Configuration method, control apparatus and system, power system, and movable equipment

Abstract

A configuration method, a control apparatus (110), a control system (11), a power system (13), an on-water movable equipment (10), and a computer-readable storage medium. The configuration method comprises: (202) in response to receiving a first configuration instruction, controlling a local machine to enter a configuration mode; (204) if a console configuration instruction is received in the configuration mode, in response to receiving the console configuration instruction, configuring the local machine as a first console of an on-water movable equipment (10); (206) if the console configuration instruction is not received in the configuration mode, in response to not receiving the console configuration instruction, configuring the local machine as a second console of the on-water movable equipment (10). When one of the first console and the second console is in an operating mode, the other is in a standby mode, thus avoiding the problem of conflicting control instructions, and improving the driving safety of the on-water movable equipment.

Description

Configuration method, control device and system thereof, power system, and movable device Technical Field

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

[0002] Mobile devices in water areas, such as ships, are usually equipped with control devices such as a steering wheel, a remote control box, and a tiller, so that the driver can operate the control devices to control the navigation.

[0003] To meet the varying needs of users, related technologies categorize ships into single-control consoles and multiple-control consoles. For ships with multiple control consoles, when control devices are installed on different control consoles and multiple control devices are connected to the system, control command conflicts may occur, affecting the safety of ship operation.

[0004] Summary of the Invention

[0005] In order to overcome the problems existing in the related art, the present application provides a configuration method, a control device, a control system, a power system, a mobile device in water area and a computer-readable storage medium.

[0006] According to a first aspect of an embodiment of the present application, a configuration method is provided for a control device of a movable device in water area, wherein the movable device in water area includes at least two control devices; the configuration method includes: in response to receiving a first configuration instruction, controlling the local device to enter a configuration mode; if a control console configuration instruction is received in the configuration mode, then in response to receiving the control console configuration instruction, configuring the local device as a first control console for the movable device in water area; if no control console configuration instruction is received in the configuration mode, then in response to not receiving the control console configuration instruction, configuring the local device as a second control console for the movable device in water area, and when one of the first control console and the second control console is in working mode, the other is in standby mode.

[0007] According to a second aspect of an embodiment of the present application, a configuration method is provided for a control system of a movable device in water area, the control system including at least a first control device and a second control device; the configuration method includes: the first type of control device and the second type of control device control the local device to enter a configuration mode in response to receiving a first configuration instruction; if one of the first type of control device and the second type of control device receives a control console configuration instruction in the configuration mode, then the control device of this type configures the local device as a first control console of the movable device in response to receiving the control console configuration instruction, and the other type of control device configures the local device as a second control console of the movable device in response to not receiving the control console configuration instruction, and when one of the first control console and the second control console is in working mode, the other is in standby mode.

[0008] According to a third aspect of an embodiment of the present application, a control device is provided for a movable device in water areas. The movable device in water areas includes at least two control devices, and the control devices are used to: in response to receiving a first configuration instruction, control the local device to enter a configuration mode; if a control console configuration instruction is received in the configuration mode, then in response to receiving the control console configuration instruction, configure the local device as a first control console for the movable device in water areas; if no control console configuration instruction is received in the configuration mode, then in response to not receiving the control console configuration instruction, configure the local device as a second control console for the movable device in water areas. When one of the first control console and the second control console is in working mode, the other is in standby mode.

[0009] According to a fourth aspect of an embodiment of the present application, a control system is provided for a movable device in water area, which includes a first type of control device and a second type of control device; the first type of control device and the second type of control device are used to control the device to enter a configuration mode in response to receiving a first configuration instruction; if one of the first type of control device and the second type of control device receives a control console configuration instruction in the configuration mode, then the control device of this type is used to configure the device as a first control console for the movable device in water area in response to receiving the control console configuration instruction, and the other type of control device is used to configure the device as a second control console for the movable device in water area in response to not receiving the control console configuration instruction. When one of the first control console and the second control console is in working mode, the other is in standby mode.

[0010] According to a fifth aspect of an embodiment of the present application, a power system is provided, the power system comprising: at least one water thruster; and the control device provided in the third aspect of the present application, the control device being used to control the water thruster.

[0011] According to the sixth aspect of the embodiment of the present application, a power system is provided, the power system comprising: at least one water thruster; and the control system provided in the fourth aspect of the present application, the control system being used to control the water thruster.

[0012] According to a seventh aspect of the embodiments of the present application, a movable device for use in water areas is provided, comprising: a movable body; and the power system provided in the fifth or sixth aspect of the present application, the power system being combined with the movable body.

[0013] According to an eighth aspect of an embodiment of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the configuration method provided in the first aspect or the second aspect of the present application are implemented.

[0014] This application controls the control device to enter the configuration mode in response to the first configuration instruction. In the configuration mode, the control device that receives the control console configuration instruction configures the device as the first control console of the mobile device in water area; in the configuration mode, the control device that does not receive the control console configuration instruction configures the device as the second control console of the mobile device in water area. When one of the first control console and the second control console is in the working mode, the other is in the standby mode. As a result, there will be no situation where multiple control consoles issue control instructions at the same time, thus avoiding the problem of control command conflicts and improving the safety of driving the mobile device in water area. In addition, this application realizes the scenario requirement of configuring the control device as a dual control console, and the user experience is better.

[0015] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] FIG1 is a schematic structural diagram of a movable device for use in water areas according to an embodiment of the present application;

[0017] FIG2 is a flow chart of a configuration method for a control device according to an embodiment of the present application;

[0018] FIG3a is a schematic structural diagram of a single-machine control device from one perspective according to an embodiment of the present application;

[0019] FIG3b is a schematic structural diagram of the stand-alone control device shown in FIG3a from another perspective;

[0020] FIG4a is a schematic structural diagram of a dual-machine control device according to one embodiment of the present application from one perspective;

[0021] FIG4b is a schematic structural diagram of the dual-machine control device shown in FIG4a from another perspective;

[0022] FIG5 is a schematic diagram showing the connection between a water propulsion device, a control device, and a display screen according to an embodiment of the present application;

[0023] FIG6 is a schematic diagram of a wiring method of a control system according to an embodiment of the present application;

[0024] FIG7 is a schematic diagram of another wiring method of a control system according to an embodiment of the present application;

[0025] FIG8 is a schematic diagram of another wiring method of a control system according to an embodiment of the present application;

[0026] FIG9a is a flowchart of a configuration method for a control system according to an embodiment of the present application;

[0027] FIG9 b is a flowchart of another configuration method for a control system according to an embodiment of the present application;

[0028] FIG10a is a flow chart of another configuration method for a control system according to an embodiment of the present application;

[0029] FIG10 b is a flowchart of another configuration method for a control system according to an embodiment of the present application;

[0030] FIG11a is a flow chart of another configuration method for a control system according to an embodiment of the present application;

[0031] FIG11b is a flowchart illustrating another configuration method for a control system according to an embodiment of the present application;

[0032] FIG12 is a flowchart of another configuration method for a control system according to an embodiment of the present application. DETAILED DESCRIPTION

[0033] Embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements unless otherwise indicated. The embodiments described in the following examples are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0034] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. As used in this application and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0035] It should be understood that although the terms first, second, third, etc. may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0036] First, some concepts involved in this application are described.

[0037] As shown in FIG1 , the movable water device 10 includes a control system 11 , at least one water propeller 130 , and a movable body 15 .

[0038] The water propulsion device 130, such as an outboard motor, is a power device that is suspended on a movable water device 10 such as a boat or a yacht, and can propel the boat or yacht to sail.

[0039] The mobile watercraft 10 is typically equipped with control devices 110, such as a steering wheel, a telecontrol box, a side throttle lever, and a tiller. These control devices 110 are mounted on a console 150 provided on the mobile body 15. The driver manipulates these control devices 110 to control the navigation of the mobile watercraft 10. The control devices 110 are part of the control system 11 and can be used to control the vessel's forward movement, reverse movement, and steering, among other functions.

[0040] Mobile watercraft can be categorized as either single-console or multi-console. For multi-console mobile watercraft, when control devices are installed on different consoles and multiple control devices are connected to the system, conflicting control commands may occur, impacting the safety of vessel operation.

[0041] Based on this, the present application proposes a control console configuration solution and a corresponding control device 110 suitable for multi-control console scenarios. The control device 110 provided in the present application can be well installed and configured in scenarios with two or more control consoles 150, not only resolving the problem of control command conflicts, but also broadening the use scenarios of the control device 110 and improving the user experience. The following will introduce the technical solution of this specification in conjunction with embodiments.

[0042] It should be noted that the console 150 mentioned in this application can be understood as an installation position provided on the movable body 15 of the movable device 10 in water area for installing the control device 110, and one or more control devices 110 installed on the same console 150 are collectively referred to as a control console.

[0043] As shown in Figures 1 and 2, the present application provides a flow chart of a configuration method for a control device 110. The configuration method is used for the control device 110 of a mobile device 10 in water area, and the mobile device 10 in water area includes at least two control devices 110. The configuration method includes:

[0044] Step 202: In response to receiving the first configuration instruction, control the local device to enter a configuration mode;

[0045] Step 204 , if a console configuration instruction is received in the configuration mode, then in response to receiving the console configuration instruction, configuring the local device as a first console of the mobile device 10 in the water area;

[0046] Step 206 : If no console configuration instruction is received in the configuration mode, then in response to not receiving the console configuration instruction, the local device is configured as a second console of the mobile device 10 in the water area.

[0047] Among them, the control device 110 can be any one of a steering wheel, a remote control box, and a side throttle lever, and this application does not limit this.

[0048] Please refer to Figures 3a and 3b, and take the control device 110 as a remote control box as an example. The control device 110 includes a control body 111, a main interface 113, a secondary interface 115 and a human-computer interaction component 117. The main interface 113 and the secondary interface 115 are used to access the first bus 17 (shown in Figure 4a). The human-computer interaction component 117 includes a joystick 1171 and a button 1173. The joystick 1171 is used to output throttle commands to control the water propeller 130 to move forward, backward, etc. The button 1173 can be a virtual button and / or a physical button, and this application does not limit this. The button 1173 can be used to output mode control instructions to control the control device 110 or the water propeller 130 to operate in the corresponding mode.

[0049] In addition, the number of control devices 110 configured as the same control console (first control console or second control console) can be one or more. For example, as shown in Figures 3a and 3b, one control device 110 can be configured as the first control console or the second control console; for another example, as shown in Figures 4a and 4b, two control devices 110 can be configured as the first control console or the second control console at the same time; for another example, four control devices 110 can be configured as the first control console or the second control console at the same time, etc. This application does not impose any restrictions on this. When multiple control devices 110 are simultaneously equipped as the same control console and there are multiple water thrusters 130, the multiple control devices 110 can respectively control one or more water thrusters 130 corresponding thereto.

[0050] In addition, the number of control devices 110 configured as the first control console and the number of control devices 110 configured as the second control console may be equal or different. For example, the number of control devices 110 configured as the first control console and the number of control devices 110 configured as the second control console may both be one or two, or the number of control devices 110 configured as the first control console may be one and the number of control devices 110 configured as the second control console may be two, and so on. This application does not impose any limitation on this.

[0051] It should be noted that in the related art, control devices are divided into single-machine control devices and dual-machine control devices. However, single-machine control devices and dual-machine control devices are two independent devices. A dual-machine control device cannot be spliced ​​together by two single-machine control devices. Users can only purchase the corresponding control devices according to their needs. In the present application, when multiple control devices 110 are configured as the same control console, the multiple control devices 110 can be spliced ​​together to form a multi-machine control device, such as the two control devices 110 shown in Figure 4a are spliced ​​together to form a dual control device. In other words, the embodiments of the present application can splice multiple single-machine control devices to form a multi-machine control device, eliminating the need to separately equip corresponding multi-machine control devices when a multi-machine control device is needed. Since the configuration method of the present application configures itself as the first control console by receiving a control console configuration instruction, in a scenario where two control devices 110 are installed on each console, it is only necessary to ensure that each control device 110 on the current console receives the control console configuration instruction to configure both control devices 110 as the first control console. This means that users no longer need to purchase corresponding single-machine or dual-machine control devices according to their needs, and can meet the setting requirements of different devices, making the application range of the control device 110 wider and the scene adaptability stronger.

[0052] When one of the first control console and the second control console is in working mode, the other is in standby mode. Only the control console 110 in working mode can control the forward, backward and turning operations of the water propeller 130 in the movable water device 10, while the control console 110 in standby mode cannot send relevant control instructions to the water propeller 130 in the movable water device 10. The control console 110 must be switched to working mode before it can be controlled. In other words, only one control console 110 can be in working mode at the same time. This prevents the problem of control command conflicts between the multiple control devices 110 connected to the system, ensuring the driving safety of the movable water device 10 with multiple control consoles 150.

[0053] In one embodiment, referring to Figures 1 and 5 , the mobile device 10 is also equipped with a display screen 12. Each control device 110 and display screen 12 installed on the mobile device 10 is connected to a first bus 17. Each control device 110 and display screen 12 installed on the mobile device 10 share information on the first bus 17. The first bus 17 can receive and transmit signals from all control devices 110 and display screens 12 installed on the connected mobile device 10. Specifically, the sending of the first configuration instruction can occur in the following two situations.

[0054] In scenario 1, the first configuration instruction is associated with display screen 12. Specifically, the first configuration instruction is generated by display screen 12 when it receives a user operation. Display screen 12 transmits the generated first configuration instruction via first bus 17 to all control devices 110 connected to first bus 17 in the mobile device 10. Control devices 110 receive the first configuration instruction sent by display screen 12 via first bus 17 to enter configuration mode. The user operation can be, for example, pressing or touching a button on display screen 12, and this is not a limitation.

[0055] The first configuration instruction in scenario 2 is not directly related to the display screen 12. That is, scenario 2 can still be implemented even if the display screen 12 is not present. Specifically, the first configuration instruction is generated when any of the control devices 110 connected to the first bus 17 receives a user operation and is sent to the first bus 17 by the control device 110 that received the user operation. The user operation can be, for example, pressing or touching a button 1173 on the control device 110, and is not limited here.

[0056] In the above two cases, when the buttons are physical buttons, in order to avoid the problem of setting too many buttons on the display screen 12 or the control device 110, the function reuse of the buttons can be achieved by setting the pressing action (such as long pressing a set button) or the number of buttons pressed (such as pressing two set buttons at the same time).

[0057] The above two situations can be included in the control system of the mobile device 10 at the same time, or only one of them can be included. This embodiment is not limited to this. It should be noted that in the case where both situations are included, after the first configuration instruction is triggered and sent to the first bus 17, the first configuration instruction cannot be triggered again before the configuration is completed.

[0058] In one embodiment, as shown in Figures 1 and 3a to 8, at least two control devices 110 installed on the mobile device 10 in the water area each include a primary interface 113 and a secondary interface 115. For one of the control devices 110, the local device is directly connected to the first bus 17 via the primary interface 113 on the control device 110. The console configuration command is generated when the local device receives a user operation. Here, the term "local device" refers to the control device 110 that receives the user operation. In scenarios where the two control devices 110 are configured as a console, the control device 110 with the primary interface 113 connected to the first bus 17 serves as the primary control device 110, while the other control device 110 serves as the secondary control device 110, where the secondary control device 110 is connected to the first bus 17 via its secondary interface 115. In the following embodiments, for ease of description, the primary control device 110 is described as the primary control device, and the secondary control device 110 as the secondary control device. However, the primary and secondary relationships can be interchanged, and this is not a limitation of the present application.

[0059] Based on the above embodiment, it should also be noted that the user operation here is different from the user operation for generating the first configuration instruction. For example, the user operation described in the above embodiment can be defined as a first user operation, and the user operation described in this embodiment can be defined as a second user operation. Then, it can be understood from the above embodiment that the first user operation can act on the control device 110 connected to the first bus 17, or on the display screen 12 connected to the first bus 17, to turn on the configuration mode; and the second user operation is acted after the configuration mode is turned on, and the object of the action is the control device 110 connected to the first bus 17, to determine the control console to which the control device 110 belongs. Since the second user operation will not be responded to until the control device 110 enters the configuration mode, the first user operation and the second user operation can be the same action or different actions, and this application does not impose any restrictions on this. In an example of the present application, the first user operation is a set action, and the second user operation is an arbitrary action. For example, the first user operation is the user touching the "Enter Configuration Mode" button on the display screen 12, and the second user operation is the user pressing any button 1173 on the control device 110. Alternatively, the first user operation is the user pressing two set buttons 1173 on the control device 110 at the same time, and the second user operation is the user pressing any button 1173 on the control device 110, etc.

[0060] According to the above embodiment, it can be understood that if each control console uses only one control device 110 introduced in the above embodiment, that is, each control console includes one control device 110, then it is only necessary for the main interface 113 of each control device 110 to be connected to the first bus 17. The control device 110 of each control console is the main control device, and each control console does not include a sub-control device; however, as mentioned in the above embodiment, there is also a case where each control console includes two control devices 110. For this case, the specific configuration method is described in the following embodiments.

[0061] In a first embodiment, each of the at least two control devices 110 installed on the mobile device 10 in the water area includes a primary interface 113 and a secondary interface 115. The primary interface 113 of one control device is directly connected to the first bus 17, in which case the device serves as the primary control device. The secondary interface 115 of the other control device 110 is connected to the secondary interface 115 of the primary control device via an internal signal line 19, thereby enabling the other control device 110 to access the first bus 17. In this case, the other control device 110 serves as the secondary control device. The internal signal line 19 and the first bus 17 do not share signals. Therefore, signals sent by the other control device 110 to the first bus 17 must be forwarded by the control device 110 serving as the primary control device. The embodiment shown in FIG6 illustrates a case where two control devices 110 are installed on each control console. In the case where the other control device 110 is connected to the first bus 17 via the internal signal line 19, the configuration method further includes: sending a control console configuration instruction to the other control device 110 via the internal signal line 19.

[0062] Specifically, the current configuration method is implemented by the control device 110, which serves as the master control device. The master control device receives user input and generates a console configuration instruction. This instruction is then transmitted via internal signal line 19 to its associated control device 110 (i.e., the slave control device), allowing the slave control device to also perform console configuration. Because both control devices 110 receive the console configuration instruction, they are configured as the primary control device.

[0063] In this embodiment, internal signal line 19 is distinct from first bus 17 described in the previous embodiment. Internal signal line 19 and first bus 17 do not share information. Control instructions and other signals transmitted on internal signal line 19 are transmitted only between the two control devices 110 connected by internal signal line 19. Furthermore, whenever one control device 110 needs to send an instruction to the other, it can directly transmit and / or receive the instruction via internal signal line 19, eliminating the need to send the instruction to first bus 17 and then transmit it via the first bus 17. The presence of internal signal line 19 eliminates the need for linking control devices 110 during console configuration and improves signal transmission efficiency between multiple control devices 110 within the same console.

[0064] In the second embodiment, each control device 110 includes a primary interface 113 and a secondary interface 115. The primary interface 113 of this machine is directly connected to the first bus 17. In this case, this machine serves as the primary control device. The secondary interface 115 of another control device 110 is connected to the secondary interface 115 of this machine via an internal signal line 19. In this case, the other control device 110 serves as a secondary control device. The information of the internal signal line 19 and the first bus 17 is not shared. The control console configuration instruction is generated when the other control device 110 receives a user operation. In this case, the configuration method further includes: receiving the control console configuration instruction sent by the other control device 110 via the internal signal line 19.

[0065] Unlike the first embodiment, in this embodiment, the main control device does not configure itself as the first control console based on received user operations. Instead, the control console configuration command is generated by the secondary control device upon receiving the user operation. Upon receiving the control console configuration command, the secondary control device sets itself as the first control console. Furthermore, the secondary control device directly transmits the control console configuration command to the main control device via internal signal line 19, causing the main control device to also configure itself as the first control console. As in the first embodiment, the presence of internal signal line 19 eliminates the need for linked operations between multiple control devices 110 and improves signal transmission efficiency between multiple control devices 110 belonging to the same control console.

[0066] In the third embodiment, referring to Figures 4a, 4b and 6, each control device 110 includes a main interface 113 and a sub-interface 115. The sub-interface 115 of this machine is connected to the sub-interface 115 of another control device 110 via an internal signal line 19. In this case, this machine serves as a sub-control device. The main interface 113 of another control device 110 is directly connected to the first bus 17. In this case, the other control device 110 serves as a main control device. The information of the internal signal line 19 and the first bus 17 is not shared. The control console configuration instruction is generated when the other control device 110 receives a user operation. In this case, the configuration method further includes: receiving the control console configuration instruction sent by the other control device 110 via the internal signal line 19.

[0067] Unlike the first embodiment, the configuration method in this embodiment is implemented by the control device 110, which serves as a secondary control device. The control console configuration command is generated by the primary control device when it receives a user operation. The secondary control device receives the control console configuration command sent by the primary control device via internal signal line 19 to set the device as the primary control console.

[0068] Similar to the first embodiment, the existence of the internal signal line 19 eliminates the need for associated operations between the multiple control devices 110 and improves the signal transmission efficiency between the multiple control devices 110 belonging to the same control console.

[0069] In the fourth embodiment, please refer to Figures 4a, 4b and 6. Each control device 110 includes a main interface 113 and a sub-interface 115. The sub-interface 115 of this machine is connected to the sub-interface 115 of another control device 110 via an internal signal line 19. At this time, this machine acts as a sub-control device. The main interface 113 of another control device 110 is directly connected to the first bus 17. At this time, the other control device 110 acts as a main control device. The information of the internal signal line 19 and the first bus 17 is not shared. The control console configuration instruction is generated when this machine receives a user operation. At this time, the configuration method also includes: sending the control console configuration instruction to the other control device 110 via the internal signal line 19.

[0070] Unlike the first embodiment, the configuration method in this embodiment is implemented by the control device 110, which serves as a secondary control device. The secondary control device generates a console configuration instruction when it receives a user operation. The secondary control device sends the console configuration instruction to the primary control device via an internal signal line 19, so that the primary control device sets the device as the primary control console based on the console configuration instruction.

[0071] Similar to the first embodiment, the existence of the internal signal line 19 eliminates the need for associated operations between the multiple control devices 110 and improves the signal transmission efficiency between the multiple control devices 110 belonging to the same control console.

[0072] In the fifth embodiment, please refer to Figures 4a, 4b, 7 and 8. Each control device 110 includes a main interface 113 and a sub-interface 115. The main interface 113 of this machine is directly connected to the first bus 17. In this case, this machine serves as the main control device. The sub-interface 115 of another control device 110 is connected to the sub-interface 115 of this machine through the second bus 18, and the second bus 18 shares information with the first bus 17; or, the sub-interface 115 of another control device 110 is directly connected to the first bus 17. In this case, the other control device 110 serves as a sub-control device. The control console configuration instructions are generated separately for the two control devices 110. In other words, the main control device and the sub-control device installed on the same console 150 need to receive user operations separately to configure themselves as the first control console.

[0073] Unlike the first embodiment, the configuration method in this embodiment is executed separately by the primary and secondary control devices. Since the secondary interface 115 of the secondary control device is connected directly to the first bus 17 or via the second bus 18, the user must separately operate the two control devices 110 installed on the same console to configure each control device 110 as the first console.

[0074] In this embodiment, the sub-control device is directly connected to the first bus 17 or is connected to the first bus 17 through the second bus 18. At this time, the information transmitted to the outside by the sub-control device can be directly known by other control devices 110, and the information sharing within the entire bus communication system is more comprehensive. The comprehensive information is conducive to the coordinated control between multiple devices connected to the first bus 17.

[0075] The first through fifth embodiments described above all address configuration methods for a control device 110 that has received a console configuration command. Referring to Figures 3a through 8 , in the sixth embodiment, the configuration method is performed separately by a primary control device and a secondary control device installed on the same console 150. Regardless of how the secondary control device is connected to the first bus 17, if multiple control devices 110 installed on the same console do not receive a console configuration command during configuration mode, each of the multiple control devices 110 can configure itself as a secondary console.

[0076] The console configuration method is simple and user-friendly, and the system determines which console to configure itself as based on whether it receives a console configuration instruction.

[0077] For multiple control devices 110 installed on the same console 150, if the control device 110 serving as a slave control device is connected to the control device 110 serving as the master control device via an internal signal line 19, the multiple control devices 110 can mutually know their association relationship based on the internal signal line 19. However, if the control device 110 serving as a slave control device is not connected to the control device 110 serving as the master control device via the internal signal line 19, the multiple control devices 110 installed on the same console 150 need to perform an association operation to determine which of the multiple control devices 110 connected to the bus communication system are in the same console as themselves. In this regard, several association configuration methods are described below with reference to Figures 1, 4a, 4b, 7, and 8.

[0078] In the first embodiment, among the multiple control devices 110 installed on the same console 150, each control device 110 includes a main interface 113 and a secondary interface 115. The main interface 113 of one control device 110 is directly connected to the first bus 17 (the one control device 110 is the main control device), and the secondary interface 115 of another control device 110 is directly connected to the first bus 17 (the other control device 110 is the secondary control device), or the secondary interface 115 of the other control device 110 is connected to the secondary interface 115 of the one control device 110 via the second bus 18 (the other control device 110 is the secondary control device). Both the main control device and the secondary control device are control devices 110 that receive the control console configuration instruction. In this case, the configuration method further includes: receiving control console information sent by the other control device 110; associating the local control device with the other control device 110 based on the control console information; and sending the association information between the local control device and the other control device 110 to the first bus 17.

[0079] In this embodiment, the association operation is performed after multiple control devices 110 installed on the same console 150 have configured their own console information. The configuration method is executed by the master control device. The master control device transmits its own console information (i.e., first console information) to the first bus 17. After receiving the console information from the master control device via the first bus 17, the slave control device performs an association operation, as its own console information is also the first console information. After the association operation is completed, the master control device transmits the association information between the master control device and the slave control device to the first bus 17. Upon receiving the association information, the slave control device completes the association between the two.

[0080] By associating multiple control devices 110 installed on the same console 150, each control device 110 connected to the first bus 17 can know which control devices 110 belong to the same console. When the operating mode of two control devices 110 belonging to the same console needs to switch from each control device 110 controlling the corresponding water propellers 130 to one control device 110 controlling all water propellers 130, the two control devices 110 in the console can know which control device 110 currently has control of all water propellers 130, and thus change their own operating mode accordingly, without the situation where the control commands of the two control devices 110 belonging to the same console conflict, further ensuring the driving safety of the water movable device 10. In addition, by associating, the main control device and the auxiliary control device are realized as the same console. Therefore, the user no longer needs to purchase corresponding single or dual control devices according to their needs, and the configuration requirements of different devices can be met, making the application range of the control device 110 wider and more adaptable to different scenarios.

[0081] In the second embodiment, among the multiple control devices 110 installed on the same console 150, each control device 110 includes a main interface 113 and a secondary interface 115. The main interface 113 of one control device 110 is directly connected to the first bus 17 (the one control device 110 is the main control device), and the secondary interface 115 of another control device 110 is directly connected to the first bus 17 (the other control device 110 is the secondary control device), or the secondary interface 115 of the other control device 110 is connected to the secondary interface 115 of the one control device 110 via the second bus 18 (the other control device 110 is the secondary control device). Both the main control device and the secondary control device are control devices 110 that receive the control console configuration instruction. The configuration method also includes: sending the control console information of the local control device to the first bus 17 so that the other control device 110 performs associated operations based on the control console information; and receiving the association information between the local control device and the other control device 110 sent by the other control device 110.

[0082] Unlike the first embodiment, in this embodiment, the association operation is performed by the secondary control device. The primary control device is responsible for transmitting its own console information (i.e., first console information) to the secondary control device via the first bus 17, and then receiving the secondary control device's association information from the secondary control device. The configuration method in this embodiment is still performed by the primary control device.

[0083] Similar to the first embodiment, this embodiment prevents conflicting control commands between two control devices 110 belonging to the same console, ensuring safe operation of the mobile device 10 in water areas. Furthermore, users no longer need to purchase separate single or dual control devices to meet the configuration requirements of different devices, thus expanding the application range and adaptability of the control device 110 to various scenarios.

[0084] In the third embodiment, among the multiple control devices 110 installed on the same console 150, each control device 110 includes a main interface 113 and a sub-interface 115. The sub-interface 115 of one control device 110 is directly connected to the first bus 17 (the one control device 110 is a sub-control device), or the sub-interface 115 of one control device 110 is connected to the sub-interface 115 of another control device 110 through the second bus 18 (the one control device 110 is a sub-control device). The main interface 113 of the other control device is directly connected to the first bus 17 (the other control device is the main control device). Both control devices 110 are control devices 110 that receive the control console configuration instruction. The configuration method also includes: sending the control console information of the local machine to the first bus 17, so that the other control device 110 performs associated operations based on the control console information; and receiving the association information between the other control device 110 and the local machine sent by the other control device 110.

[0085] Unlike the first embodiment, in this embodiment, the configuration method is performed by the secondary control device, but the association operation is still performed by the primary control device. Specifically, the secondary control device is responsible for sending its own console information (i.e., first console information) to the first bus 17. This console information is used by the primary control device to associate the primary control device with the secondary control device based on this console information. Once the association is complete, the primary control device sends the association information to the secondary control device via the first bus 17 or the second bus 18, and the secondary control device receives the association information.

[0086] It should be noted that the sub-control device sends its own console information to the first bus 17 in the following ways: when the sub-interface 115 of the sub-control device is directly connected to the first bus 17, the sub-control device directly sends its own console information to the first bus 17; when the sub-interface 115 of the sub-control device is connected to the sub-interface 115 of the main control device, the sub-control device first sends its own console information to the second bus 18. Since the first bus 17 and the second bus 18 share information, the first bus 17 can also receive the console information on the second bus 18. In other words, the sub-control device indirectly sends its own console information to the first bus 17. The sub-control device sending information to the first bus 17 mentioned below can also be understood in accordance with the description here and will not be elaborated on again.

[0087] Similar to the first embodiment, this embodiment prevents conflicting control commands between two control devices 110 belonging to the same console, ensuring safe operation of the mobile device 10 in water areas. Furthermore, users no longer need to purchase separate single or dual control devices to meet the configuration requirements of different devices, thus expanding the application range and adaptability of the control device 110 to various scenarios.

[0088] In a fourth embodiment, among the multiple control devices 110 installed on the same console 150, each control device 110 includes a main interface 113 and a sub-interface 115. The sub-interface 115 of one control device 110 is directly connected to the first bus 17 (the one control device 110 is a sub-control device), or the sub-interface 115 of one control device 110 is connected to the sub-interface 115 of another control device 110 through the second bus 18 (the one control device 110 is a sub-control device). The main interface 113 of the other control device is directly connected to the first bus 17 (the other control device is the main control device). Both control devices 110 are control devices 110 that receive the control console configuration instruction. The configuration method also includes: when receiving the control console information sent by the other control device 110, associating the local machine with the other control device 110; and sending the association information between the local machine and the other control device 110 to the first bus 17.

[0089] Unlike the first embodiment, in this embodiment, the configuration method and association operation are performed by the secondary control device. Specifically, the secondary control device receives console information from the primary control device via the first bus 17 or the second bus 18 and associates the device with the primary control device based on the console information. Once the association is complete, the secondary control device sends the association information to the first bus 17.

[0090] Similar to the first embodiment, this embodiment prevents conflicting control commands between two control devices 110 belonging to the same console, ensuring safe operation of the mobile device 10 in water areas. Furthermore, users no longer need to purchase separate single or dual control devices to meet the configuration requirements of different devices, thus expanding the application range and adaptability of the control device 110 to various scenarios.

[0091] The above-mentioned first to fourth embodiments are described based on the main control device or auxiliary control device of the first control console. The following embodiments are described based on the main control device or auxiliary control device of the second control console. Each embodiment has similarities and differences with the parts described in the above-mentioned corresponding embodiments. Please refer to the following embodiment description for details.

[0092] In a fifth embodiment, among the multiple control devices 110 installed on the same console 150, each control device 110 includes a main interface 113 and a secondary interface 115. The main interface 113 of one control device 110 is directly connected to the first bus 17 (the one control device 110 is the main control device), and the secondary interface 115 of the other control device 110 is directly connected to the first bus 17 (the other control device 110 is the secondary control device), or the secondary interface 115 of the other control device 110 is connected to the secondary interface 115 of the one control device 110 through the second bus 18 (the other control device 110 is the secondary control device). Both control devices 110 are control devices 110 that have not received the control console configuration instruction. The configuration method also includes: receiving control console information sent by the other control device 110; associating the local device with the other control device 110 based on the control console information; and sending the association information between the local device and the other control device 110 to the first bus 17.

[0093] In this embodiment, the association operation is performed after multiple control devices 110 installed on the same console 150 have configured their own console information. The configuration method is executed by the master control device. The master control device receives the console information (i.e., the second console information) sent by the slave control device. Since the master control device's console information is also the second console information, the master control device associates the master control device with the slave control device and sends the association information between the master control device and the slave control device to the first bus 17.

[0094] Similar to the first embodiment, this embodiment prevents conflicting control commands between two control devices 110 belonging to the same console, ensuring safe operation of the mobile device 10 in water areas. Furthermore, users no longer need to purchase separate single or dual control devices to meet the configuration requirements of different devices, thus expanding the application range and adaptability of the control device 110 to various scenarios.

[0095] In the sixth embodiment, among the multiple control devices 110 installed on the same console 150, each control device 110 includes a main interface 113 and a sub-interface 115. The main interface 113 of one control device 110 is directly connected to the first bus 17 (the one control device 110 is the main control device), and the sub-interface 115 of the other control device 110 is directly connected to the first bus 17 (the other control device 110 is the sub-control device), or the sub-interface 115 of the other control device 110 is connected to the sub-interface 115 of the one control device 110 through the second bus 18 (the other control device 110 is the sub-control device). Both control devices 110 are control devices 110 that have not received the control console configuration instruction. The configuration method also includes: sending the control console information of the local machine to the first bus 17, so that the other control device 110 performs associated operations based on the control console information;

[0096] Unlike the fifth embodiment, in this embodiment, the configuration method is still performed by the primary control device, but the association action is performed by the secondary control device. Specifically, the primary control device sends its own console information (i.e., second console information) to the first bus 17. After the secondary control device receives this second console information, since its console information is also second console information, it associates itself with the primary control device. Once the association is complete, the secondary control device sends the first association information to the first bus 17. The primary control device then receives this association information.

[0097] Similar to the first embodiment, this embodiment prevents conflicting control commands between two control devices 110 belonging to the same console, ensuring safe operation of the mobile device 10 in water areas. Furthermore, users no longer need to purchase separate single or dual control devices to meet the configuration requirements of different devices, thus expanding the application range and adaptability of the control device 110 to various scenarios.

[0098] In the seventh embodiment, among the multiple control devices 110 installed on the same console 150, each control device 110 includes a main interface 113 and a sub-interface 115. The sub-interface 115 of one control device 110 is directly connected to the first bus 17 (the one control device 110 is a sub-control device), or the sub-interface 115 of one control device 110 is connected to the sub-interface 115 of another control device 110 through the second bus 18 (the one control device 110 is a sub-control device). The main interface 113 of the other control device is directly connected to the first bus 17 (the other control device is the main control device). Both control devices 110 are control devices 110 that receive the control console configuration instruction. The configuration method also includes: sending the control console information of the local machine to the first bus 17, so that the other control device 110 performs associated operations based on the control console information; and receiving the association information between the other control device 110 and the local machine sent by the other control device 110.

[0099] Unlike the fifth embodiment, in this embodiment, the association action is still performed by the primary control device, but the configuration method is performed by the secondary control device. Specifically, the secondary control device transmits its own second console information to the first bus 17. When the primary control device receives the second console information, since its console information is also second console information, it associates itself with the secondary control device. Once the association is complete, the primary control device transmits the first association information to the first bus 17. The secondary control device then receives the association information.

[0100] Similar to the first embodiment, this embodiment prevents conflicting control commands between two control devices 110 belonging to the same console, ensuring safe operation of the mobile device 10 in water areas. Furthermore, users no longer need to purchase separate single or dual control devices to meet the configuration requirements of different devices, thus expanding the application range and adaptability of the control device 110 to various scenarios.

[0101] In the eighth embodiment, among the multiple control devices 110 installed on the same console 150, each control device 110 includes a main interface 113 and a secondary interface 115. The secondary interface 115 of one control device 110 is directly connected to the first bus 17 (the one control device 110 is a secondary control device), or the secondary interface 115 of one control device 110 is connected to the secondary interface 115 of another control device 110 through the second bus 18 (the one control device 110 is a secondary control device). The main interface 113 of the other control device is directly connected to the first bus 17 (the other control device is the main control device). Both control devices 110 are control devices 110 that receive the control console configuration instruction. The configuration method also includes: receiving control console information sent by the other control device 110; associating the local device with the other control device 110 based on the control console information; and sending the association information between the local device and the other control device 110 to the first bus 17.

[0102] Unlike the fifth embodiment, in this embodiment, both the configuration method and the association action are performed by the secondary control device. Specifically, the secondary control device receives the second console information sent by the primary control device. Since the secondary control device's console information is also second console information, the secondary control device associates itself with the primary control device and sends the association information to the primary control device.

[0103] Similar to the first embodiment, this embodiment prevents conflicting control commands between two control devices 110 belonging to the same console, ensuring safe operation of the mobile device 10 in water areas. Furthermore, users no longer need to purchase separate single or dual control devices to meet the configuration requirements of different devices, thus expanding the application range and adaptability of the control device 110 to various scenarios.

[0104] In one embodiment, if the control device 110 is in the configuration mode, then when the human-computer interaction component 117 of the control device 110 receives a user operation, the control device 110 generates a console configuration instruction; if the control device 110 is not in the configuration mode, then when the human-computer interaction component 117 receives a user operation, the control device 110 generates a console operation instruction.

[0105] In this embodiment, the functions of the human-computer interaction component 117 vary when the control device 110 is in different modes. Specifically, when the control device 110 is in configuration mode, if a user operates the human-computer interaction component 117, such as pressing a button 1173 or pushing a joystick 1171, the control device 110 can generate a console configuration instruction based on the user's operation to configure the console information. When the control device 110 is not in configuration mode, if a user operates the human-computer interaction component, the control device 110 generates an instruction corresponding to the operation or performs an action corresponding to the operation. For example, if the user operates the throttle stick 1171, the control device 110 generates a throttle command, which is used to control the water thruster 13 to move forward, backward, etc.; for another example, if the user presses the button 1173, and the function corresponding to the button 1173 is position holding, the control device 110 generates a position holding command and controls the water thruster 13 to output propulsion and steering force for maintaining the position; for another example, when there are multiple control devices 110 on a control console, if the user presses the button 1173 of one of the control devices 110, and the function of the button 1173 is a single-machine control function of a single control device controlling all water thrusters 130, then the one control device 110 enters the single-machine control mode; for another example, when the control device 110 is in standby mode, if the user presses the button 1173 or pushes the joystick 1171, the control device 110 switches to the working mode.

[0106] In this embodiment, multiple functions can be realized by reusing the human-computer interaction component 117 , and the problem of needing to set up too many human-computer interaction components 117 can be avoided, which is conducive to simplifying the structure of the control device 110 .

[0107] In one embodiment, after controlling the machine to enter the configuration mode, the configuration method further includes the step of clearing existing console information in response to the first configuration instruction, where the console information includes first console information and second console information.

[0108] In this embodiment, it should be noted that the purpose of clearing existing console information is to prevent console configuration information from being disrupted during console reconfiguration due to the existing historical console information on the control device 110. For example, if there are two consoles 150, each equipped with two control devices 110, and the control device 110 installed on one of the consoles 150 has previously been used on another mobile device 10, the device may retain console information from previous use. In the event of a reinstallation or reuse, it is very likely that during console configuration, the console may need to be configured as the first console when the historical console information indicates the second console, potentially leading to unnecessary problems. Therefore, in the event of a reinstallation or reuse, clearing all existing historical console information on the control device 110 before starting console configuration can improve the accuracy and success rate of console configuration. Furthermore, the configuration method of this embodiment can be executed by any control device 110 installed on any console 150.

[0109] In one embodiment, the configuration method further includes: in response to receiving the second configuration instruction, controlling the local device to exit the configuration mode; or in response to the local device being in the configuration mode for a time period exceeding a preset time period, controlling the local device to exit the configuration mode.

[0110] Specifically, the second configuration instruction may be generated in response to receiving a third user operation, where the third user operation may be a setting action, such as the user touching an "Exit Configuration Mode" button on a display screen, or the user simultaneously pressing two setting buttons on the control device 110, etc. The second configuration instruction may be generated in response. The third user operation may also be an arbitrary action, such as, after receiving information indicating that the control console has completed configuration, the user pressing any button 1173 in response to generate the second configuration instruction, thereby exiting configuration mode.

[0111] The second configuration instruction can also be generated when the machine is in configuration mode for longer than a preset time, i.e., when a response times out. The preset time here can be set specifically based on user needs. For example, if no response is received within three minutes after receiving a response to each operation step in configuration mode, a second configuration instruction can be generated to exit configuration mode. Alternatively, if no response is received within one minute after completing console configuration, a second configuration instruction can be generated to exit configuration mode. Specific setting conditions and specific time durations can be determined based on user needs.

[0112] As an example, when any one of the above two conditions for exiting the configuration mode is met, the control device 110 may exit the configuration mode.

[0113] It should be noted that the configuration method in this embodiment can be executed by any control device 110 installed on any console 150 .

[0114] In this embodiment, the control device 110 is promptly exited from the configuration mode through user operation or response timeout, thereby preventing the control device 110 from remaining in the configuration mode and failing to operate normally. Furthermore, for operations that directly exit the configuration mode after a response timeout, the configuration mode can be automatically exited without user operation, thereby increasing convenience and providing a better user experience.

[0115] In one embodiment, the configuration method further includes: when the local machine is in the standby mode, in response to obtaining a request to take over the task instruction, configuring the local machine to the working mode; and sending a control right preemption notification generated based on the request to take over the task instruction.

[0116] In this embodiment, the command requesting to take over the task is generated by the local machine or the control device 110 associated with the local machine after receiving a user operation. The configuration method of this embodiment is executed by the control device 110 in the standby mode.

[0117] As an example, referring to Figures 1, 3a, 3b, and 5, if there is only one control device 110 on each console 150 and the control device 110 belonging to the first console is in standby mode, then when a user operates the control device 110 belonging to the first console, the control device 110 belonging to the first console generates a request to take over task instruction in response to the user's operation and, based on the request to take over task instruction, configures the machine to operating mode. Furthermore, the control device 110 belonging to the first console sends a control preemption notification to the first bus 17, causing the control device 110 belonging to the second console to enter standby mode.

[0118] As an example, referring to Figures 1, 4a, 4b, and 6, if there are two control devices on each console 150, and both control devices 110 belonging to the first console are in standby mode, then when a user operates the master control device belonging to the first console, the master control device of the first console generates a request to take over task instruction and configures the device to work mode. Furthermore, the master control device of the first console sends the request to take over task instruction to the slave control device of the first console via internal signal line 19, causing the slave control device of the first console to configure itself to work mode. Furthermore, the master control device of the first console sends a control preemption notification to the first bus 17, causing the master control device of the second console to enter standby mode. Upon receiving the control preemption notification, the master control device of the second console also sends a control preemption notification to the slave control device of the second console via internal signal line 19, causing the slave control device of the second console to also enter standby mode.

[0119] As an example, referring to Figures 1, 4a, 4b, 7, and 8, if there are two control devices on each console 150, and both control devices 110 belonging to the first console are in standby mode, then when a user operates the master control device belonging to the first console, the master control device belonging to the first console generates a request to take over the task instruction and configures itself to working mode. Furthermore, the master control device belonging to the first console sends a request to take over the task instruction to the slave control device belonging to the first console via the first bus 17, causing the slave control device belonging to the first console to also configure itself to working mode. Furthermore, the master control device belonging to the first console sends a control preemption notification to the first bus 17, causing both the master control device belonging to the second console and the slave control device belonging to the second console to enter standby mode.

[0120] In the three examples described above, the control device 110 in standby mode directly receives a user operation and generates a request to take over the task. In other examples, the operating mode of the control device 110 can also be switched via the display screen 12 shown in FIG5 . That is, the user performs a mode switching operation on the control device 110 on the display screen 12. In response to this operation, the display screen 12 generates a request to take over the task and sends it to the control device 110 in standby mode. After receiving the request to take over the task, the control device 110 in standby mode performs the subsequent switching operation.

[0121] This embodiment makes the control device 110 for controlling the mobile device 10 in the water area unique, effectively avoiding the conflict of configuration instructions of the control devices 110 on multiple control consoles, and further ensuring the driving safety of the mobile device 10 in the water area.

[0122] In one embodiment, the configuration method further includes the steps of: when the local machine is in working mode, in response to receiving a control preemption notification sent by other control devices 110, configuring the local machine to standby mode, the control preemption notification is generated by the other control device 110 based on a request to take over the task instruction, and the request to take over the task instruction is generated by the other control device 110 after receiving a user operation.

[0123] The configuration method in this embodiment is executed by the control device 110 in the working mode.

[0124] As an example, please refer to Figures 1, 3a, 3b and 5. If the number of control devices 110 on each console 150 is one, and the control device 110 belonging to the second console is in working mode, then when the control device 110 belonging to the second console receives a control preemption notification, the machine is configured to standby mode.

[0125] As an example, referring to Figures 1, 4a, 4b, and 6, if each console 150 has two control devices, and both control devices 110 belonging to the second console are in active mode, then when the master control device belonging to the second console receives a control preemption notification, it will be configured to enter standby mode. Furthermore, the master control device belonging to the second console will send the control preemption notification to the slave control device belonging to the second console via internal signal line 19, causing the slave control device belonging to the second console to also enter standby mode.

[0126] As an example, please refer to Figures 1, 4a, 4b, 7 and 8. If the number of control devices on each console 150 is two, and the two control devices 110 belonging to the second control console are in working mode, then when the main control device and the sub-control device belonging to the second control console both receive the control preemption notification through the first bus 17, the main control device and the sub-control device belonging to the second control console will each configure the machine to standby mode.

[0127] This embodiment makes the control device 110 for controlling the mobile device 10 in the water area unique, effectively avoiding the conflict of configuration instructions of the control devices 110 on multiple control consoles, and further ensuring the driving safety of the mobile device 10 in the water area.

[0128] The present application also provides a method embodiment of a control system 11 for a mobile device 10 in water area, details of which are described below.

[0129] In one embodiment, referring to FIG1 , the control system 11 includes at least a first type of control device and a second type of control device; the configuration method includes:

[0130] The first type of control device and the second type of control device control the machine to enter a configuration mode in response to receiving the first configuration instruction;

[0131] If one of the first type of control device and the second type of control device receives a control console configuration instruction in the configuration mode, then the control device of this type will configure itself as the first control console of the movable device 10 in water area in response to receiving the control console configuration instruction, and the other type of control device will configure itself as the second control console of the movable device 10 in response to not receiving the control console configuration instruction. When one of the first control console and the second control console is in the working mode, the other is in the standby mode.

[0132] In this embodiment, the control device provided on the first control console can be a first type of control device or a second type of control device, and the control device provided on the second type of control console can be a second type of control device or a first type of control device. The number of control devices 110 configured as the same control console (first control console or second control console) can be one or more. For example, as shown in Figures 3a and 3b, one control device 110 can be configured as the first control console or the second control console; for another example, as shown in Figures 4a and 4b, two control devices 110 can be configured as the first control console or the second control console at the same time; for another example, four control devices 110 can be configured as the first control console or the second control console at the same time, etc. This application does not impose any restrictions on this. When multiple control devices 110 are simultaneously equipped as the same control console and there are multiple water thrusters 130, the multiple control devices 110 can respectively control one or more water thrusters 130 corresponding thereto.

[0133] The first and second categories described in this embodiment are for the convenience of describing the control devices belonging to different control consoles. Among them, the control devices belonging to different control consoles operate in different modes, and the modes include working mode and standby mode. Only the control console in working mode can control the forward, backward and turning operations of the water propeller 130 in the water movable device 10, while the control console in standby mode cannot send relevant control instructions to the water propeller 130 in the water movable device 10. The control console must be switched to working mode before it can be controlled. In other words, only one control console can be in working mode at the same time. This prevents the problem of control command conflicts among the multiple control devices 110 connected to the system, thereby ensuring the driving safety of the multi-console type water movable device 10.

[0134] In addition, the number of control devices 110 configured as the first control console and the number of control devices 110 configured as the second control console can be equal or unequal. For example, the number of control devices 110 configured as the first control console and the number of control devices 110 configured as the second control console can both be one or two, or the number of control devices 110 configured as the first control console can be one and the number of control devices 110 configured as the second control console can be two, and so on. This application does not impose any restrictions on this. The control console configuration step realizes the scenario requirement of configuring the control device 110 as multiple control consoles, and the user experience is better.

[0135] The control device 110 in this embodiment can be any one of a steering wheel, a remote control box, and a side throttle lever, and this embodiment does not impose any limitation on this.

[0136] When the control device 110 is a remote control box, the specific structure of the control device 110 can refer to the structural description of the control method for the control device 110 recorded above, and will not be repeated here.

[0137] In one embodiment, referring to FIG1 and FIG5 , the mobile device 10 for water areas further includes a display screen 12, all control devices 110 of the mobile device 10 for water areas are connected to the same first bus 17 as the display screen 12, the first configuration instruction is generated when the display screen 12 receives a user operation, and the plurality of control devices 110 receive the first configuration instruction sent by the display screen via the first bus 17; and / or

[0138] All control devices 110 of the movable device 10 in the water area are connected to the same first bus 17 . The first configuration instruction is generated when any one of the control devices 110 receives a user operation and is sent to the first bus 17 by the control device 110 .

[0139] For specific implementation details of how the control device 110 receives the configuration instruction and enters the configuration mode, reference may be made to the relevant description of the control method for the control device 110 above, which will not be repeated here.

[0140] In one embodiment, referring to Figures 1, 4a, 4b, 7, and 8, at least one of the first and second control devices includes a primary control device and a secondary control device. Each control device 110 includes a primary interface 113 and a secondary interface 115. For a control device 110 that is directly connected to the first bus 17 via the primary interface 113, the control device 110 serves as the primary control device. For a control device 110 that is directly connected to the first bus 17 via the secondary interface 115 (as shown in Figure 8), or for a control device 110 that is connected to the primary interface 113 of the primary control device via the second bus 18 (as shown in Figure 7), the control device 110 serves as the secondary control device. Of course, the primary and secondary relationships of the control devices 110 described herein can also be interchanged, and this application is not limited thereto.

[0141] Regarding the method of accessing the first bus 17 shown in Figures 7 and 8, please refer to Figure 9a. For the control device 110 to configure itself as the first control console, both the primary control device and the secondary control device must receive user input to configure themselves as the first control console. Specifically, in configuration mode, after receiving the user input, the primary control device generates a control console configuration instruction and configures the device as the first control console based on the control console configuration instruction. Similarly, in configuration mode, after receiving the user input, the secondary control device also generates a control console configuration instruction and configures the device as the first control console based on the control console configuration instruction.

[0142] The user operation here is different from the user operation for generating the first configuration instruction described above. For example, the user operation described in the above embodiment can be defined as the first user operation, and the user operation described in this embodiment can be defined as the second user operation. The detailed difference between the first user operation and the second user operation can be found in the relevant description of the control method for operating device 110 above, and will not be repeated here.

[0143] Regarding the method of accessing the first bus 17 shown in Figures 7 and 8, please refer to Figure 10a. For a control device 110 configured as a second control console, both the primary control device and the secondary control device are control devices 110 that have not received any user operation. Specifically, in the configuration mode, if the primary control device does not receive any user operation, it will be configured as the second control console; similarly, in the configuration mode, if the secondary control device does not receive any user operation, it will be configured as the second control console.

[0144] In one embodiment, for the method of accessing the first bus 17 shown in Figures 7 and 8, please refer to Figure 9a. For the control device 110 that configures itself as a first control console, the configuration method of the control system 11 for the movable device 10 in the water area also includes: the main control device receives the control console information sent by the sub-control device; the main control device associates the local control device with the sub-control device based on the control console information; the main control device sends the association information between the local control device and the sub-control device to the first bus 17; and the sub-control device receives the association information.

[0145] In this embodiment, the two control devices 110 do not have internal signal lines 19 for internal communication (as shown in Figure 6). In this case, the secondary control device is connected to the first bus 17 directly through its secondary interface 115, or its secondary interface 115 is connected to the secondary interface 115 of the main control device through the second bus 18. When connected to the first bus 17 in this way, due to the lack of internal signal lines 19, the main control device and the secondary control device are independent, so they need to be associated to be configured as the same control console. This embodiment is a case of operating the main control device to associate two machines, associating multiple control devices 110 installed on the same control console 150, so that each control device 110 connected to the first bus 17 can know which control devices 110 belong to the same control console as the main control device. When the operating mode of two control devices 110 belonging to the same control console needs to switch from two control devices 110 controlling the corresponding water propellers 130 respectively to one control device 110 controlling all water propellers 130, the two control devices 110 in the control console can know each other which control device 110 currently has the control right of all water propellers 130, and thus change their own operating mode accordingly, without the situation where the control commands of the two control devices 110 belonging to the same control console conflict, further ensuring the driving safety of the movable device 10 in the water area. Moreover, by associating, the main control device and the auxiliary control device are realized as the same control console. Therefore, the user no longer needs to purchase the corresponding single-machine or dual-machine control devices according to the needs, and the setting requirements of different devices can be met, making the application range of the control device 110 wider and the adaptability to scenarios stronger.

[0146] In one embodiment, for the method of accessing the first bus 17 shown in Figures 7 and 8, please refer to Figure 9b. For the control device 110 that configures itself as the first control console, the configuration method of the control system 11 for the movable device 10 in the water area also includes: the main control device sends control console information to the first bus 17; the sub-control device receives the control console information; the sub-control device associates the local device with the main control device based on the control console information; the sub-control device sends the association information between the local device and the main control device to the first bus 17; the main control device receives the association information.

[0147] Different from the embodiment shown in FIG. 9 a , the associated actions in this embodiment are performed by a secondary control device.

[0148] As in the embodiment shown in FIG9a , associating multiple control devices 110 belonging to the same console prevents conflicting control commands between two control devices 110 belonging to the same console, ensuring safe operation of the mobile device 10 in water areas. Furthermore, users no longer need to purchase separate single or dual control devices to meet the configuration requirements of different devices, thus expanding the application range of the control device 110 and enhancing its adaptability to various scenarios.

[0149] In one embodiment, for the method of accessing the first bus 17 shown in Figures 7 and 8, please refer to Figure 10a. For the control device 110 that configures this unit as a second control console, the configuration method for the control system 11, after the step of configuring this unit as the second control console of the water movable device 10, also includes: the main control device receives the control console information sent by the sub-control device; the main control device associates the unit with the sub-control device based on the control console information; the main control device sends the association information of the unit and the sub-control device to the first bus 17; the sub-control device receives the association information.

[0150] In this embodiment, both the main control device and the auxiliary control device belong to the second control console. Since there is no internal signal line 19 between the main control device and the auxiliary control device in the second control console, it is necessary to link the main control device and the auxiliary control device of the second control console. In this embodiment, the linking operation is specifically performed by the main control device.

[0151] As in the embodiment shown in FIG9a , associating multiple control devices 110 belonging to the same console prevents conflicting control commands between two control devices 110 belonging to the same console, ensuring safe operation of the mobile device 10 in water areas. Furthermore, users no longer need to purchase separate single or dual control devices to meet the configuration requirements of different devices, thus expanding the application range of the control device 110 and enhancing its adaptability to various scenarios.

[0152] In one embodiment, for the method of accessing the first bus 17 shown in Figures 7 and 8, please refer to Figure 10b. For the control device 110 that configures this machine as a second control console, the configuration method for the control system 11, after the step of configuring the main control device and the auxiliary control device as the second control console of the water movable device 10, also includes: the main control device sends control console information to the first bus 17; the auxiliary control device receives the control console information; the auxiliary control device associates this machine with the main control device based on the control console information; the auxiliary control device sends association information between this machine and the main control device to the first bus 17; the main control device receives the association information.

[0153] Different from the embodiment shown in FIG. 10 a , in this embodiment, the associated action is performed by the secondary control device.

[0154] As in the embodiment shown in FIG9a , associating multiple control devices 110 belonging to the same console prevents conflicting control commands between two control devices 110 belonging to the same console, ensuring safe operation of the mobile device 10 in water areas. Furthermore, users no longer need to purchase separate single or dual control devices to meet the configuration requirements of different devices, thus expanding the application range of the control device 110 and enhancing its adaptability to various scenarios.

[0155] In one embodiment, referring to Figures 1, 4a, 4b, and 6, at least one of the first and second control devices includes a primary control device and a secondary control device. Each control device 110 includes a primary interface 113 and a secondary interface 115. For a control device 110 that is directly connected to the first bus 17 via the primary interface 113, the control device 110 serves as the primary control device. For a control device 110 whose secondary interface 115 is connected to the primary interface 113 of the primary control device via an internal signal line 19, the control device 110 serves as the secondary control device. The internal signal line 19 does not share signals with the first bus 17. Of course, the primary and secondary relationships of the control devices 110 described here can also be interchanged, and this application does not limit this.

[0156] Under the wiring method shown in Figure 6, for the control device 110 that configures itself as the first control console, the control device 110 and any one of the other control devices 110 belonging to the first control console 110 receive the control console configuration instruction, thereby achieving the purpose of configuring itself as the first control console.

[0157] As an example, referring to FIG. 6 and FIG. 11 a , the configuration method for the control system 11 further includes: the main control device sends a control console configuration instruction to the auxiliary control device via the internal signal line 19 ; and the auxiliary control device receives the control console configuration instruction.

[0158] In this embodiment, the master control device is the control device 110 that receives the user operation. After receiving the user operation, the master control device generates a console configuration instruction and configures itself as the first console based on the console configuration instruction. The master control device can also send the console configuration instruction to the slave control device via internal signal line 19. After receiving the console configuration instruction via internal signal line 19, the slave control device also configures itself as the first console based on the console configuration instruction.

[0159] Internal signal line 19 is distinct from first bus 17. Information between internal signal line 19 and the first bus is not shared. Control instructions and other signals transmitted on internal signal line 19 are transmitted only between the two connected control devices 110. Regardless of which control device 110 receives an instruction, it can directly transmit and / or receive the instruction via internal signal line 19, eliminating the need to send the instruction to first bus 17 for transmission. The presence of internal signal line 19 eliminates the need for linked operations between control devices 110 and improves signal transmission efficiency between multiple control devices 110 within the same console.

[0160] As another example, referring to FIG. 6 and FIG. 11 b , the configuration method for the control system 11 further includes: the auxiliary control device sends a control console configuration instruction to the main control device via the internal signal line 19 ; and the main control device receives the control console configuration instruction.

[0161] Unlike the embodiment shown in Figure 11a, in this embodiment, the secondary control device is the control device 110 that receives the user's operation. After the secondary control device generates the console configuration instruction, it directly sends the console configuration instruction to the primary control device via internal signal line 19, causing the primary control device to configure itself as the first console.

[0162] Similar to the embodiment shown in FIG. 11 a , the existence of the internal signal line 19 eliminates the need for associated operations between the control devices 110 and improves the signal transmission efficiency between multiple control devices 110 belonging to the same control console.

[0163] In one embodiment, regarding the configuration method of the control system 11 for a mobile device 10 in water areas, it should be noted that each control device 110 includes a human-computer interaction component 117. If the control device 110 is in configuration mode, then when the human-computer interaction component 117 receives a user operation, the control device 110 generates a console configuration instruction, which is applied to the control device 110. If the control device 110 is not in configuration mode, then when the human-computer interaction component 117 receives a user operation, the control device 110 generates a console operation instruction, which is applied to the controlled device controlled by the control device.

[0164] In this embodiment, the control device 110 can implement different functions when receiving the same user operation in different modes. The specific implementation details can be referred to the description of the configuration method for the control device 110 above, which will not be repeated here.

[0165] In one embodiment, with respect to the configuration method of the control system 11 for a movable device 10 in water areas, it should be noted that, after controlling the control device 110 to enter the configuration mode, the configuration method further includes the steps of: the first type of control device and the second type of control device clear their own existing control console information in response to the first configuration instruction, and the control console information includes the first control console information and the second control console information.

[0166] The specific implementation details of this embodiment can be referred to the description of the configuration method for the control device 110 above, which will not be repeated here.

[0167] In one embodiment, with respect to the configuration method of the control system 11 for a movable device 10 in water areas, it should be noted that the configuration method further includes: the first-type control device and the second-type control device control the local device to exit the configuration mode in response to receiving the second configuration instruction; or, the first-type control device and the second-type control device control the local device to exit the configuration mode in response to the local device being in the configuration mode for more than a preset time period.

[0168] The specific implementation details of this embodiment can be referred to the description of the configuration method for the control device 110 above, which will not be repeated here.

[0169] In one embodiment, for the configuration methods of the above-mentioned embodiments of the control system 11 for a movable device 10 in water area, it should be noted that the configuration method also includes: when one of the first type of control device and the second type of control device is in standby mode, this type of control device configures the local machine to working mode in response to receiving a request to take over the task instruction, and the request to take over the task instruction is generated by this type of control device 110 after receiving a user operation; this type of control device 110 sends a control right preemption notification generated based on the request to take over the task instruction; the other type of control device 110 receives the control right preemption notification, and configures the local machine to standby mode based on the control right preemption notification.

[0170] In this embodiment, the request to take over the task instruction is generated by the local machine or the control device 110 associated with the local machine after receiving the user operation. The control device 110 associated with the local machine can be understood as the control device 110 belonging to the same control console as the local machine.

[0171] Referring to Figure 12, let's take the example of a first-type control device in standby mode and a second-type control device in working mode. When the first-type control device receives a task takeover request, it switches to working mode. Furthermore, the first-type control device generates a control preemption notification and sends it to first bus 17. The second-type control device receives the control preemption notification via first bus 17 and switches itself to standby mode.

[0172] The second type of control device is in standby mode, and the first type of control device is in working mode in the same manner, which will not be described in detail here.

[0173] This embodiment makes the control device for controlling the movable device 10 in the water area unique, effectively avoiding the configuration instruction conflict of the control devices 110 installed on multiple control consoles, and further ensuring the driving safety of the movable device 10 in the water area.

[0174] Please refer to Figure 1. The present application also provides a control device 110 for the water movable device 10. The water movable device 10 includes at least two control devices 110. The control device 110 is used to: control the machine to enter the configuration mode in response to receiving a first configuration instruction; if a control console configuration instruction is received in the configuration mode, then in response to receiving the control console configuration instruction, configure the machine as the first control console of the water movable device 10; if no control console configuration instruction is received in the configuration mode, then in response to not receiving the control console configuration instruction, configure the machine as the second control console of the water movable device 10. When one of the first control console and the second control console is in the working mode, the other is in the standby mode.

[0175] In one embodiment, please refer to Figures 1 and 5, the water area movable device 10 also includes a display screen 12, and each control device 110 of the water area movable device 10 is connected to the same first bus 17 as the display screen 12, and the first configuration instruction is generated when the display screen 12 receives a user operation, and the control device 110 receives the first configuration instruction sent by the display screen 12 via the first bus; and / or, each control device 110 of the water area movable device 10 is connected to the same first bus 17, and the first configuration instruction is generated when any one of the control devices 110 receives a user operation, and is sent to the first bus 17 by the control device 110 that receives the user operation.

[0176] In one embodiment, referring to FIG. 3a and FIG. 3b , each control device 110 includes a primary interface 113 and a secondary interface 115 . The primary interface 113 of the local machine is directly connected to the first bus 17 . The console configuration instruction is generated when the local machine receives a user operation.

[0177] In one embodiment, referring to Figures 4a through 6 , the secondary interface 115 of another control device 110 is connected to the secondary interface 116 of the local control device via an internal signal line. Information on the internal signal line and the first bus is not shared. The control device 110 is also configured to send console configuration instructions to the other control device 110 via the internal signal line.

[0178] In one embodiment, each control device 110 includes a primary interface 113 and a secondary interface 115. The secondary interface 115 of another control device 110 is connected to the secondary interface 115 of this control device via an internal signal line 19. Information on the internal signal line 19 and the first bus 17 is not shared. A console configuration instruction is generated by another control device when it receives a user operation. The control device 110 is also configured to receive console configuration instructions sent by another control device 110 via the internal signal line 19.

[0179] In one embodiment, referring to Figures 4a, 4b, 7, and 8, the secondary interface 115 of another control device 110 is directly connected to the first bus 17, or the secondary interface 115 of another control device 110 is connected to the secondary interface 115 of the local control device via the second bus 18, and information from the first bus 17 and the second bus 18 are shared. The other control device 110 is also a control device 110 that receives the console configuration command. The control device 110 is further configured to: receive console information sent by the other control device 110; associate the local control device 110 with the other control device 110 based on the console information; and send association information between the local control device 110 and the other control device 110 to the first bus.

[0180] In one embodiment, referring to Figures 4a, 4b, 7, and 8, the secondary interface 115 of another control device 110 is directly connected to the first bus 17, or the secondary interface 115 of another control device 110 is connected to the secondary interface 115 of the local control device via the second bus 18. The first bus 17 and the second bus 18 share information, and the other control device 110 is also a control device that receives the console configuration command. The control device 110 is further configured to: transmit the local control console information to the first bus 17, so that the other control device 110 performs associated operations based on the console information; and receive association information between the local control device 110 and the other control device 110 sent by the other control device 110.

[0181] In one embodiment, referring to Figures 4a, 4b, 7, and 8, each control device 110 includes a primary interface 113 and a secondary interface 115. The secondary interface 115 of this machine is directly connected to the first bus 17, or the secondary interface 115 of this machine is connected to the secondary interface 115 of another control device 110 through the second bus 18. The other control device 110 is a control device 110 that also receives the control console configuration instruction. The information of the first bus 17 and the second bus 18 is shared. The control console configuration instruction is generated when the machine receives a user operation.

[0182] In one embodiment, referring to Figures 4a, 4b, 7, and 8, the main interface 113 of another control device 110 is directly connected to the first bus 17. The control device 110 is further configured to: transmit its own console information to the first bus 17, so that the other control device 110 can perform associated operations based on the console information; and receive association information between the other control device 110 and the control device 110 from the other control device 110.

[0183] In one embodiment, referring to Figures 4a, 4b, 7, and 8, the main interface 113 of another control device 110 is directly connected to the first bus 17. The control device 110 is further configured to: upon receiving console information sent by the other control device 110, associate the control device 110 with the other control device 110; and transmit the association information between the control device 110 and the other control device 110 to the first bus 17.

[0184] In one embodiment, referring to Figures 4a, 4b, and 6, each control device 110 includes a primary interface 113 and a secondary interface 115. The secondary interface 115 of this control device is connected to the primary interface 113 of another control device 110 via an internal signal line 19. Information on the internal signal line 19 and the first bus 17 is not shared. A console configuration instruction is generated by another control device when it receives a user operation. The control device 110 is further configured to receive console configuration instructions sent by another control device 110 via the internal signal line 19.

[0185] In one embodiment, referring to Figures 4a, 4b, and 6, each control device 110 includes a primary interface 113 and a secondary interface 115. The secondary interface 115 of one control device 110 is connected to the primary interface 113 of another control device 110 via an internal signal line 19. Information on the internal signal line 19 and the first bus 17 is not shared. A console configuration command is generated by the control device 110 upon receiving a user operation. The control device 110 is further configured to transmit the console configuration command to another control device 110 via the internal signal line 19.

[0186] In one embodiment, referring to Figures 4a, 4b, 7, and 8, each control device 110 includes a primary interface 113 and a secondary interface 115. The primary interface 113 of this device is directly connected to the first bus 17, and the secondary interface 115 of another control device 110 is directly connected to the first bus 17, or the secondary interface 115 of another control device 110 is connected to the secondary interface 115 of this device via the second bus 18, and information from the first bus 17 and the second bus 18 are shared. Both this device and the other control device 110 are control devices 110 that have not received a console configuration instruction. The control device 110 is further configured to: receive console information sent by another control device 110; associate this device with the other control device 110 based on the console information; and send association information between this device and the other control device 110 to the first bus 17.

[0187] In one embodiment, referring to Figures 4a, 4b, 7, and 8, each control device 110 includes a primary interface 113 and a secondary interface 115. The primary interface 113 of this control device is directly connected to the first bus 17, and the secondary interface 115 of another control device 110 is directly connected to the first bus 17. Alternatively, the secondary interface 115 of another control device 110 is connected to the secondary interface 115 of this control device via the second bus 18, and information from the first bus 17 and the second bus 18 are shared. Both this control device and the other control device 110 are control devices 110 that have not received a console configuration instruction. The control device 110 is further configured to: transmit its console information to the first bus 17, so that the other control device 110 can perform associated operations based on the console information; and receive association information between this control device and the other control device 110 from the other control device 110.

[0188] In one embodiment, referring to Figures 4a, 4b, 7, and 8, each control device 110 includes a primary interface 113 and a secondary interface 115. The secondary interface 115 of the local control device 110 is directly connected to the first bus 17, or the secondary interface 115 of the local control device 110 is connected to the secondary interface 115 of another control device 110 via the second bus 18. Information from the first bus 17 and the second bus 18 is shared. Both the local control device 110 and the other control device 110 have not received any console configuration instructions. The control device 110 is further configured to: transmit its console information to the first bus, so that the other control device 110 can perform associated operations based on the console information; and receive association information between the other control device 110 and the local control device 110 from another control device 110.

[0189] In one embodiment, referring to Figures 4a, 4b, 7, and 8, each control device 110 includes a primary interface 113 and a secondary interface 115. The secondary interface 115 of this control device is directly connected to the first bus 17, or the secondary interface 115 of this control device is connected to the secondary interface 115 of another control device 110 via the second bus 18. Information from the first bus 17 and the second bus 18 is shared. Both this control device and the other control device 110 are control devices 110 that have not received console configuration instructions. The control device 110 is further configured to: receive console information sent by another control device 110; associate this control device with the other control device 110; and send association information between this control device and the other control device to the first bus 17.

[0190] In one embodiment, referring to Figures 4a and 4b , each control device 110 includes a human-computer interaction component 117. If the control device 110 is in configuration mode, then when the human-computer interaction component 117 receives a user operation, the control device 110 generates a console configuration instruction, which is applied to the control device 110. If the control device 110 is not in configuration mode, then when the human-computer interaction component 117 receives a user operation, the control device 110 generates a console operation instruction, which is applied to the controlled device controlled by the control device 110.

[0191] In one embodiment, referring to FIG. 1 , the control device 110 is further configured to clear its own existing control console information in response to the first configuration instruction, where the control console information includes first control console information and second control console information.

[0192] In one embodiment, referring to FIG1 , the control device 110 is further configured to: in response to receiving a second configuration instruction, control the machine to exit the configuration mode; or in response to the machine being in the configuration mode for a time period exceeding a preset time period, control the machine to exit the configuration mode.

[0193] In one embodiment, please refer to Figure 1, the control device 110 is also used to: when the local machine is in standby mode, in response to obtaining a request to take over the task instruction, configure the local machine to a working mode, and the request to take over the task instruction is generated by the local machine or the control device 110 associated with the local machine after receiving the user operation; send a control preemption notification generated based on the request to take over the task instruction.

[0194] In one embodiment, please refer to Figure 1, the control device 110 is also used to: when the local machine is in working mode, in response to receiving a control preemption notification sent by other control devices 110, configure the local machine to standby mode, the control preemption notification is generated by the other control device 110 based on the request to take over the task instruction, and the request to take over the task instruction is generated by the other control device 110 after receiving the user operation.

[0195] Please refer to Figure 1. The present application also provides a control system 11. The control system 11 is used for a movable device 10 in water areas. The movable device 10 in water areas includes a first type of control device and a second type of control device. The first type of control device and the second type of control device are used to control the machine to enter a configuration mode in response to receiving a first configuration instruction. If one of the first type of control device and the second type of control device receives a control console configuration instruction in the configuration mode, the control device is used to configure the machine as the first control console of the movable device 10 in water areas in response to receiving the control console configuration instruction, and the other type of control device is used to configure the machine as the second control console of the movable device 10 in response to not receiving the control console configuration instruction. When one of the first control console and the second control console is in working mode, the other is in standby mode.

[0196] It should be noted that the correspondence between the first type of control device 601 and the second type of control device 602 in this embodiment and the first type of control device and the second type of control device in the relevant embodiment of the configuration method for the control system 11 will not be elaborated on here.

[0197] In one embodiment, please refer to Figures 1 and 5, the water area movable device 10 also includes a display screen 12, and each control device 110 of the water area movable device 10 is connected to the same first bus 17 as the display screen 12, and the first configuration instruction is generated when the display screen 12 receives a user operation, and multiple control devices 110 receive the first configuration instruction sent by the display screen 12 via the first bus; and / or, each control device 110 of the water area movable device 10 is connected to the same first bus 17, and the first configuration instruction is generated when any one of the multiple control devices 110 receives a user operation, and is sent to the first bus 17 by the control device 110 that receives the user operation.

[0198] In one embodiment, referring to Figures 4a, 4b, 7, and 8, at least one of the first and second control devices includes a primary control device and a secondary control device. Each control device 110 includes a primary interface 113 and a secondary interface 115. The primary interface 113 of the primary control device is directly connected to the first bus 17, while the secondary interface 115 of the secondary control device is directly connected to the first bus 17. Alternatively, the secondary interface 115 of the secondary control device is connected to the primary interface 113 of the primary control device via a second bus 18, and the first and second buses 17, 18 share information. The primary control device generates console configuration instructions upon receiving user operations, and the secondary control device also generates console configuration instructions upon receiving user operations. The secondary control device is configured to send its own console information to the first bus 17. The primary control device is configured to receive the console information. The primary control device is configured to associate the primary control device with the secondary control device based on the console information. The primary control device is configured to send association information between the primary control device and the secondary control device to the first bus 17. The secondary control device is configured to receive the association information.

[0199] In one embodiment, referring to Figures 4a, 4b, 7, and 8, at least one of the first and second control devices includes a primary control device and a secondary control device. Each control device 110 includes a primary interface 113 and a secondary interface 115. The primary interface 113 of the primary control device is directly connected to the first bus 17, while the secondary interface 115 of the secondary control device is directly connected to the first bus 17. Alternatively, the secondary interface 115 of the secondary control device is connected to the primary interface 113 of the primary control device via a second bus 18, and information is shared between the first and second buses 17, 18. The primary control device generates console configuration instructions upon receiving user operations, and the secondary control device also generates console configuration instructions upon receiving user operations. The primary control device is configured to send its console information to the first bus. The secondary control device is configured to receive the console information. The secondary control device is configured to associate the device with the primary control device based on the console information. The secondary control device is configured to send association information between the device and the primary control device to the first bus. The primary control device is configured to receive the association information.

[0200] In one embodiment, referring to Figures 4a, 4b, and 6, at least one of the first and second control devices includes a primary control device and a secondary control device. Each control device 110 includes a primary interface 113 and a secondary interface 115. The primary interface 113 of the primary control device is directly connected to the first bus 17, while the secondary interface 115 of the secondary control device is connected to the secondary interface 115 of the primary control device via an internal signal line 19. Information on the internal signal line 19 and the first bus 17 is not shared. Upon receiving a user operation, the primary control device generates a console configuration instruction. The primary control device is configured to send the console configuration instruction to the secondary control device via the internal signal line 19. The secondary control device receives the console configuration instruction.

[0201] In one embodiment, referring to Figures 4a, 4b, and 6, at least one of the first and second control devices includes a primary control device and a secondary control device. Each control device 110 includes a primary interface 113 and a secondary interface 115. The primary interface 113 of the primary control device is directly connected to the first bus 17, while the secondary interface 115 of the secondary control device is connected to the secondary interface 115 of the primary control device via an internal signal line 19. Information between the internal signal line 19 and the first bus 17 is not shared. Upon receiving a user operation, the secondary control device generates a console configuration instruction. The secondary control device is configured to send the console configuration instruction to the primary control device via the internal signal line 19. The primary control device is configured to receive the console configuration instruction.

[0202] In one embodiment, referring to Figures 4a, 4b, 7, and 8, at least one of the first and second control devices includes a primary control device and a secondary control device. Each control device 110 includes a primary interface 113 and a secondary interface 115. The primary interface 113 of the primary control device is directly connected to the first bus 17, and the secondary interface 115 of the secondary control device is directly connected to the first bus 17. Alternatively, the secondary interface 115 of the secondary control device is connected to the secondary interface 115 of the primary control device via the second bus 18, and information is shared between the first and second buses 17, 18. Both the primary and secondary control devices are control devices that have not received console configuration instructions. The secondary control device is configured to send its own console information to the first bus. The primary control device is configured to receive the console information. The primary control device is configured to associate the primary control device with the secondary control device based on the console information. The primary control device is configured to send association information between the primary control device and the secondary control device to the first bus. The secondary control device is configured to receive the association information.

[0203] In one embodiment, referring to Figures 4a, 4b, 7, and 8, at least one of the first and second types of control devices includes a primary control device and a secondary control device. Each control device 110 includes a primary interface 113 and a secondary interface 115. The primary interface 113 of the primary control device is directly connected to the first bus 17, while the secondary interface 115 of the secondary control device is directly connected to the first bus 17. Alternatively, the secondary interface 115 of the secondary control device is connected to the secondary interface 115 of the primary control device via the second bus 18. Information between the first and second buses 17, 18 is shared. The primary and secondary control devices are both control devices that have not yet received console configuration instructions. The primary control device is configured to send its own console information to the first bus 17. The secondary control device is configured to receive the console information. The secondary control device is configured to associate the primary control device with the primary control device based on the console information. The secondary control device is configured to send association information between the primary control device and the primary control device to the first bus 17. The primary control device is configured to receive the association information.

[0204] In one embodiment, referring to Figures 3a and 3b , each control device 110 includes a human-computer interaction component 117. If the control device 110 is in configuration mode, then when the human-computer interaction component 117 receives a user operation, the control device 110 generates a console configuration instruction, which is applied to the control device 110. If the control device 110 is not in configuration mode, then when the human-computer interaction component 117 receives a user operation, the control device 110 generates a console operation instruction, which is applied to the controlled device controlled by the control device 110.

[0205] In one embodiment, the first type of control device and the second type of control device are respectively configured to clear their own existing control console information in response to the first configuration instruction, where the control console information includes first control console information and second control console information.

[0206] In one embodiment, the first type of control device and the second type of control device are respectively used to control the machine to exit the configuration mode in response to receiving the second configuration instruction; or, the first type of control device and the second type of control device are respectively used to control the machine to exit the configuration mode in response to the machine being in the configuration mode for more than a preset time period.

[0207] In one embodiment, when one of the first and second control devices is in standby mode, the first control device is configured to configure the local machine to operating mode in response to receiving a request to take over a task instruction, where the request to take over a task instruction is generated by the first control device after receiving a user operation. The first control device is configured to send a control right preemption notification generated based on the request to take over a task instruction. The other control device is configured to receive the control right preemption notification and, based on the control right preemption notification, configure the local machine to standby mode.

[0208] Please refer to FIG. 1 again. The present application further provides a power system 13 .

[0209] In one embodiment, the power system 13 may include the control device 110 and at least one water propeller 130 described in any of the above embodiments. The control device 110 is used to control the at least one water propeller 130.

[0210] In another embodiment, the power system 13 may include the control system 11 and at least one water propeller 130 described in any of the above embodiments. The control system 11 is used to control the at least one water propeller 130.

[0211] The water propulsion device 130 may be an outboard motor, an inboard motor, a pod propulsion device, or the like that can provide power in water.

[0212] Referring again to FIG. 1 , this application also provides a mobile device 10 for use in water. This mobile device 10 includes a movable body 15 and a power system 13 as described in any of the aforementioned embodiments. The power system 13 is integrated with the movable body 15. For example, the control device 110 in the power system 13 may be mounted in the cockpit of the movable body 15, and the water thruster 130 may be mounted at the stern, bow, or side of the movable body 15, although this application does not limit this.

[0213] The movable device 10 in the water area can be any type of water transportation vehicle such as a commercial ship, passenger ship, yacht, fishing boat, sailboat, civilian ship, etc. It can also be a tool capable of operating in the water area such as water area inspection equipment, water area management equipment, water area environment monitoring equipment, etc. This application does not impose any restrictions on this.

[0214] The present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, can implement the steps of the configuration method described in any embodiment of the present application.

[0215] Specifically, computer-readable media suitable for storing computer program instructions and data include all forms of non-volatile memory, media and memory devices, including, for example, semiconductor memory devices (such as EPROM, EEPROM and flash memory devices), magnetic disks (such as internal hard disks or removable disks), magneto-optical disks, and CD ROM and DVD-ROM disks.

Claims

1. A configuration method for a control device for a movable device in water area, characterized in that: The movable device in water area includes at least two control devices; the configuration method includes: In response to receiving the first configuration instruction, controlling the local machine to enter a configuration mode; If a control console configuration instruction is received in the configuration mode, in response to receiving the control console configuration instruction, the local device is configured as a first control console of the movable device in the water area; If the control console configuration instruction is not received in the configuration mode, in response to not receiving the control console configuration instruction, the local machine is configured as the second control console of the movable device in the water area, and when one of the first control console and the second control console is in the working mode, the other is in the standby mode.

2. The configuration method according to claim 1, characterized in that: The movable device in the water area further comprises a display screen, each of the control devices of the movable device in the water area and the display screen are connected to the same first bus, the first configuration instruction is generated when the display screen receives a user operation, and the control device receives the first configuration instruction sent by the display screen via the first bus; and / or The control devices of the movable device in the water area are connected to the same first bus, and the first configuration instruction is generated when any one of the control devices receives a user operation, and is sent to the first bus by the control device that receives the user operation.

3. The configuration method according to claim 1, characterized in that: Each of the control devices includes a main interface and a secondary interface. The main interface of the machine is directly connected to the first bus. The control console configuration instruction is generated when the machine receives a user operation.

4. The configuration method according to claim 3, characterized in that: The secondary interface of another control device is connected to the secondary interface of the machine through an internal signal line, and the information of the internal signal line and the first bus is not shared; the configuration method also includes: The control console configuration instruction is sent to the other control device via the internal signal line.

5. The configuration method according to claim 1, characterized in that: Each of the control devices includes a main interface and a secondary interface, the secondary interface of another control device is connected to the secondary interface of the machine through an internal signal line, the internal signal line and the information of the first bus are not shared, and the control console configuration instruction is generated when the other control device receives a user operation; the configuration method also includes: The control console configuration instruction sent by the other control device is received through the internal signal line.

6. The configuration method according to claim 3, characterized in that: The secondary interface of another control device is directly connected to the first bus, or the secondary interface of the other control device is connected to the secondary interface of the local device through the second bus, and the information of the first bus and the second bus is shared; The other control device is a control device that also receives the configuration instruction of the control console; The configuration method further includes: Receiving console information sent by the other control device; Associating the machine with the other control device based on the control console information; The association information between the local device and the another control device is sent to the first bus.

7. The configuration method according to claim 3, characterized in that: The secondary interface of another control device is directly connected to the first bus, or the secondary interface of the other control device is connected to the secondary interface of the local device through the second bus, the information of the first bus and the second bus are shared, and the other control device is a control device that also receives the configuration instruction of the control console; The configuration method further includes: Sending the control console information of the local device to the first bus, so that the other control device performs associated operations based on the control console information; Receive association information between the local device and the other control device sent by the other control device.

8. The configuration method according to claim 1, characterized in that: Each of the control devices includes a main interface and a sub-interface. The sub-interface of the local machine is directly connected to the first bus, or the sub-interface of the local machine is connected to the sub-interface of another control device through the second bus. The other control device is a control device that also receives the control console configuration instruction, and the information of the first bus and the second bus is shared; the control console configuration instruction is generated when the local machine receives a user operation.

9. The configuration method according to claim 8, characterized in that: The main interface of the other control device is directly connected to the first bus; The configuration method further includes: Sending the control console information of the local device to the first bus, so that the other control device performs associated operations based on the control console information; Receive association information between the other control device and the local device sent by the other control device.

10. The configuration method according to claim 8, characterized in that: The main interface of the other control device is directly connected to the first bus; The configuration method further includes: When receiving the control console information sent by the other control device, associating the local device with the other control device; The association information between the local device and the another control device is sent to the first bus.

11. The configuration method according to claim 1, characterized in that: Each of the control devices comprises a main interface and a secondary interface, the secondary interface of the control device is connected to the main interface of another control device via an internal signal line, and the internal signal line does not share information with the first bus; The console configuration instruction is generated when the other control device receives a user operation; the configuration method also includes: The control console configuration instruction sent by the other control device is received through the internal signal line.

12. The configuration method according to claim 1, characterized in that: Each of the control devices comprises a main interface and a secondary interface, the secondary interface of the control device is connected to the main interface of another control device via an internal signal line, and the internal signal line does not share information with the first bus; The console configuration instruction is generated when the machine receives a user operation; the configuration method also includes: The control console configuration instruction is sent to the other control device via the internal signal line.

13. The configuration method according to claim 1, characterized in that: Each of the control devices comprises a main interface and a secondary interface, the main interface of the local device is directly connected to the first bus, and the secondary interface of another control device is directly connected to the first bus, or the secondary interface of another control device is connected to the secondary interface of the local device via a second bus, and information of the first bus and the second bus is shared; Both the local control device and the other control device are control devices that have not received the configuration instructions of the control console; The configuration method further includes: Receiving console information sent by the other control device; Associating the machine with the other control device based on the control console information; The association information between the local device and the another control device is sent to the first bus.

14. The configuration method according to claim 1, characterized in that: Each of the control devices comprises a main interface and a secondary interface, the main interface of the local device is directly connected to the first bus, and the secondary interface of another control device is directly connected to the first bus, or the secondary interface of another control device is connected to the secondary interface of the local device via a second bus, and information of the first bus and the second bus is shared; Both the local control device and the other control device are control devices that have not received the configuration instructions of the control console; The configuration method further includes: Sending the control console information of the local device to the first bus, so that the other control device performs associated operations based on the control console information; Receive association information between the local device and the other control device sent by the other control device.

15. The configuration method according to claim 1, characterized in that: Each of the control devices comprises a main interface and a secondary interface, the secondary interface of the local device is directly connected to the first bus, or the secondary interface of the local device is connected to the secondary interface of another control device through a second bus, and the information of the first bus and the second bus is shared; Both the local control device and the other control device are control devices that have not received the configuration instructions of the control console; The configuration method further includes: Sending the control console information of the local device to the first bus, so that the other control device performs associated operations based on the control console information; Receive association information between the other control device and the local device sent by the other control device.

16. The configuration method according to claim 1, characterized in that: Each of the control devices comprises a main interface and a secondary interface, the secondary interface of the local device is directly connected to the first bus, or the secondary interface of the local device is connected to the secondary interface of another control device through a second bus, and the information of the first bus and the second bus is shared; Both the local control device and the other control device are control devices that have not received the configuration instructions of the control console; The configuration method further includes: Receiving console information sent by the other control device; Associating the machine with the other control device; The association information between the local device and the another control device is sent to the first bus.

17. The configuration method according to claim 1, characterized in that: Each of the control devices includes a human-computer interaction component; If the control device is in the configuration mode, then when the human-computer interaction component receives a user operation, the control device generates the control console configuration instruction, and the control console configuration instruction acts on the control device; If the control device is not in the configuration mode, when the human-computer interaction component receives a user operation, the control device generates a control console operation instruction, and the control console operation instruction acts on the controlled device controlled by the control device.

18. The configuration method according to claim 1, characterized in that: The configuration method further comprises, after the control unit enters the configuration mode: In response to the first configuration instruction, the existing console information is cleared, where the console information includes first console information and second console information.

19. The configuration method according to claim 1, characterized in that: The configuration method further includes: In response to receiving the second configuration instruction, controlling the local device to exit the configuration mode; or In response to the time when the machine is in the configuration mode exceeding a preset time period, the machine is controlled to exit the configuration mode.

20. The configuration method according to any one of claims 1 to 18, characterized in that: The configuration method further includes: When the machine is in the standby mode, in response to obtaining a request to take over a task instruction, the machine is configured to the working mode, wherein the request to take over a task instruction is generated by the machine or a control device associated with the machine after receiving a user operation; Sending a control right preemption notification generated based on the request to take over the task instruction.

21. The configuration method according to any one of claims 1 to 18, characterized in that: The configuration method further includes: When the machine is in the working mode, in response to receiving a control preemption notification sent by other control devices, the machine is configured to standby mode, wherein the control preemption notification is generated by the other control device based on a request to take over the task instruction, and the request to take over the task instruction is generated by the other control device after receiving a user operation.

22. A configuration method for a control system of a mobile device in waters, characterized in that: The control system includes a first type of control device and a second type of control device; the configuration method includes: The first type of control device and the second type of control device control the machine to enter a configuration mode in response to receiving the first configuration instruction; If one of the first type of control device and the second type of control device receives a control console configuration instruction in the configuration mode, then this type of control device configures the device as the first control console of the movable device in water area in response to receiving the control console configuration instruction, and the other type of control device configures the device as the second control console of the movable device in water area in response to not receiving the control console configuration instruction. When one of the first control console and the second control console is in working mode, the other is in standby mode.

23. The configuration method according to claim 22, characterized in that: The movable device in the water area further comprises a display screen, each control device of the movable device in the water area and the display screen are connected to the same first bus, the first configuration instruction is generated when the display screen receives a user operation, and the plurality of control devices receive the first configuration instruction sent by the display screen via the first bus; and / or The control devices of the movable device in the water area are connected to the same first bus. The first configuration instruction is generated when any one of the multiple control devices receives a user operation, and is sent to the first bus by the control device that receives the user operation.

24. The configuration method according to claim 22, characterized in that: At least one of the first type of control device and the second type of control device includes a main control device and a sub-control device, each control device includes a main interface and a sub-interface, the main interface of the main control device is directly connected to the first bus, the sub-interface of the sub-control device is directly connected to the first bus, or the sub-interface of the sub-control device is connected to the main interface of the main control device through a second bus, and the information of the first bus and the second bus is shared; the main control device generates the control console configuration instruction when receiving a user operation, and the sub-control device also generates the control console configuration instruction when receiving a user operation; The configuration method further includes, after configuring the main control device and the auxiliary control device as a first control console of the mobile equipment in water area: The auxiliary control device sends the control console information of the local device to the first bus; The main control device receives the control console information; The main control device associates the local machine with the auxiliary control device based on the control console information; The main control device sends association information between the main control device and the auxiliary control device to the first bus; The secondary control device receives the associated information.

25. The configuration method according to claim 24, characterized in that: At least one of the first type of control device and the second type of control device includes a main control device and a sub-control device, each control device includes a main interface and a sub-interface, the main interface of the main control device is directly connected to the first bus, the sub-interface of the sub-control device is directly connected to the first bus, or the sub-interface of the sub-control device is connected to the main interface of the main control device through a second bus, and the information of the first bus and the second bus is shared; the main control device generates the control console configuration instruction when receiving a user operation, and the sub-control device also generates the control console configuration instruction when receiving a user operation; The configuration method further includes, after configuring the main control device and the auxiliary control device as a first control console of the mobile equipment in water area: The main control device sends the control console information of the local device to the first bus; The auxiliary control device receives the control console information; The auxiliary control device associates the machine with the main control device based on the control console information; The auxiliary control device sends association information between the auxiliary control device and the main control device to the first bus; The main control device receives the associated information.

26. The configuration method according to claim 22, characterized in that: At least one of the first type of control device and the second type of control device includes a main control device and a sub-control device, each control device includes a main interface and a sub-interface, the main interface of the main control device is directly connected to the first bus, and the sub-interface of the sub-control device is connected to the sub-interface of the main control device through an internal signal line, and the information of the internal signal line and the first bus is not shared; The main control device generates the control console configuration instruction when receiving the user operation; the configuration method also includes: The main control device sends the control console configuration instruction to the auxiliary control device through the internal signal line; The auxiliary control device receives the control console configuration instruction.

27. The configuration method according to claim 22, characterized in that: At least one of the first type of control device and the second type of control device includes a main control device and a sub-control device, each control device includes a main interface and a sub-interface, the main interface of the main control device is directly connected to the first bus, and the sub-interface of the sub-control device is connected to the sub-interface of the main control device through an internal signal line, and the information of the internal signal line and the first bus is not shared; The auxiliary control device generates the control console configuration instruction when receiving the user operation; the configuration method also includes: The auxiliary control device sends the control console configuration instruction to the main control device through the internal signal line; The main control device receives the control console configuration instruction.

28. The configuration method according to claim 22, characterized in that: At least one of the first type of control device and the second type of control device includes a main control device and a sub-control device, each control device includes a main interface and a sub-interface, the main interface of the main control device is directly connected to the first bus, the sub-interface of the sub-control device is directly connected to the first bus, or the sub-interface of the sub-control device is connected to the sub-interface of the main control device through a second bus, and the information of the first bus and the second bus is shared; the main control device and the sub-control device are both control devices that have not received the configuration instruction of the control console; The configuration method further includes, after configuring the main control device and the auxiliary control device as a second control console of the mobile equipment in water area: The auxiliary control device sends the control console information of the local device to the first bus; The main control device receives the control console information; The main control device associates the local machine with the auxiliary control device based on the control console information; The main control device sends association information between the main control device and the auxiliary control device to the first bus; The secondary control device receives the associated information.

29. The configuration method according to claim 22, characterized in that: At least one of the first type of control device and the second type of control device includes a main control device and a sub-control device, each control device includes a main interface and a sub-interface, the main interface of the main control device is directly connected to the first bus, the sub-interface of the sub-control device is directly connected to the bus, or the sub-interface of the sub-control device is connected to the sub-interface of the main control device through a second bus, and the information of the first bus and the second bus is shared; the main control device and the sub-control device are control devices that have not received the configuration instruction of the control console; The configuration method further includes, after configuring the main control device and the auxiliary control device as a second control console of the mobile equipment in water area: The main control device sends the control console information of the local device to the first bus; The auxiliary control device receives the control console information; The auxiliary control device associates the machine with the main control device based on the control console information; The auxiliary control device sends association information between the auxiliary control device and the main control device to the first bus; The main control device receives the associated information.

30. The configuration method according to claim 22, characterized in that: Each control device includes a human-computer interaction component; If the control device is in the configuration mode, then when the human-computer interaction component receives a user operation, the control device generates the control console configuration instruction, and the control console configuration instruction acts on the control device; If the control device is not in the configuration mode, when the human-computer interaction component receives a user operation, the control device generates a control console operation instruction, and the control console operation instruction acts on the controlled device controlled by the control device.

31. The configuration method according to claim 22, characterized in that: After the configuration method controls the machine to enter the configuration mode, it also includes: The first type of control device and the second type of control device clear their existing control console information in response to the first configuration instruction, and the control console information includes first control console information and second control console information.

32. The configuration method according to claim 22, characterized in that: The configuration method further includes: In response to receiving the second configuration instruction, the first type of control device and the second type of control device control the local device to exit the configuration mode; or In response to the time when the machine is in the configuration mode exceeding a preset time period, the first type of control device and the second type of control device control the machine to exit the configuration mode.

33. The configuration method according to any one of claims 22 to 31, characterized in that: The configuration method further includes: When one of the first type of control device and the second type of control device is in the standby mode, the control device of this type configures the local machine to the working mode in response to receiving a request to take over a task instruction, wherein the request to take over a task instruction is generated by the control device of this type after receiving a user operation; The control device sends a control right preemption notification generated based on the request to take over the task instruction; Another type of control device receives the control right preemption notification and configures the local device to the standby mode based on the control right preemption notification.

34. A control device for a movable device in water area, characterized in that: The movable device in water area comprises at least two control devices; the control devices are used for: In response to receiving the first configuration instruction, controlling the local machine to enter a configuration mode; If a control console configuration instruction is received in the configuration mode, in response to receiving the control console configuration instruction, the local device is configured as a first control console of the movable device in the water area; If the control console configuration instruction is not received in the configuration mode, in response to not receiving the control console configuration instruction, the local machine is configured as the second control console of the movable device in the water area, and when one of the first control console and the second control console is in the working mode, the other is in the standby mode.

35. A control system for a movable device in waters, characterized in that: The movable equipment in water area includes a first type of control device and a second type of control device; The first type of control device and the second type of control device are used to control the machine to enter a configuration mode in response to receiving a first configuration instruction; If one of the first type of control device and the second type of control device receives a control console configuration instruction in the configuration mode, then this type of control device is used to configure the device as the first control console of the movable device in water area in response to receiving the control console configuration instruction, and the other type of control device is used to configure the device as the second control console of the movable device in water area in response to not receiving the control console configuration instruction. When one of the first control console and the second control console is in working mode, the other is in standby mode.

36. A power system, characterized in that: The power system comprises: at least one water propulsion vehicle; and The control device as described in claim 34 is used to control the water propeller.

37. A power system, characterized in that: The power system comprises: at least one water propulsion vehicle; and The control system of claim 35, wherein the control system is used to control the water propeller.

38. A movable device in water area, characterized in that: include: A movable body; and The power system as described in claim 36 or 37, wherein the power system is combined with the movable body.

39. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps in the configuration method according to any one of claims 1 to 33 are implemented.

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