple water propellers simultaneously power the interactive component, the current load capacity required by the interactive component may exceed the current load capacity required by the interactive component, resulting in power overload. Therefore, it is necessary to select one of the multiple water propellers to power the interactive component. Since the initialization process of the water propeller takes a certain amount of time, the connection between the communication module and the cloud can only be established after the initialization is completed. In other words, during the initialization process, it may not be possible to identify the master and slave devices based on the strength of the communication signal. Therefore, in order to ensure that the interactive component can also be powered during the initialization process when the water propeller is first powered on, during the initialization process when the water propeller is first powered on, the multiple water propellers need to first perform master-slave identification to determine the master device so that the master device can output power to the interactive component, thereby powering on the interactive component. After the interactive component is powered on and the water thruster is initialized, the configuration instruction is generated again (automatically generated or generated by receiving the user's configuration operation) so that the water thruster responds to the configuration instruction and re-identifies the master and slave based on the communication signal strength between the water thruster and the cloud.

[0151] Specifically, referring to FIG6 , the control method further includes:

[0152] In S207, when the local machine serves as the host, power is supplied to the interactive component to power on the interactive component. In this embodiment, after the host is determined, the host directly powers the interactive component without further selection steps, which is conducive to ensuring that the interactive component is powered on quickly.

[0153] In S208, when the interactive component is powered on and the communication signal strength of at least one water thruster is greater than a preset threshold, if the communication signal strength of this local machine is the strongest, this local machine is set as the master; otherwise, this local machine is set as the slave.

[0154] In S209, when the communication signal strengths of all water thrusters are less than a preset threshold, the original master-slave state of the local machine is maintained.

[0155] It is understandable that after the interactive component is powered on and the water thruster is initialized, the communication signal strength between the water thruster and the cloud may not meet the stable communication requirements between the water thruster and the cloud due to external environmental factors or poor signal enhancement devices. Therefore, after the interactive component is powered on and the water thruster is initialized, it is possible to first determine whether the strength of the water thruster and the communication signal meets the communication requirements, that is, whether it is greater than the preset threshold. If it is greater than the preset threshold, the master and slave machines are re-identified based on the communication signal strength; if it is less than the preset threshold, the original master-slave state is directly maintained.

[0156] In this embodiment, the master and slave devices are identified based on broadcast priority during the initialization process, enabling rapid power-up of the interactive component. Furthermore, after the interactive component is powered on, the communication signal strength is used to determine whether to re-determine the master and slave devices. This avoids unnecessary master-slave switching when the communication signal strength does not meet communication requirements. Furthermore, when the communication signal strength meets communication requirements, the propulsion system with the strongest signal strength can be switched to the master device, thereby improving the stability of communication between the propulsion system and the cloud.

[0157] For example, after the master and slave machines are identified based on the communication signal strength between the water propulsion machine and the cloud, if the water propulsion machine acting as the host subsequently detects that the communication signal strength between all water propulsion machines and the cloud is less than a preset threshold, it can generate a configuration instruction again (automatically generated or generated after receiving the user's configuration operation) and send it to the slave machine through the bus.

[0158] Specifically, please refer to FIG6 , the control method further includes:

[0159] In S210, in response to the configuration instruction generated by the water propeller as the host when the communication signal strength of all water propellers communicating with the cloud is less than a preset threshold, if the local machine has the highest broadcast priority in the bus, the local machine is set as the host; otherwise, the local machine is set as the slave.

[0160] In this embodiment, when the communication signal strength between all water propulsion units and the cloud does not meet the communication requirements, the master-slave identification is re-executed, and the water propulsion unit with the highest external communication priority is set as the master. This is beneficial to ensuring the communication efficiency within the water propulsion system and ensuring that the water propulsion unit serving as the master can respond and make decisions in a timely manner.

[0161] In another possible implementation, the water thruster may respond to the configuration instruction during the initialization process of the first power-on, and then perform master-slave identification based on the communication signal strength between the water thruster and the cloud.

[0162] Referring to FIG. 7 , the control method includes:

[0163] In S301, in response to a configuration instruction automatically generated during the initialization process of first power-on or generated based on a user's configuration operation, the water thruster obtains the communication signal strength between the water thruster and the cloud and the communication signal strength between other water thrusters and the cloud.

[0164] In S302 , if the communication signal strength of the local device is the strongest, the local device is set as the master device; otherwise, the local device is set as the slave device.

[0165] Exemplarily, during the initialization process of first power-on, each water thruster can automatically generate a configuration instruction based on the initialization process, or one of the water thrusters receives a user operation to generate a configuration instruction, and the water thruster sends the configuration instruction to the bus. Due to the information sharing on the bus, the other water thrusters can all receive the configuration instruction. Subsequently, each water thruster obtains the communication signal strength of the local machine communicating with the cloud based on the configuration instruction, and broadcasts the communication signal strength of the local machine communicating with the cloud to the bus. Due to the information sharing on the bus, each water thruster can obtain the communication signal strength of the other water thrusters communicating with the cloud. Each water thruster can determine whether the local machine should be set as a master or a slave based on the communication signal strength of the local machine and the communication signal strength of other water thrusters. If the communication signal strength of a certain water thruster is the strongest among all the communication signal strengths, the water thruster determines itself as the master, and the other water thrusters determine themselves as slaves. Each water thruster can send its own master-slave information to the bus so that other water thrusters know its own master-slave information; or, each water thruster can directly determine the master-slave information of each water thruster based on the communication signal strength of all water thrusters.

[0166] In this embodiment, during operation, the propulsion system needs to communicate with the cloud to upload operational data or receive data and instructions from the cloud. Therefore, the propulsion system with the strongest communication signal strength is designated as the host to interact with the cloud, ensuring the stability of the interaction between the propulsion system and the cloud.

[0167] After the master and slave devices are determined, configuration instructions can be generated again to re-identify the master and slave devices. Among them, configuration instructions may be generated again in the following situations.

[0168] In one scenario, a water propulsion system or a powered-on interactive component receives a user's configuration operation and generates a configuration instruction again. If the configuration instruction is generated by the powered-on interactive component, the interactive component can broadcast the configuration instruction to all water propulsion systems via the bus. If the configuration instruction is generated by one water propulsion system, the water propulsion system can broadcast the generated configuration instruction to other water propulsion systems via the bus.

[0169] Specifically, referring to FIG7 , the control method further includes:

[0170] In S303, in response to the configuration instruction generated by the user's configuration operation received by the water propulsion device or the interactive component, if the local machine has the highest broadcast priority in the bus, the local machine is set as the host; otherwise, the local machine is set as the slave.

[0171] After the water thruster determines the master and slave machines, it also provides users with the opportunity to reset the master and slave machines, which can provide users with greater freedom and a better user experience.

[0172] In another case, when the communication signal strengths of all water thrusters communicating with the cloud do not meet the communication requirements, the master-slave identification can be re-executed.

[0173] Specifically, please refer to FIG7 again, the control method further includes:

[0174] In S304, when the communication signal strengths of all water thrusters are less than a preset threshold, if the local machine has the highest broadcast priority in the bus, the local machine is set as the master; otherwise, the local machine is set as the slave.

[0175] In this embodiment, when the communication signal strength between all water propulsion units and the cloud does not meet the communication requirements, the master-slave identification is re-executed, and the water propulsion unit with the highest external communication priority is set as the master. This is beneficial to ensuring the communication efficiency within the water propulsion system and ensuring that the water propulsion unit serving as the master can respond and make decisions in a timely manner.

[0176] In some embodiments, based on the communication requirements between the water propellers and the cloud, master-slave identification can be re-executed when the communication signal strength between at least one water propeller and the cloud meets the communication requirements. For example, after master-slave identification is performed based on the broadcast priority of the water propellers on the bus, if the water propeller acting as the master subsequently detects that the communication signal strength of at least one water propeller is greater than a preset threshold, it can regenerate a configuration instruction and send it to the slave via the bus.

[0177] Specifically, please refer to FIG7 again, the control method further includes:

[0178] In S305, in response to the configuration instruction generated by the water propeller as the host when the communication signal strength of at least one water propeller is greater than a preset threshold, if the communication signal strength of this local machine is the strongest, this local machine is set as the host; otherwise, this local machine is set as the slave.

[0179] In this embodiment, after each water propulsion system determines the master and slave based on broadcast priority, if it subsequently detects that the communication signal strength between at least one water propulsion system and the cloud meets the communication requirements, the master and slave can be re-determined based on the water propulsion system's communication signal strength. During the operation of the water propulsion system, the water propulsion system with the strongest communication signal strength can be switched to the master to be responsible for interaction with the cloud, which can ensure the stability of the interaction between the water propulsion system and the cloud.

[0180] 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.

[0181] In some embodiments, referring to FIG8 , the water propulsion system provided in the embodiments of the present application includes, in addition to the components described in FIG4 , a processor 61 and a memory 62. The memory 62 stores executable instructions that can be run on the processor 61; when the processor 61 executes the executable instructions, the steps of the fault handling method described in any of the above embodiments are implemented.

[0182] The processor 61 executes the executable instructions included in the memory 62. The processor 61 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0183] The memory 62 stores executable instructions of the fault handling method. The memory 62 may include at least one type of storage medium, including flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, disk, optical disk, etc.

[0184] In an exemplary embodiment, the present application further provides a non-transitory computer-readable storage medium including instructions, such as a memory including computer instructions, wherein the computer instructions can be executed by a processor of the water propulsion system to perform the fault handling method described in any of the above embodiments. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0185] 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 fault handling method, characterized in that: Applicable to each water thruster of a plurality of water thrusters connected to the same communication system; The fault handling method comprises: When the local machine serves as a host, obtaining at least one first fault information, where the first fault information is generated by at least one water area thruster among the plurality of water area thrusters; Performing fault diagnosis according to the at least one first fault information to determine second fault information; A first control instruction is sent to the water area thruster according to the second fault information, so that the water area thruster receiving the first control instruction executes the operation indicated by the first control instruction.

2. The fault handling method according to claim 1, characterized in that: The first fault information includes a plurality of pieces of information, and the performing fault diagnosis according to the at least one piece of first fault information to determine the second fault information includes: Performing fault diagnosis on first fault information with causal relationship among a plurality of first fault information together, and determining second fault information commonly corresponding to the first fault information with causal relationship; Fault diagnosis is performed on each of the first fault information that has no causal relationship among the plurality of first fault information, and second fault information corresponding to each of the first fault information that has no causal relationship is determined.

3. The fault handling method according to claim 2, characterized in that: The water area thruster has a pre-stored fault mapping table, wherein the fault mapping table includes a causal relationship between different first fault information; The performing fault diagnosis according to the at least one first fault information to determine the second fault information further includes: Based on the fault mapping table, it is determined whether the first fault information having the causal relationship exists in the plurality of first fault information.

4. The fault handling method according to claim 2, characterized in that: The priorities of the plurality of first fault information are different, and the performing fault diagnosis according to the at least one first fault information to determine the second fault information further includes: Based on the priorities and categories of the multiple first fault information, determine whether the first fault information with a causal relationship exists among the multiple first fault information, among the first fault information with a causal relationship, multiple first fault information have the same category, and the priority of the first fault information that is the root cause of the fault is higher than the priorities of the remaining first fault information.

5. The fault handling method according to claim 2, characterized in that: The method of jointly diagnosing the first fault information with a causal relationship among the plurality of first fault information to determine the second fault information commonly corresponding to the first fault information with a causal relationship includes: Determine first fault information belonging to a root cause fault from the first fault information having a causal relationship; Fault diagnosis is performed based on the first fault information belonging to the root fault, and second fault information corresponding to the first fault information having a causal relationship is determined.

6. The fault handling method according to claim 2, characterized in that: The priorities of the plurality of first fault information are different, and the fault diagnosis is performed on the first fault information that is not causally related among the plurality of first fault information, respectively, to determine the second fault information that respectively corresponds to the first fault information that is not causally related, including: Determining a processing order of the first fault information without a causal relationship according to the priority of the first fault information without a causal relationship, wherein the higher the priority of the first fault information, the higher the processing order of the first fault information; Fault diagnosis is performed on the first fault information that does not have a causal relationship respectively according to the processing order to determine the second fault information that respectively corresponds to the first fault information that does not have a causal relationship.

7. The fault handling method according to any one of claims 1 to 6, characterized in that: The performing fault diagnosis according to the at least one first fault information to determine the second fault information includes: The at least one first fault information is diagnosed according to a pre-stored fault mapping table to determine the second fault information, wherein the fault mapping table stores a corresponding relationship between the at least one first fault information and the second fault information.

8. The fault handling method according to any one of claims 1 to 6, characterized in that: The performing fault diagnosis according to the at least one first fault information to determine the second fault information includes: At every first preset time period, a fault diagnosis is performed on the first fault information received within the first preset time period to determine the second fault information.

9. The fault handling method according to any one of claims 1 to 6, characterized in that: The performing fault diagnosis according to the at least one first fault information to determine the second fault information includes: If the duration of the fault indicated by the first fault information reaches a second preset duration, determining whether the fault indicated by the first fault information has been resolved; In response to the fact that the fault indicated by the first fault information has not been resolved, a fault diagnosis is performed according to the first fault information to determine the second fault information.

10. The fault handling method according to claim 9, characterized in that: If the duration of the fault indicated by the first fault information is greater than a second preset duration, determining whether the fault indicated by the first fault information has been resolved includes: If the first fault information is generated by other water body thrusters, and the duration of the fault indicated by the first fault information is greater than the second preset duration, a query request is sent to the water body thruster that generates the first fault information, so as to query the water body thruster that generates the first fault information whether the fault indicated by the first fault information has been resolved; If the first fault information is generated by the local device, and the duration of the fault indicated by the first fault information is greater than a second preset duration, it is determined whether the fault indicated by the first fault information has been resolved.

11. The fault handling method according to claim 1, characterized in that: The other water area thrusters except the master among the plurality of water area thrusters are determined as slaves; and the obtaining of at least one first fault information comprises: receiving first fault information sent by the slave; and / or, Get the first fault information generated by this machine.

12. The fault handling method according to claim 11, characterized in that: The obtaining of first fault information generated by the machine includes: In response to satisfying a fault diagnosis start condition, periodically performing fault detection; When a fault is detected, the first fault information is generated.

13. The fault handling method according to claim 12, characterized in that: The generating the first fault information when a fault is detected includes: When a fault is detected and the duration of the fault is greater than a third preset duration, the first fault information is generated.

14. The fault handling method according to claim 12, characterized in that: At intervals of a first preset time, the host performs fault diagnosis on the first fault information acquired within the first preset time; wherein the first preset time is an integer multiple of a period of fault detection performed by the host.

15. The fault handling method according to claim 11, characterized in that: The water propeller is also in communication with the preset component; the first fault information generated by the machine includes at least one of the following: The first fault information generated by the host when the host detects that a fault occurs in the host; The host generates first fault information when detecting that the preset component fails.

16. The fault handling method according to claim 11, characterized in that: The water area thruster is also in communication connection with the preset component; the obtaining of at least one first fault information further includes: Receive first fault information sent when the preset component fails.

17. The fault handling method according to claim 15 or 16, characterized in that: The fault handling method further includes: A second control instruction is sent to the preset component according to the second fault information, so that the preset component that receives the second control instruction executes the operation indicated by the second control instruction.

18. The fault handling method according to claim 15 or 16, characterized in that: The preset components include interactive components and / or energy components.

19. The fault handling method according to claim 18, characterized in that: The operation indicated by the second control instruction includes at least one of disconnecting the output of the energy component and limiting the output of the energy component.

20. The fault handling method according to claim 1, characterized in that: The operation indicated by the first control instruction includes at least one of prohibiting the power output of the water area thruster, limiting the power output of the water area thruster, and prohibiting reverse charging of the water area thruster.

21. The fault handling method according to claim 1, characterized in that: The water area thruster is communicatively connected with the interactive component, and the sending of the first control instruction to the water area thruster according to the second fault information further includes: When any one of the plurality of water area thrusters fails, determining operating parameters of the plurality of water area thrusters based on the second fault information and a third control instruction currently received from the interactive component; Sending a first control instruction carrying the operating parameters corresponding to each of the water area thrusters, so that the water area thrusters receiving the first control instruction operate according to the operating parameters corresponding to the water area thrusters; Wherein, the operating parameters include at least one of propulsion parameters, steering parameters, and warping parameters.

22. The fault handling method according to claim 1, characterized in that: The water area thruster is communicatively connected with the interactive component; the fault handling method further includes: The second fault information is sent to the interactive component so that the interactive component displays the second fault information.

23. The fault handling method according to claim 1, characterized in that: Before obtaining at least one first fault information when the local machine serves as a host, the fault handling method further includes: Obtain the external communication priority of this machine; Obtain external communication priority for thrusters in other waters; The master-slave machine identification is performed based on the difference between the external communication priority of the local machine and the external communication priority of the thrusters in other waters.

24. The fault handling method according to claim 23, characterized in that: The master-slave machine identification is performed according to the difference between the external communication priority of the local machine and the external communication priority of the other water thrusters, including: If the external communication priority of this machine is the highest, set this machine as the master; otherwise, set this machine as the slave.

25. The fault handling method according to claim 24, characterized in that: The external communication priority includes the broadcast priority of the water area thruster in the communication system. The higher the broadcast priority of the water area thruster, the higher the external communication priority of the water area thruster.

26. The fault handling method according to claim 25, characterized in that: The external communication priority also includes the communication signal strength between the water propulsion device and the cloud; The fault handling method further includes: When the communication signal strength between at least one water propulsion device and the cloud is greater than a preset threshold, if the communication signal strength of the local device is the strongest, the local device is set as the master device; otherwise, the local device is set as the slave device; When the communication signal strength of all propellers in the water area is less than the preset threshold, the original master-slave state of the machine is maintained.

27. The fault handling method according to claim 25, characterized in that: The water area thruster is connected to the interactive component; The fault handling method further includes: When the local machine serves as a host, electric energy is output to the interactive component to power on the interactive component.

28. The fault handling method according to claim 27, characterized in that: The external communication priority also includes the communication signal strength between the water propulsion device and the cloud; The fault handling method further includes: When the interactive component is powered on and the communication signal strength of at least one water thruster is greater than a preset threshold, if the communication signal strength of the local machine is the strongest, the local machine is set as the master machine, otherwise, the local machine is set as the slave machine; When the communication signal strength of all propellers in the water area is less than the preset threshold, the original master-slave state of the machine is maintained.

29. The fault handling method according to claim 25, characterized in that: The master-slave identification process is performed in response to a configuration instruction; The configuration instruction is automatically generated by the water thruster when a predetermined condition is met; the predetermined condition includes any one of the following: the water thruster is in the initialization process of first power-on; the communication signal strength of all water thrusters communicating with the cloud is less than a preset threshold; or The configuration instruction is generated by the water propeller or the interactive component according to the received configuration operation of the user, and the water propeller communicates with the interactive component.

30. The fault handling method according to claim 24, characterized in that: The external communication priority includes the communication signal strength between the water thruster and the cloud. The stronger the communication signal strength of the water thruster, the higher the external communication priority of the water thruster.

31. The fault handling method according to claim 30, characterized in that: The external communication priority also includes the external broadcast priority of the water thruster in the communication system; The fault handling method further includes: When the communication signal strength of at least one water thruster is greater than a preset threshold, the original master-slave state of the machine is maintained; When the communication signal strength of all water thrusters is less than the preset threshold, if the local machine has the highest broadcast priority in the communication system, the local machine is set as the master machine, otherwise, the local machine is set as the slave machine.

32. The fault handling method according to claim 30, characterized in that: The master-slave identification process is performed in response to a configuration instruction; The configuration instruction is automatically generated by the water thruster when a predetermined condition is met; the predetermined condition includes any one of the following: the water thruster is in the initialization process of being powered on for the first time; The communication signal strength of at least one water propulsion device is greater than a preset threshold; or The configuration instruction is generated by the water propeller or the interactive component according to the received configuration operation of the user, and the water propeller communicates with the interactive component.

33. The fault handling method according to any one of claims 26, 28, 30 and 31, characterized in that: The water thruster as the main engine is equipped with a communication signal enhancement device. Each water thruster obtains the external communication priority of the machine, including: The communication signal strength at the port of the machine used to connect to the communication signal enhancement device is detected.

34. The fault handling method according to any one of claims 25 to 27 and 31, characterized in that: The water thruster has an identification code, which is used to characterize the broadcast priority of the water thruster in the communication system. Different water thrusters have different identification codes.

35. The fault handling method according to claim 34, characterized in that: The smaller the identification code of the water thruster is, the higher the broadcast priority of the water thruster is.

36. The fault handling method according to claim 1, characterized in that: The communication system comprises a bus system or a wireless communication system.

37. A water propeller, characterized in that: include: processor; and A memory storing executable instructions that can be run on the processor; Wherein, when the processor executes the executable instructions, the steps of the fault handling method described in any one of claims 1 to 36 are implemented.

38. A water propulsion system, characterized in that: Comprising a plurality of water propellers as described in claim 37.

39. The water propulsion system according to claim 38, characterized in that: It also includes a preset component; the preset component and the multiple water body thrusters are connected to the same communication system.

40. A movable device in water area, characterized in that: include: Movable body; as well as The water area propulsion system as described in claim 38 or 39, wherein the water area propulsion system is installed on the movable body.

41. A computer-readable storage medium having computer instructions stored thereon, characterized in that: When the computer instructions are executed by the processor, the steps of the fault handling method described in any one of claims 1 to 36 are implemented.

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