Method for realizing position keeping of waterborne vehicle on basis of single thruster, and related device

Abstract

A method for realizing position keeping of a waterborne vehicle (20) on the basis of a single thruster, and a medium, a thruster (10) and a waterborne mobile device (100). The method comprises: in response to a position keeping instruction, using the current position of a waterborne vehicle (20) as a target position (S11); calculating a target thrust required by a thruster (10), wherein the target thrust is used for enabling the bow or stern of the waterborne vehicle (20) to face the target position, and enabling the waterborne vehicle (20) to move forward or backward, so as to be kept at the target position (S12); and controlling the thruster (10) to generate the target thrust (S13). Position keeping of a waterborne vehicle (20) can be automatically realized on the basis of a single thruster (10), such that when the waterborne vehicle (20) is equipped with only one thruster (10), a waterborne mobile device (100) can also realize automatic position keeping.

Description

Method and related equipment for maintaining the position of a water vehicle based on a single propeller Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to a method and related equipment for maintaining the position of a water vehicle based on a single propeller. Background Art

[0002] The position-holding function is designed to lock the position of a water vehicle in a specific location. Related technologies have shown that water vehicles have automatic position-holding functions, eliminating the need for manual user control. However, this automatic position-holding function requires two propellers to achieve, and cannot be achieved with a single propeller.

[0003] Summary of the Invention

[0004] In a first aspect, the present application provides a method for achieving position maintenance of a water vehicle based on a single propeller, the method comprising: responding to a position maintenance instruction, taking the current position of the water vehicle as a target position; calculating the target thrust required by the propeller, the target thrust being used to make the bow or stern of the water vehicle face the target position, and to make the water vehicle move forward or backward to maintain the target position; and controlling the propeller to generate the target thrust.

[0005] In a second aspect, the present application provides a method for maintaining the position of a water carrier based on a single thruster, the method comprising: in response to a position maintaining instruction, taking the current position of the water carrier as the target position; obtaining a subsequent position of the water carrier; calculating the angular error between the subsequent position and the target position; determining the thrust direction of the target thrust required by the thruster based on the angular error; and controlling the thruster to generate the target thrust in the thrust direction so that the water carrier remains at the target position.

[0006] In a third aspect, the present application provides a computer-readable storage medium having computer instructions stored thereon, which, when executed by a processor, implement the method described in the first or second aspect of the present application.

[0007] In a fourth aspect, the present application provides a thruster, comprising a propulsion device and a processor, wherein the processor is electrically connected to the propulsion device, and the processor is used to execute the method described in the first aspect or the second aspect of the present application.

[0008] In a fifth aspect, the present application provides a movable device in water areas, which includes a water area carrier and the propeller described in the fourth aspect of the present application, and the propeller is arranged on the water area carrier.

[0009] In an embodiment of the present application, after the position-holding function is enabled, a target thrust is calculated to enable the bow or stern of the water vehicle to face the target position and to move the water vehicle forward or backward. The target thrust is generated by controlling the propeller, thereby maintaining the water vehicle at the target position. The present application can automatically maintain the position of the water vehicle based on a single propeller, so that when the water vehicle is equipped with only one propeller, the water movable device can also achieve automatic position maintenance without the need for manual operation by the user, which greatly facilitates user use. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

[0012] FIG2 is a schematic structural diagram of the connection between the lifting device and the clamp in a propeller according to an embodiment of the present application.

[0013] FIG3 is a schematic diagram of module connections of a movable device in water area according to an embodiment of the present application.

[0014] FIG4 is a schematic diagram of module connections of a mobile device in water area according to another embodiment of the present application.

[0015] FIG5 is a schematic diagram of a coordinate system of a water body according to an embodiment of the present application.

[0016] FIG6 is a flow chart of a method for maintaining the position of a water vehicle based on a single propeller according to an embodiment of the present application.

[0017] FIG7 is a schematic diagram showing the principle of a method for calculating the position of a water area carrier according to an embodiment of the present application.

[0018] FIG8 is a schematic diagram of a first axis according to an embodiment of the present application.

[0019] 9A and 9B are schematic diagrams of thrust directions of target thrust according to an embodiment of the present application.

[0020] FIG10 is a schematic diagram showing the principle of a method for calculating an angle error according to an embodiment of the present application.

[0021] FIG. 11A is a schematic diagram of the steering position of a propeller according to an embodiment of the present application.

[0022] FIG. 11B is a schematic diagram illustrating the relationship between angle error and steering stroke according to an embodiment of the present application.

[0023] 12A and 12B are schematic diagrams of the movement mode of a water body according to an embodiment of the present application.

[0024] FIG13 is a schematic diagram of the change process of the thrust output by the propeller according to an embodiment of the present application.

[0025] FIG14 is a flow chart of a method for maintaining the position of a water vehicle based on a single propeller according to another embodiment of the present application. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0027] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0028] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms "a", "said" and "the" used in this application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items. Unless otherwise indicated, similar words such as "front", "rear", "bottom" and / or "top" are only for ease of explanation and are not limited to one position or one spatial orientation. Similar words such as "connected" or "connected" are not limited to physical or mechanical connections, and can include electrical connections, whether direct or indirect. "Multiple" means at least two.

[0029] Referring to FIG1 , the present application provides a mobile device 100 for use in water areas. The mobile device 100 may be any type of water transportation vehicle, such as a commercial vessel, passenger ship, yacht, fishing boat, sailboat, or civilian ship. It may also be water area inspection equipment, water area management equipment, water area environment monitoring equipment, or other equipment capable of operating in water areas, and the present application does not impose any restrictions thereto.

[0030] The movable device 100 in water area includes a water area carrier 20 and a propeller 10 provided on the water area carrier 20. The propeller 10 is a device capable of providing power in a water area environment. The propeller 10 includes a steerable member, which can rotate around a steering axis S (shown in FIG2 ). In one example, the steerable member may include a propulsion device 11 in the propeller 10. In this case, the propeller 10 may be an outboard motor, a rotatable pod propeller, a towing motor, etc. In another example, the steerable member may include a rudder blade. In this case, the propeller 10 includes a rudder blade and a propulsion device 11 that are independent of each other. For example, the propeller 10 may be an inboard motor used in combination with a rudder blade, wherein the rudder blade and the inboard motor are independent of each other. For example, when the propeller 10 is an outboard motor or a towing motor, the propeller 10 may be installed on the bow, stern, side, etc. of the water area carrier 20. For example, when the propeller 10 is a device including a rudder blade and an inboard engine or a rotatable pod propeller 10, the propeller 10 can be installed on the bottom of the water body 20, etc.

[0031] Referring to Figures 1 and 2 , a propeller 10, using an outboard motor as an example, is schematically illustrated. The propeller 10 includes a clamp 15 and a main body. The clamp 15 is used to secure the main body to a water vehicle 20, for example, to the stern of the water vehicle 20. The main body includes a propulsion device 11, a steering device 12, a tilting device 13, and a housing 14. The propulsion device 11, steering device 12, and tilting device 13 are all connected to the housing 14.

[0032] The propulsion device 11 includes a propulsion motor 111 and a propeller 112. The propeller 112 is mounted on the output shaft of the propulsion motor 111. When the propulsion motor 111 rotates, it drives the propeller 112 to rotate, thereby outputting thrust. The propulsion motor 111 can output a first torque and a second torque in different directions. By switching between the first and second torques, the propeller's rotation direction can be changed, resulting in two thrust output directions, thereby propelling the water vehicle 20 forward or backward.

[0033] The steering device 12 includes a steering shaft 121, a reduction assembly 122 and a steering motor 123 connected in sequence. The steering motor 123 drives the steering shaft 121 to rotate left and right relative to the housing 14 through the reduction assembly 122. Since the housing 14 rotates in conjunction with the steering shaft 121, the propulsion device 11 and the housing 14 are relatively fixed. When the steering motor 123 drives the steering shaft 121 to rotate relative to the housing 14 through the reduction assembly 122, the propulsion device 11 can be rotated relative to the steering axis S, thereby changing the orientation of the propulsion device 11 and changing the direction of the thrust provided by the propulsion device 11, thereby driving the water body 20 to turn. Furthermore, the steering device 12 can also include a steering angle sensor (not shown), which can be used to detect the steering angle of the propulsion device 11.

[0034] The tilting device 13 includes a tilting shaft 131, a tilting bracket 132, and a tilting drive assembly 133. The tilting bracket 132 is connected to the clamp 15 for relative rotation via the tilting shaft 131, and the tilting drive assembly 133 is used to drive the tilting bracket 132 to rotate relative to the clamp 15. Since the tilting bracket 132 and the propulsion device 11 are relatively fixed in the tilting direction, the tilting bracket 132 can drive the propulsion device 11 to rotate relative to the tilting axis Q to achieve the tilting of the propulsion device 11. Furthermore, the tilting device 13 can also include a tilting angle sensor (not shown), which can be used to detect the tilting angle of the propulsion device 11.

[0035] Referring to Figures 3 and 4, the propeller 10 also includes a processor 16. The processor 16 is housed inside the housing 14. The processor 16 is electrically connected to the propulsion device 11, the steering device 12, and the tilting device 13. For example, the processor 16 can be electrically connected to the propulsion motor 111, the steering motor 123, the steering angle sensor, the tilting drive assembly 133, and the tilting angle sensor. The processor 16 can receive signals fed back by the propulsion motor 111, the steering motor 123, the steering angle sensor, the tilting drive assembly 133, and the tilting angle sensor, and can also output instructions to the propulsion device 11, the steering device 12, and the tilting device 13, so that the propulsion device 11, the steering device 12, and the tilting device 13 perform actions corresponding to the instructions.

[0036] 3 and 4 , the mobile device 100 may further include a control device 30 , an inertial measurement sensor 40 , and a global navigation satellite system 50 .

[0037] The control device 30 is configured to receive user operations and send control instructions corresponding to the user operations to the propeller 10. The control instructions include, for example, forward gear instructions, reverse gear instructions, and steering instructions. For example, the control device 30 may be electrically connected to the processor 16 to send control instructions to the processor 16. The control device 30 may include, for example, a steering wheel, a tiller, a remote control, a wireless joystick, a display screen, and the like.

[0038] The inertial measurement sensor 40 may include a three-axis accelerometer that can detect and output acceleration data. The inertial measurement sensor 40 may be electrically connected to the processor 16 to provide acceleration data to the processor 16. The acceleration data includes acceleration data of the roll axis (roll), acceleration data of the pitch axis (pitch), and acceleration data of the yaw axis (yaw), and the unit of acceleration is generally m / s. 2By integrating the acceleration of each axis, the linear velocity and travel distance of each axis can be determined. The three-axis coordinate system of the water vehicle 20 is shown in Figure 5. In this system, the X-axis represents the roll axis, the Y-axis represents the pitch axis, and the Z-axis represents the yaw axis. The midline plane of the water vehicle 20 is the plane perpendicular to the Y-axis and passing through the X-axis. The direction of the water vehicle 20 can be understood as the positive direction of the X-axis shown in Figure 5, which can also be called the heading of the ship.

[0039] The global navigation satellite system 50 can detect and output location data. The global navigation satellite system 50 can be electrically connected to the processor 16 to provide the processor 16 with location data. The global navigation satellite system 50 can be any one of the BeiDou Navigation Satellite System (BDS), the Global Positioning System (GPS), the Global Navigation Satellite System (GLONASS), and the Galileo Navigation Satellite System (Galileo), and this application is not limited thereto.

[0040] As shown in Figure 3, the inertial measurement sensor 40 and the global navigation satellite system 50 can be directly installed on the water body 20. In this case, the inertial measurement sensor 40 and the global navigation satellite system 50 are relatively fixed to the water body 20, and the data output by the inertial measurement sensor 40 and the global navigation satellite system 50 is detection data specific to the water body 20. With this arrangement, detection data of the water body 20 can be directly obtained without conversion, which can reduce the amount of calculation required by the processor 16. As shown in Figure 4, the inertial measurement sensor 40 and the global navigation satellite system 50 can be installed in the propeller. This arrangement can enrich the functionality of the propeller 10 and help improve the integration of the propeller 10. Furthermore, in the case where the steerable member includes a propulsion device 11, to facilitate the circuit connection between the inertial measurement sensor 40 and the global navigation satellite system 50 and the processor 16, the inertial measurement sensor 40 and the global navigation satellite system 50 can be installed inside the housing 14. Because the housing 14 and the propulsion device 11 are fixedly connected, the inertial measurement sensor 40 and the global navigation satellite system 50 will move relative to the water body 20 as the propulsion device 11 rotates (turns or tilts). The data output by the inertial measurement sensor 40 and the global navigation satellite system 50 is detection data for the propulsion device 11. In this embodiment, the data output by the inertial measurement sensor 40 can be converted to obtain detection data for the water body 20. In the case where the global navigation satellite system 50 is set on the propulsion device 10, it can be understood that the position data output by the global navigation satellite system 50 is data in the world coordinate system, and whether it moves relative to the water body 20 as the propulsion device 11 rotates does not have a significant impact on the output position data. Therefore, it is only necessary to consider the distance difference between the position of the propulsion device 10 and the position of a target point on the water body 20 (i.e., the point used to represent the position of the water body 20). The processor 16 converts the position data of the propulsion device 10 into the position data of the water body 20 based on this distance difference. An exemplary conversion method can be found in the description below.

[0041] Based on the aforementioned movable device 100 in water, the present application further provides a method for maintaining the position of a water vehicle 20 based on a single propeller 10. The method can be executed by the aforementioned processor 16. Referring to FIG. 6 , the method for maintaining the position of a water vehicle 20 based on a single propeller 10 in an embodiment of the present application includes:

[0042] Step S11: In response to the position keeping instruction, the current position of the water area carrier 20 is used as the target position;

[0043] Step S12: Calculating the target thrust required by the propeller 10, the target thrust is used to make the bow or stern of the water body 20 face the target position, and to make the water body 20 move forward or backward to maintain the target position;

[0044] Step S13: Control the thruster 10 to generate the target thrust.

[0045] In step S11, a position hold instruction is used to trigger the position hold function. There are many ways to trigger the position hold function. As an example, the user can trigger the position hold function by operating the control device 30. For example, a position hold button is provided on the remote control controller. When the user presses the position hold button, the control device 30 generates a position hold instruction and sends the position hold instruction to the processor 16 in the thruster 10. The processor 16 responds to the position hold instruction and starts to execute position hold control. As another example, a position hold button may be provided on the thruster 10, and the position hold button is electrically connected to the processor 16. After the user presses the position hold button, the processor 16 detects the user's operation and generates a position hold instruction accordingly. The processor 16 responds to the position hold instruction and starts to execute position hold control.

[0046] The target position may be the current position of the water vehicle 20 when the processor 16 receives the position-holding instruction. The processor 16 may obtain the current position data (i.e., when the position-holding instruction is received) from the global navigation satellite system 50 to determine the current position of the water vehicle 20 based on the position data. In an embodiment where the global navigation satellite system 50 is provided on the water vehicle 20, the processor 16 may directly obtain the current position of the water vehicle 20 based on the position data obtained by the global navigation satellite system 50. In an embodiment where the global navigation satellite system 50 is provided on the propeller 10, the processor 16 may obtain the position of the propeller 10 based on the position data obtained by the global navigation satellite system 50, and determine the position of the water vehicle 20 based on the position of the propeller 10 and the size of the water vehicle 20.

[0047] Specifically, the processor 16 can determine the position of a target point on the water vehicle 20 as the position of the water vehicle 20. As shown in Figure 7, X'O'Y' represents the world coordinate system. Assuming that the length of the water vehicle 20 is L and the width is W, the target point is the center point A of the water vehicle 20, the position obtained by the global navigation satellite system 50 is (x, y), and the heading angle of the water vehicle 20 is recorded as θ. If the propeller 10 is installed at the midpoint of the stern of the water vehicle 20 (as shown by point B in the figure), the coordinates of the center point A of the water vehicle 20 are (x A ,y A ), where x A and y A satisfy:

[0048] It will be understood that the method for calculating the position of the water vehicle 20 in the above embodiment is merely illustrative and is not intended to limit the present application. In other embodiments, the target point may be another point on the water vehicle 20, and the propeller 10 may be installed at another location on the water vehicle 20. In other embodiments, the position of the water vehicle 20 may also be calculated based on the position of the propeller 10, the size of the water vehicle 20, and the heading θ of the water vehicle 20. The specific calculation method is determined by the position of the target point and the position of the propeller 10, and will not be listed here.

[0049] Due to the low detection frequency of the global navigation satellite system 50, the global navigation satellite system 50 cannot output enough position data per unit time to assist the processor 16 in performing position-keeping adjustments, which will affect the implementation of position-keeping. To this end, the processor 16 can perform interpolation processing, that is, insert one or more estimated position data between two adjacent position data output by the global navigation satellite system 50, so as to obtain a sufficient amount of position data to perform position-keeping adjustments. As an example, the processor 16 can obtain the position of the water body 20 based on the position data output by the global navigation satellite system 50 and the movement distance of the water body 20. The following is an example of a method for obtaining the position of the water body 20.

[0050] In some embodiments, obtaining the position of the water body 20 includes obtaining the latest position data output by the global navigation satellite system 50, and calculating the position of the water body 20 based on the movement distance of the water body 20 and the position data obtained by the global navigation satellite system 50. The movement distance is the distance moved by the water body 20 during the period between the moment when the global navigation satellite system 50 outputs the latest position data and the current moment. For example, assuming that the moment when the global navigation satellite system 50 outputs the latest position data is T1, the current moment is T2, and the time interval between T1 and T2 is ΔT, the processor 16 can obtain the movement distance of the water body 20 during the ΔT period, and determine the position of the water body 20 at time T2 based on the movement distance and the position data output by the global navigation satellite system 50 at time T1.

[0051] The distance d moved by the water vehicle 20 can be calculated based on the speed v of the propeller 10 and the heading angle θ of the water vehicle 20. As an example, the processor 16 can obtain the power of the propeller 10 within the time interval ΔT, and obtain the speed of the water vehicle 20 within the time interval ΔT based on the mapping relationship between the power and speed of the propeller 10. Then, the distance moved by the water vehicle 20 within the time interval ΔT is determined based on the speed of the water vehicle 20 within the time interval ΔT. Then, based on the heading angle θ of the water vehicle 20, the above-mentioned distance is decomposed into the X' and Y' axes of the world coordinate system to obtain the X'-axis distance component and the Y'-axis distance component. The X'-axis distance component is added to the X'-axis position data output by the global navigation satellite system 50 at time T1 to obtain the X'-axis position data of the water vehicle 20 at the current time. The Y'-axis distance component is added to the Y'-axis position data output by the global navigation satellite system 50 at time T1 to obtain the Y'-axis position data of the water vehicle 20 at the current time. The current position data of the water body 20 on the X' axis and the current position data of the water body 20 on the Y' axis indicate the current position of the water body 20. It should be noted that the heading angle θ of the water body 20 can be output by the global navigation satellite system 50. However, in this embodiment, due to the low detection frequency of the global navigation satellite system 50, the processor 16 is unable to obtain the heading angle θ output by the global navigation satellite system 50. Therefore, in this embodiment, the processor 16 can convert the heading angle θ based on the steering angle of the steerable member.

[0052] Alternatively, the movement distance of the water body 20 can be calculated based on the acceleration data output by the inertial measurement sensor 40. The processor 16 can use a three-axis accelerometer to obtain the acceleration information of the roll axis X and the pitch axis Y, and then perform a second integration on the acceleration information of the roll axis X and the pitch axis Y to obtain the movement distance of the roll axis X and the pitch axis Y. The movement distance of the roll axis X and the pitch axis Y are then converted to the world coordinate system to obtain the movement distance components of the X' axis and the Y' axis of the world coordinate system. The processor 16 then adds the movement distance component of the X' axis to the position data of the X' axis at time T1 output by the global navigation satellite system 50 to obtain the position data of the water body 20 on the X' axis at the current time. The processor 16 adds the movement distance component of the Y' axis to the position data of the Y' axis at time T1 output by the global navigation satellite system 50 to obtain the position data of the water body 20 on the Y' axis at the current time. The current position data of the water body 20 on the X' axis and the current position data of the water body 20 on the Y' axis indicate the current position of the water body 20. It is understood that the detection frequency of the inertial measurement sensor 40 is higher than the detection frequency of the global navigation satellite system 50. Therefore, the position data of the water body 20 can be estimated using the data from the inertial measurement sensor 40. In this way, the processor 16 can obtain sufficient position data to better perform position maintenance adjustments.

[0053] In step S12, calculating the target thrust required by the propeller 10 may include calculating the thrust direction of the target thrust required by the propeller 10. The thrust direction of the target thrust is used to cause the target position to fall on a first axis of the water vehicle 20, wherein the first axis is parallel to the roll axis X of the water vehicle 20. As shown in FIG8 , the first axis can be the axis indicated by the long dashed line N1, the axis indicated by the short dashed line N2, or another axis parallel to the roll axis X. Alternatively, the first axis can coincide with the roll axis X of the water vehicle 20. It will be understood that the processor 16 sets the thrust direction of the target thrust to cause the target position to fall on the first axis parallel to the roll axis X of the water vehicle 20, thereby causing the bow or stern of the water vehicle 20 to face the target position. At this point, the processor 16 further adjusts the rotation direction of the propeller 112 to cause the water vehicle 20 to move forward or backward, thereby causing the water vehicle 20 to move toward the target position, ultimately achieving position maintenance of the water vehicle 20.

[0054] As shown in Figure 9A, when the bow of the water vehicle 20 is closer to the target position than the stern of the water vehicle 20 (assuming that the target position is the origin O' of the world coordinate system X'O'Y'), the target thrust is used to make the bow of the water vehicle 20 face the target position and make the water vehicle 20 move forward to maintain the target position. In this embodiment, the direction of the target thrust is as indicated by the gray arrow. The target thrust can include a first component toward the positive direction of the roll axis X (that is, the direction in which the stern of the water vehicle 20 points to the bow), and can also include a second component perpendicular to the first component. Among them, the first component can make the water vehicle 20 move forward, so that the bow of the water vehicle 20 is close to the target position. The second component can change the direction of the bow of the water vehicle 20, so that the bow of the water vehicle 20 faces the target position. When the bow of the water vehicle 20 is closer to the target position, the water vehicle 20 is moved forward by applying a positive target thrust toward the roll axis X, and the water vehicle 20 can be kept at the target position with lower control complexity and shorter time.

[0055] As shown in Figure 9B, when the stern of the water vehicle 20 is closer to the target position than the bow of the water vehicle 20 (assuming that the target position is the origin O' of the world coordinate system X'O'Y'), the target thrust is used to make the stern of the water vehicle 20 face the target position and make the water vehicle 20 retreat to maintain the target position. In this embodiment, the direction of the target thrust is as indicated by the gray arrow. The target thrust may include a third component toward the negative direction of the roll axis X (i.e., the direction in which the bow of the water vehicle 20 points to the stern), and may also include a fourth component perpendicular to the third component. Among them, the third component can make the water vehicle 20 retreat, so that the stern of the water vehicle 20 is close to the target position. The fourth component can change the direction of the stern of the water vehicle 20, so that the stern of the water vehicle 20 faces the target position. When the stern of the water vehicle 20 is closer to the target position, the water vehicle 20 is moved backward by applying a negative target thrust toward the roll axis X, so that the water vehicle 20 can be kept at the target position with lower control complexity and shorter time.

[0056] In some embodiments, calculating the target thrust required by the propeller 10 includes: obtaining the subsequent position of the water carrier 20, calculating the angular error between the subsequent position and the target position, and determining the thrust direction of the target thrust based on the angular error. The subsequent position of the water carrier 20 can be understood as the real-time position of the water carrier 20 after the processor 16 receives the position hold instruction. The method for obtaining the subsequent position of the water carrier 20 can refer to the method for obtaining the current position of the water carrier 20 in the aforementioned embodiment, which will not be repeated here. The angular error is used to represent the deviation between the orientation of the water carrier 20 and the orientation of the target position. For example, in the embodiment shown in Figure 10, the angle α between the line between the center point of the water carrier 20 and the target position (assuming it is the origin O' of the world coordinate system X'O'Y') and the roll axis X of the water carrier 20 can be determined as the angular error.

[0057] In some embodiments, calculating the angular error between the subsequent position and the target position includes: obtaining the distance between the subsequent position and the target position, obtaining a first projection distance of the distance on the first axis of the water carrier 20 and a second projection distance of the distance on the second axis of the water carrier 20, the first axis is parallel to the roll axis X of the water carrier 20, and perpendicular to the second axis, and calculating the angular error based on the first projection distance and the second projection distance. The first axis is shown in Figure 8 and will not be described here. The second axis is perpendicular to the first axis, and the second axis can be the pitch axis Y of the water carrier 20, or other axis parallel to the pitch axis Y. Referring to Figure 10, assuming that the first axis is the roll axis X and the second axis is the pitch axis Y, and assuming that the distance between the subsequent position and the target position is recorded as D, the above distance D can be decomposed into the first projection distance D according to the posture data of the water carrier 20 (which can be measured by the inertial measurement sensor 40 on the water carrier 20). x and the second projection distance D y According to the first projection distance D x and the second projection distance D y The ratio of can be obtained as follows:

[0058] In the case where the propeller 10 includes a steerable part, the thrust direction of the target thrust is related to the steering position of the steerable part. Specifically, when the steerable part includes the propulsion device 11 in the propeller 10, the thrust direction is related to the steering position of the propulsion device 11; when the steerable part includes a rudder blade, the thrust direction is related to the steering position of the rudder blade. Determining the thrust direction of the target thrust based on the angular error may include determining the target steering position of the steerable part based on the angular error. It should be pointed out that, in the case where the target position has fallen on the axis of the roll axis of the water body 20, it means that the angular error between the subsequent position at this time and the target position is 0°. It is required that when the steerable part is in the target steering position, the target thrust generated by the propulsion device 11 is only used to propel the water body 20 forward or backward, and does not propel the water body 20 to turn. For the case where the target position does not fall on the roll axis of the water carrier 20, it means that the angular error between the subsequent position and the target position is not 0°. It is required that when the steerable part is in the target steering position, the target thrust generated by the propulsion device 11 needs to be able to prompt the water carrier 20 to turn, that is, the target thrust needs to be able to provide steering torque for the water carrier 20; at the same time, the target thrust generated by the propulsion device 11 can prompt the water carrier 20 to move forward or backward.

[0059] Regarding the target steering position of the steerable member, the steerable member including the propulsion device 11 is used as an example for explanation. Please refer to Figure 11A. As an example, the target steering position can be located between the reference position P0 and the extreme position P2. It should be pointed out that in each embodiment of the present application, unless otherwise specified, "located between..." should be understood to include the endpoint value. Among them, the reference position P0 is the position where the axis of the thrust direction of the propulsion device 11 passes through the center point of the water body carrier 20, wherein the center point is the intersection of the rotation axis around which the water body carrier 20 rotates and the roll axis of the water body carrier 20 when the water body carrier 20 rotates in situ. The extreme position P2 is the maximum position to which the propulsion device 11 can rotate compared to the reference position P0. In one embodiment of the present application, the rotation of the propulsion device 11 to the reference position P0 can be understood as the steering angle of the propulsion device 11 being 0°, and the rotation of the propulsion device 11 to the extreme position P2 can be understood as the steering angle of the propulsion device 11 being the maximum steering angle. In particular, in the example shown in FIG11A , when the propulsion device 11 rotates to the reference position P0, the direction of the thrust generated by the propulsion device 11 is parallel to the centerline plane of the water carrier 20, and the axis of the direction passes through the center point of the water carrier 20. At this time, the thrust cannot provide a steering torque for the water carrier 20. Therefore, it is necessary to set the target steering position to deviate from the reference position P0 so that the water carrier 20 can turn. Similarly, for the case where the propulsion device 11 rotates to the reference position P0, the axis of the thrust direction of the propulsion device 11 passes through the center point of the water carrier 20, but the thrust direction is not parallel to the centerline plane of the water carrier 20, the target steering position is also set to deviate from the reference position P0 so that the water carrier 20 can turn.

[0060] The number of extreme positions P2 can be one or two. As shown in Figure 11A, when there are two extreme positions P2, the two extreme positions P2 are located on opposite sides of the reference position P0, wherein one extreme position P2 is closer to the port side of the water body 20 than the reference position P0, and the other extreme position P2 is closer to the starboard side than the reference position P0. The steering angles corresponding to the two extreme positions P2 can be distinguished by positive and negative signs. For example, the steering angle corresponding to the reference position P0 is 0°, the steering angle corresponding to one extreme position P2 is -100°, and the steering angle corresponding to the other extreme position P2 is 100°. Specifically, the steering angle corresponding to the extreme position P2 that is closer to the port side of the water body 20 (hereinafter referred to as close to the port side) than the reference position P0 can be set to a negative value, and the steering angle corresponding to the extreme position P2 that is closer to the starboard side of the water body 20 (hereinafter referred to as close to the starboard side) than the reference position P0 can be set to a positive value; or, the steering angle corresponding to the extreme position P2 close to the starboard side can be set to a negative value, and the steering angle corresponding to the extreme position P2 close to the port side can be set to a positive value, and this application does not impose any restrictions on this.

[0061] Determining the target steering position of the steerable member based on the angular error can specifically include determining the target steering angle of the steerable member based on the angular error. The target steering angle is the steering angle of the steerable member when the steerable member is in the target steering position. For example, referring to FIG. 11A , there are multiple positions between the reference position P0 and the extreme position P2. The target steering position can be any position between the reference position P0 and the extreme position P2 (excluding the reference position P0). The specific position between the reference position P0 and the extreme position P2 can be determined based on the angular error between the subsequent position and the target position. In some embodiments, the steering stroke of the steerable member from the reference position P0 to the target steering position is positively correlated with the angular error. Specifically, the smaller the angular error, the smaller the steering stroke from the target steering position to the reference position P0, i.e., the smaller the angular difference between the target steering position and the reference position, and the closer the target steering position is to the reference position. The larger the angular error, the larger the steering stroke from the target steering position to the reference position P0, i.e., the larger the angular difference between the target position and the reference position, and the closer the target steering position is to the extreme position P2. As shown in Figure 11B, P3 and P4 represent two different target positions, and the steering stroke from target position P4 to reference position P0 is greater than the steering stroke from target position P3 to reference position P0. When the angular error is α1, the target steering position is shown as P3; when the angular error is α2, which is greater than α1, the target steering position is shown as P4. It can be seen that the steering stroke corresponding to target steering position P3 is smaller than that corresponding to target steering position P4.

[0062] It can be understood that when the angle error is smaller, it means that the degree of deviation of the target position relative to the first axis of the water carrier 20 is smaller. At this time, only a smaller steering torque is needed to push the water carrier 20 so that the target position falls on the first axis; when the angle error is larger, it means that the degree of deviation of the target position relative to the first axis of the water carrier 20 is larger. At this time, a larger steering torque is needed to push the water carrier 20 so that the target position falls on the first axis. The magnitude of the steering torque is related to the steering angle of the steerable part. The larger the steering angle of the target steering position of the steerable part, the greater the steering torque that the propeller 10 can provide for the water carrier 20. Therefore, by adaptively adjusting the steering angle of the steerable part through the angle error, the posture of the water carrier 20 can be better adjusted to ensure the realization of the position holding function.

[0063] In the case where the bow of the water vehicle 20 is closer to the target position than the stern, when the steerable member is in the target steering position, the target thrust generated by the propulsion device 11 can cause the water vehicle 20 to turn so that the bow of the water vehicle 20 faces the target position and the water vehicle 20 moves forward. Referring to Figure 12A, assuming that at a certain moment, the position and orientation of the water vehicle 20 are as shown in the solid line pattern in the figure, the thrust direction of the target thrust at that moment is indicated by the gray arrow. Under the action of this target thrust, after a period of time, the position and orientation of the water vehicle are as shown in the dotted line pattern in the figure. It can be seen that under the action of the target thrust, the direction of the water vehicle 20 rotates clockwise, so that the bow of the water vehicle 20 faces the target position and the water vehicle 20 moves forward, thus getting closer to the target position.

[0064] In the case where the stern of the water vehicle 20 is closer to the target position than the bow, when the steerable member is in the target steering position, the target thrust generated by the propulsion device 11 can cause the water vehicle 20 to turn so that the stern of the water vehicle 20 faces the target position and the water vehicle 20 retreats. Referring to Figure 12B, assuming that at a certain moment, the position and orientation of the water vehicle 20 are as shown in the solid line pattern in the figure, the thrust direction of the target thrust at that moment is indicated by the gray arrow. Under the action of this target thrust, after a period of time, the position and orientation of the water vehicle are as shown in the dotted line pattern in the figure. It can be seen that under the action of the target thrust, the direction of the water vehicle 20 rotates clockwise, so that the stern of the water vehicle 20 faces the target position and the water vehicle 20 retreats, thereby getting closer to the target position.

[0065] When the target position falls on the axis of the pitch axis of the water vehicle 20, the propulsion device 11 can generate a target thrust for causing the bow of the water vehicle 20 to face the target position, or it can generate a target thrust for causing the stern of the water vehicle 20 to face the target position, without limitation. In particular, if the propulsion device 11 is capable of outputting a thrust in a direction parallel to the pitch axis and passing through the center point of the water vehicle 20, then in the case where the target position falls on the axis of the pitch axis of the water vehicle 20, the propulsion device 11 can output a thrust in that direction to cause the water vehicle 20 to translate in the direction of the pitch axis to gradually approach the target position until it reaches the target position.

[0066] The above embodiments are merely illustrative and are not intended to limit the present application. In other embodiments, thrusts in other directions may be applied to cause the water body 20 to turn and move in other ways, thereby achieving position retention, which will not be listed here one by one.

[0067] In some embodiments, the target steering position is determined based on the angle error and the predetermined steering parameter. For example, the steering angle of the target steering position can be equal to the product of the angle error and the predetermined steering parameter. Among them, the predetermined steering parameter is a fixed value that has been calibrated in advance, for example, a value that has been calibrated and stored before the propeller 10 leaves the factory. There can be one or more predetermined steering parameters. When there are multiple predetermined steering parameters, in actual use, the corresponding predetermined steering parameters can be selected for use based on the current application scenario of the propeller 10. It should be pointed out that, with the understanding of "predetermined steering parameters" here, the various "predetermined" parameters mentioned in other embodiments of the present application can be understood as parameters that have been set before leaving the factory, and will not be repeated below. Assuming that the angle error is denoted as α and the predetermined steering parameter is denoted as k, the steering angle P of the target steering position can be recorded as: P=k*α.

[0068] In this way, by converting the angle error to the corresponding target steering angle through pre-calibrated parameters, a more suitable steering angle can be determined. The propeller 10 operates at this steering angle, which can better drive the water carrier 20 to turn, thereby making the target position fall on the first axis of the water carrier 20 faster and more accurately.

[0069] In some embodiments, calculating the target thrust required by the propeller 10 also includes calculating the thrust size of the target thrust required by the propeller 10. Specifically, calculating the target thrust required by the propeller 10 also includes: calculating the distance error between the subsequent position and the target position, and calculating the thrust size of the target thrust based on the distance error. The distance error is the distance between the subsequent position of the water carrier 20 and the target position, and the thrust size may be positively correlated with the distance error. When the water carrier 20 is far away from the target position, a greater thrust is usually required to move the water carrier 20 to approach the target position. This is because the water carrier 20 encounters greater resistance in the water and needs to overcome greater friction to move. A larger target thrust can generate greater acceleration, thereby overcoming resistance to achieve a higher speed and improve position keeping efficiency. Assume that the coordinates of the target point on the water carrier 20 are (x A ,y A ), the coordinates of the target position are (x, y), then the distance error △d can be expressed by the Euclidean distance between the target point and the target position, which is recorded as:

[0070] Alternatively, the thrust magnitude may be determined based on the distance error Δd and a predetermined distance parameter m, where the predetermined distance parameter m is a pre-calibrated fixed value. For example, the thrust magnitude may be equal to the product of the distance error Δd and the predetermined distance parameter m, and the thrust magnitude F may be expressed as: F = Δd * m.

[0071] In this way, by converting the distance error into the corresponding thrust size through pre-calibrated parameters, a target thrust with a more appropriate thrust size can be determined. The propeller 10 operates at this target thrust, which can better push the water carrier 20 forward or backward, thereby enabling the water carrier 20 to reach the target position faster and more accurately.

[0072] Furthermore, there can be multiple predetermined distance parameters. It is understood that different types of water vehicles 20 have different characteristic parameters (such as mass and size), and accordingly, the conversion relationship between distance error and thrust may also be different. Therefore, multiple predetermined distance parameters can be pre-calibrated. For different types of water vehicles 20, different predetermined distance parameters can be used to convert distance error to thrust. This can make the final thrust more consistent with the characteristics of the water vehicle 20, thereby facilitating the movement control of the water vehicle 20.

[0073] In some embodiments, calculating the thrust magnitude of the target thrust based on the distance error includes: obtaining the moving speed of the water carrier 20 at the subsequent position, calculating the speed error between the moving speed and the expected speed when the water carrier 20 reaches the target position, and calculating the thrust magnitude of the target thrust based on the distance error and the speed error. Among them, the expected speed when the water carrier 20 reaches the target position can be less than a predetermined speed threshold, that is, when the water carrier 20 reaches the target position, the speed of the water carrier 20 approaches 0m / s (including the case where it is equal to 0m / s). For example, assuming that the moving speed of the water carrier 20 at the subsequent position is 3m / s and the expected speed is 0, the speed error is -3m / s. By setting the expected speed, it is possible to effectively reduce the situation where the water carrier 20 continues to move after reaching the target position, causing the water carrier 20 to deviate from the target position again, and then need to continue to adjust to correct the deviation, thereby minimizing the adjustment action required for the water carrier 20 to maintain the target position, reducing the shaking feeling of the water carrier 20 caused by position adjustment, and improving the user experience.

[0074] The above-mentioned moving speed and expected speed include the speed of the water carrier 20 on the first axis, and the first axis is parallel to the roll axis X of the water carrier 20. In some embodiments, the moving speed of the water carrier 20 at the subsequent position can be measured by the inertial measurement sensor 40. This method has low complexity, and the measurement frequency of the inertial measurement sensor 40 is high, so the real-time performance of the obtained speed is high. In other embodiments, the moving speed of the water carrier 20 at the subsequent position can be obtained based on the inertial measurement sensor 40 and the global navigation satellite system 50. Acquiring the moving speed of the water carrier 20 by the inertial measurement sensor 40 and the global navigation satellite system 50 can effectively improve the accuracy of the obtained moving speed.

[0075] Specifically, obtaining the moving speed of the water carrier 20 at the subsequent position includes: calculating the first speed of the water carrier 20 on the first axis based on the acceleration data output by the inertial measurement sensor 40, determining the second speed of the water carrier on the first axis based on the speed data output by the global navigation satellite system 50, fusing the first speed and the second speed to obtain the moving speed of the water carrier at the subsequent position. The first speed can be obtained by integrating the acceleration data output by the inertial measurement sensor 40. The global navigation satellite system 50 can obtain multiple (two for example) position data of the water carrier 20, and determine the moving distance of the water carrier 20 based on the above two position data, and determine the moving speed of the water carrier 20 based on the above moving distance and the time interval for obtaining the two position data. The moving speed obtained by the global navigation satellite system 50 is decomposed onto the first axis to obtain the second speed. Fusion of the first speed and the second speed can be weighted processing of the first speed and the second speed.

[0076] In some embodiments, the thrust magnitude is positively correlated with the distance error, and the thrust magnitude is positively correlated with the velocity error. Optionally, the thrust magnitude is determined based on the velocity error, the distance error, and a predetermined parameter, which may include at least one of a predetermined distance parameter m and a predetermined velocity parameter n. In an example where both the predetermined distance parameter m and the predetermined velocity parameter n are used, the distance error Δd can be weighted based on the predetermined distance parameter m, and the velocity error Δv can be weighted based on the predetermined velocity parameter n. The thrust magnitude is then determined based on the weighted distance error and the weighted velocity error. The thrust magnitude F can be expressed as: F = m*Δd + n*Δv.

[0077] In this way, by using pre-calibrated parameters to realize the conversion of distance error and speed error into corresponding thrust size, a target thrust with a more appropriate thrust size can be determined. The propeller 10 operates at this target thrust, which can better push the water carrier 20 forward or backward, thereby enabling the water carrier 20 to reach the target position faster and more accurately.

[0078] Furthermore, there can be multiple predetermined parameters. It is understood that different types of water vehicles 20 have different characteristic parameters (such as mass and size), and accordingly, the conversion relationship between distance error and velocity error and thrust may also be different. Therefore, multiple predetermined parameters can be pre-calibrated. For different types of water vehicles 20, different predetermined parameters can be used to convert distance error and velocity error to thrust. This can make the final thrust more consistent with the characteristics of the water vehicle 20, thereby facilitating the movement control of the water vehicle 20.

[0079] In step S13, after calculating the target thrust required by the propulsion device 11, considering that different types of propellers 10 may use different propulsion motors 111 and propellers 112, resulting in different types of propellers 10 using different operating parameters for outputting the target thrust, controlling the propeller 10 to generate the target thrust may include: based on the mapping relationship between the thrust size of the propeller 10 and the operating parameters, determining the target operating parameters that match the thrust size of the target thrust, and controlling the propeller 10 to operate with the target operating parameters to generate the target thrust. The mapping relationship between the thrust size and the operating parameters can be pre-calibrated information, which can be pre-stored in the propeller 10 to facilitate the call of the processor 16. The operating parameters can be, for example, parameters such as power, current, and voltage, which are not limited in this application.

[0080] It should be noted that the action of calculating the target thrust and controlling the propulsion device 11 to generate the target thrust can be understood as an adjustment cycle. In order to achieve the position maintenance of the water carrier 20, the processor 16 may only need to perform the action of one adjustment cycle to move the subsequent position of the water carrier 20 to the target position, or it may need to perform the action of multiple adjustment cycles to move the subsequent position of the water carrier 20 to the target position. Referring to Figure 13, it is assumed that the target position is the origin of the world coordinate system X'O'Y'. At time T1, the water carrier 20 is facing the Y' axis direction of the world coordinate system X'O'Y', and the angular error of the water carrier 20 is α1. The direction of the target thrust is indicated by the gray arrow in the figure. Under the action of the target thrust, the water carrier 20 begins to move and turn clockwise (as shown by the dotted arrow in the figure). At time T2 after time T1, the angular error of the water carrier 20 is α2, and α2 is less than α1. As the angular error of the water carrier 20 changes, the thrust direction of the target thrust also changes. Under the influence of the changed target thrust, the posture of the water vehicle 20 continues to change, and at time T3, after time T2, the angular error further decreases from α2 to α3, and the thrust direction of the target thrust continues to change with the angular error. At time T4, the water vehicle 20 reaches the target position, and position holding is completed. It should be noted that in Figure 13, the position of the water vehicle 20 is made to coincide with the target position through position holding control. However, in actual application, as long as the distance between the position of the water vehicle 20 and the target position is within the set range, the water vehicle 20 is considered to have remained at the target position, and the position of the water vehicle 20 does not require strict coincidence with the target position.

[0081] In the present application, in addition to calculating the thrust magnitude of the target thrust and generating the target thrust based on the calculated thrust magnitude, a target thrust of a predetermined thrust value may also be generated, or a target thrust corresponding to a predetermined operating parameter may be generated.

[0082] When the target thrust is a predetermined thrust value, the predetermined thrust value may be a manually set thrust value or a default thrust value. Similarly, there is a mapping relationship between the thrust of the propeller 10 and the operating parameters. Therefore, controlling the propeller 10 to generate the target thrust includes: determining a target operating parameter that matches the predetermined thrust value based on the mapping relationship between the thrust of the propeller 10 and the operating parameters, and controlling the propeller 10 to operate at the target operating parameter to generate the target thrust.

[0083] When generating a target thrust corresponding to predetermined operating parameters, controlling the propeller 10 to generate the target thrust includes controlling the propeller 10 to operate at the predetermined operating parameters to generate the target thrust. In this embodiment, the target thrust does not need to be calculated, but rather the propeller 10 is directly set to operate at the predetermined operating parameters to generate the target thrust corresponding to the predetermined operating parameters.

[0084] It should be noted that when the target thrust is a predetermined thrust value, the processor 16 determines target operating parameters that match the predetermined thrust value in the first adjustment cycle and operates at these target operating parameters in the first and subsequent adjustment cycles. Therefore, in subsequent adjustment cycles, the processor 16 only needs to adjust the steering angle of the steerable member. When the thruster 10 is operating at the predetermined operating parameters, the processor only needs to adjust the steering angle of the steerable member in each adjustment cycle, without having to calculate the target operating parameters.

[0085] In the above-described embodiment of the present application, during the activation of the position-holding function, the propeller 10 simultaneously adjusts the thrust direction and outputs the thrust magnitude to gradually orient the bow or stern of the water vehicle 20 toward the target position, while also gradually approaching the target position. This synchronous adjustment method enables the water vehicle 20 to reach the target position more quickly, improving the efficiency of position-holding.

[0086] The method of the present application further includes controlling the propeller 10 to stop generating thrust when the distance error between the subsequent position of the water vehicle 20 and the target position is within a predetermined error range. When the subsequent position of the water vehicle 20 is relatively close to the target position, the water vehicle 20 can continue to move due to inertia, thereby reaching the target position. Therefore, when the distance error is within the predetermined error range, the propeller 10 can be controlled to stop generating thrust. This, on the one hand, allows the water vehicle 20 to reach the target position at a slower speed, preventing the water vehicle 20 from still maintaining a certain speed upon reaching the target position and thus continuing to deviate from the target position. On the other hand, controlling the propeller 10 to stop generating thrust before reaching the target position can reduce energy consumption of the water vehicle 20. It should be noted that the processor 16 controlling the propulsion device 11 to stop outputting thrust does not mean that the propeller 10 has exited the position-holding function. It should be understood that the stopping operation at this time is only because the position of the water vehicle 20 has approached the target position and no adjustment is required, and the position-holding function remains enabled. If the position of the water vehicle 20 deviates from the target position, the processor 16 will continue to control the propulsion device 11 to generate thrust.

[0087] In the method of the embodiment of the present application, since the steering angle and thrust of the propulsion device 11 need to be determined and executed autonomously by the processor 16 based on information such as angle error and speed error during the period when the position holding function is turned on, it cannot be determined based on the steering and other instructions generated by the control device 30 after the user operates the control device 30. Therefore, the method of the present application needs to be executed when the movable parts of the control device 30 are not activated, wherein the control device 30 includes but is not limited to the throttle stick, control buttons, steering wheel, tiller, etc. Inactivation can be understood as the control device 30 not receiving the user's operation. For example, the movable parts of the control device 30 are components for receiving user steering operations, such as the dial of the steering wheel, the handle of the tiller, etc. The inactivation of the control device 30 can include that the control device 30 has not received the user's steering control operation. Accordingly, the method of the present application can be executed when the propeller 10 does not receive the steering instruction sent by the control device 30. Alternatively, the movable part of the control device 30 is a component for receiving the user's throttle operation, such as the throttle stick of the remote control controller, the joystick of the wireless joystick, etc. The control device 30 is not activated, which may include that the control device 30 has not received the user's throttle control operation. Accordingly, the method of the present application can be executed when the propeller 10 does not receive the throttle command sent by the control device 30. When the control device 30 is activated, it usually indicates that the user needs to control the propeller 10. Therefore, in this case, position holding control may not be performed, but the propeller 10 is controlled in response to the control instruction output by the user through the control device 30, so that the control process of the propeller 10 meets the user's operating requirements. When the movable part of the control device 30 is not activated, it usually indicates that the user has no need to operate the propeller 10. At this time, position holding control can be performed to keep the water vehicle 20 at the target position.

[0088] While the position hold function is on, the user may operate the control device 30. For this scenario, the method of the present application further includes: while the propeller 10 is performing position hold control, if the propeller 10 receives a movement instruction from the control device 30 to move the water body 20, then after the propeller 10 executes the movement instruction and the water body 20 meets the state maintenance condition, the position hold control continues to be performed, and the control device 30 is used to control the propeller 10. As an example, the state maintenance condition includes that the deviation value of the position of the water body 20 after movement from the target position is less than a first deviation threshold. That is, when the deviation value is less than the first deviation threshold, the position hold function remains on and the processor 16 continues to perform position hold control. When the deviation value reaches (equal to or greater than) the first deviation threshold, the propeller 10 exits the position hold function, and the processor 16 controls the operation of components such as the propulsion device 11 based on the instruction sent by the control device 30. In this way, the propeller 10 can automatically exit the position hold function without the user having to manually operate it, reducing human intervention, increasing convenience, and improving user experience. In the embodiment of the present application, the first deviation threshold may be 0.5m, 0.7m, 0.8m, etc., and the present application does not impose any limitation on this.

[0089] When the deviation value is less than the first deviation threshold, the processor 16 may continue to perform position hold control, which may include: when the deviation value is between the second deviation threshold and the first deviation threshold, updating the moved position of the water vehicle 20 to the target position and continuing to perform position hold control; when the deviation value is less than the second deviation threshold, maintaining the target position unchanged and continuing to perform position hold control. The second deviation threshold is less than the first deviation threshold. The second deviation threshold may be 0.2m, 0.3m, 0.4m, etc., and this application is not limited to this. It is understood that when the deviation value is less than the second deviation value, it indicates that the user may have mistakenly operated the control device 30, causing the propeller 10 to operate in response to the control device 30's instructions, thereby causing the water vehicle 20 to move. Therefore, in this case, the processor 16 can deem it a case of user error, and the user subjectively did not want to change the target position. The processor 16 will continue to perform position hold control based on the original target position. This can avoid the problem of the position hold function being terminated due to user error. When the deviation value is between the second deviation threshold and the first deviation threshold, the water body 20 has rotated a relatively large angle without exceeding the rotation amplitude corresponding to the first deviation threshold, indicating that the user may want to fine-tune the target position of the water body 20. Therefore, in this case, the processor 16 can use the position of the water body 20 after it moves as the new target position. In subsequent control, the processor 16 performs position holding control based on the new target position. In this way, the user does not need to execute the operation of enabling the position holding function again when fine-tuning the target position. The propeller 10 can automatically perform the position holding function, making user operation more convenient.

[0090] It should be pointed out that the method of the present application is not only applicable to the case where the water carrier 20 is only equipped with one propeller 10, but also applicable to the case where the water carrier 20 is equipped with multiple (such as two, three, four, etc.) propellers 10. For the case where the water carrier 20 is equipped with multiple propellers 10, during the period when the position keeping function is enabled, the processor 16 can only enable one propeller 10 among the multiple propellers 10 to perform position keeping control. Among them, the one propeller 10 can be any one propeller 10 among the multiple propellers 10. The method of the present application also includes: detecting whether there are other propellers in a working state on the water carrier 20, and if not, executing the step of calculating the target thrust required by the propeller 10. If so, the step of calculating the target thrust required by the propeller 10 may not be executed, and a prompt message may be output to prompt the user that the propeller 10 is not performing position keeping control.

[0091] When multiple propellers 10 are installed on the water vehicle 20, one of the multiple propellers 10 can be set as the master, and the other propellers 10 can be set as the master. Position keeping control can be performed by the master. The processor 16 can determine the master among the multiple propellers 10 and control the master to perform position keeping control.

[0092] Alternatively, the position-keeping control mode may be determined based on the number of propellers 10 in operation. The position-keeping control modes include a single-machine mode and a multi-machine mode. When the number of propellers 10 in operation is one, the single-machine mode may be entered, thereby executing the step of calculating the target thrust required by the propeller 10, so as to achieve position-keeping of the water body 20 based on a single propeller 10. When the number of propellers 10 in operation is greater than one, the multi-machine mode may be entered, thereby achieving position-keeping of the water body 20 based on multiple propellers 10.

[0093] Each thruster 10 includes a processor 16, and the processors 16 of multiple thrusters 10 are connected to the same bus. The number of thrusters 10 in operation can be determined based on the number of processors 16 connected to the bus. When a thruster 10 is connected to the bus, the processor 16 of the thruster 10 can send a signal to the bus.

[0094] Referring to FIG14 , the present application further provides a method for maintaining the position of a water vehicle based on a single propeller, the method comprising:

[0095] Step S21: In response to the position holding instruction, the current position of the water area carrier 20 is used as the target position;

[0096] Step S22: obtaining the subsequent position of the water area carrier 20;

[0097] Step S23: Calculating the angular error between the subsequent position and the target position;

[0098] Step S24: determining the thrust direction of the target thrust required by the thruster 10 based on the angle error;

[0099] Step S25: Control the propeller 10 to generate a target thrust in the thrust direction, so that the water body 20 remains at the target position.

[0100] The specific details of this embodiment are detailed in the aforementioned method embodiment and will not be repeated here.

[0101] In some embodiments, the position of the water vehicle 20 is obtained based on a global navigation satellite system 50 .

[0102] In some embodiments, the global navigation satellite system 50 is installed on the water vehicle 20 .

[0103] In some embodiments, the global navigation satellite system 50 is provided on the thruster 10 .

[0104] In some embodiments, obtaining the position of the water carrier 20 includes: obtaining the position of the propeller 10 and the size of the water carrier 20 ; and determining the position of the water carrier 20 based on the position of the propeller 10 and the size of the water carrier 20 .

[0105] In some embodiments, the position of the water vehicle 20 is obtained based on a global navigation satellite system 50 and an inertial measurement sensor 40 .

[0106] In some embodiments, obtaining the position of the water carrier 20 includes: obtaining the latest position data output by the global navigation satellite system 50; calculating the moving distance of the water carrier 20 based on the acceleration data output by the inertial measurement sensor 40, which is the distance moved by the water carrier 20 in the period between the moment when the global navigation satellite system 50 latest outputs the position data and the current moment; and calculating the position of the water carrier 20 based on the position data and the moving distance.

[0107] In some embodiments, obtaining the position of the water carrier 20 includes: obtaining the latest position data output by the global navigation satellite system 50; calculating the moving distance of the water carrier 20 based on the moving speed of the propeller 10 and the heading of the water carrier 20, which is the distance moved by the water carrier 20 in the period between the moment when the global navigation satellite system 50 latest outputs the position data and the current moment; and calculating the position of the water carrier 20 based on the position data and the moving distance.

[0108] In some embodiments, calculating the angular error between the subsequent position and the target position includes: obtaining the distance between the subsequent position and the target position; obtaining a first projection distance of the distance on the first axis of the water area carrier 20 and a second projection distance of the distance on the second axis of the water area carrier 20, wherein the first axis is parallel to the roll axis of the water area carrier 20 and perpendicular to the second axis; and calculating the angular error based on the first projection distance and the second projection distance.

[0109] In some embodiments, the thruster 10 includes a steerable member, and determining the thrust direction of the target thrust required by the thruster 10 based on the angular error includes determining a target steering position of the steerable member based on the angular error.

[0110] In some embodiments, the steerable member comprises a propulsion device 11 in the propeller 10 .

[0111] In some embodiments, the propeller 10 includes a rudder blade and a propulsion device 11, and the steerable member includes the rudder blade.

[0112] In some embodiments, the steering stroke of the steerable member from the reference position to the target steering position is positively correlated with the angle error, and the reference position is the position where the axis of the thrust direction of the propeller passes through the center point of the water body 20.

[0113] In some embodiments, the target steering position is determined based on the angular error and predetermined steering parameters.

[0114] In some embodiments, the method also includes: calculating the distance error between the subsequent position and the target position; calculating the thrust magnitude of the target thrust based on the distance error; controlling the propeller 10 to generate a target thrust in the direction of the thrust direction, including: controlling the propeller 10 to generate a target thrust in the direction of the thrust direction and with a magnitude of the thrust magnitude.

[0115] In some embodiments, the thrust magnitude is positively correlated with the distance error.

[0116] In some embodiments, the thrust magnitude is determined based on the range error and a predetermined range parameter.

[0117] In some embodiments, the thrust magnitude of the target thrust is calculated based on the distance error, including: obtaining the moving speed of the water carrier 20 at the subsequent position; calculating the speed error between the moving speed and the expected speed when the water carrier reaches the target position, the expected speed being less than a speed threshold; and calculating the thrust magnitude of the target thrust based on the distance error and the speed error.

[0118] In some embodiments, the moving speed and the desired speed include the speed of the water vehicle 20 on a first axis, which is parallel to the roll axis X of the water vehicle 20 .

[0119] In some embodiments, the movement speed is obtained based on the inertial measurement sensor 40 .

[0120] In some embodiments, the moving speed is obtained based on both the inertial measurement sensor 40 and the global navigation satellite system 50 .

[0121] In some embodiments, obtaining the moving speed of the water carrier 20 at a subsequent position includes: calculating a first speed of the water carrier 20 on the first axis based on acceleration data output by the inertial measurement sensor 40; determining a second speed of the water carrier 20 on the first axis based on speed data output by the global navigation satellite system 50; and fusing the first speed and the second speed to obtain the moving speed of the water carrier 20 at the subsequent position.

[0122] In some embodiments, the thrust magnitude is positively correlated with the distance error; and / or the thrust magnitude is positively correlated with the speed error.

[0123] In some embodiments, the thrust magnitude is determined based on the speed error, the distance error, and a predetermined parameter, wherein the predetermined parameter includes at least one of a predetermined distance parameter or a predetermined speed parameter.

[0124] In some embodiments, controlling the propeller 10 to generate a target thrust in the thrust direction includes: determining a target operating parameter that matches the thrust magnitude of the target thrust based on a mapping relationship between the thrust magnitude and the operating parameters of the propeller 10; controlling the propeller 10 to operate with the target operating parameter to generate a target thrust in the thrust direction and with a thrust magnitude that matches the target operating parameter.

[0125] In some embodiments, the thrust magnitude of the target thrust is a predetermined thrust value.

[0126] In some embodiments, controlling the thruster 10 to generate a target thrust in the thrust direction includes: determining a target operating parameter that matches a predetermined thrust value based on a mapping relationship between the thrust magnitude and the operating parameters of the thruster 10; and controlling the thruster 10 to operate with the target operating parameter to generate a target thrust in the thrust direction and with a thrust magnitude of a predetermined thrust value.

[0127] In some embodiments, controlling the propeller 10 to generate the target thrust in the thrust direction includes: controlling the propeller 10 to operate with predetermined operating parameters to generate the target thrust in the thrust direction.

[0128] In some embodiments, the method further includes: controlling the propeller 10 to stop generating thrust when the distance error between the subsequent position of the water body 20 and the target position is within a predetermined error range.

[0129] In some embodiments, the method is performed when a movable member of a control device 30 for controlling the propeller 10 is not activated.

[0130] In some embodiments, the method is executed when the propeller 10 does not receive a steering instruction sent by the steering device 30 .

[0131] In some embodiments, the method is executed when the propeller 10 does not receive a throttle command sent by the control device 30 .

[0132] In some embodiments, the method also includes: during the period when the propeller 10 performs position keeping control, if the propeller 10 receives a movement instruction of the mobile water carrier 20 sent by the control device 30, then after the propeller 10 executes the movement instruction and the water carrier 20 meets the state maintenance condition, the position keeping control continues to be performed, and the control device 30 is used to control the propeller 10.

[0133] In some embodiments, the state maintaining condition includes that a deviation value of the position of the water area vehicle 20 after movement from the target position is less than a first deviation threshold.

[0134] In some embodiments, position keeping control is continued, including: when the deviation value is between the second deviation threshold and the first deviation threshold, the position of the water area carrier 20 after movement is updated to the target position, and position keeping control is continued, and the second deviation threshold is less than the first deviation threshold; when the deviation value is less than the second deviation threshold, the target position is kept unchanged, and position keeping control is continued.

[0135] In some embodiments, when the deviation value reaches a first deviation threshold, the position keeping control is stopped.

[0136] In some embodiments, the method further includes: detecting whether there are other propellers in working state on the water body 20; if not, executing the step of calculating the target thrust required by the propeller 10.

[0137] The specific details of the above embodiment can also be found in the aforementioned method embodiment, which will not be repeated here.

[0138] The present application also provides a computer-readable storage medium having computer instructions stored thereon, which, when executed by a processor, implement the method for maintaining the position of a water vehicle based on a single thruster as described in any embodiment of the present application. The computer-readable storage medium can be phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage device, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device.

[0139] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. The terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a..." does not exclude the presence of other identical elements in the process, method, article or device that includes the element.

[0140] The above is a detailed introduction to the methods and devices provided in the embodiments of the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the methods and core ideas of the present application. At the same time, for those skilled in the art, based on the ideas of the present application, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for maintaining the position of a water vehicle based on a single propeller, characterized in that: The method comprises: In response to a position-keeping instruction, taking the current position of the water area carrier as a target position; Calculating a target thrust required by the propeller, wherein the target thrust is used to make the bow or stern of the water vehicle face the target position and to make the water vehicle move forward or backward to maintain the target position; The thruster is controlled to generate the target thrust.

2. The method according to claim 1, characterized in that The thrust direction of the target thrust is used to make the target position fall on the first axis of the water area carrier, and the first axis is parallel to the rolling axis of the water area carrier.

3. The method according to claim 2, characterized in that The first axis coincides with the roll axis.

4. The method according to claim 1, wherein When the bow is closer to the target position than the stern, the target thrust is used to make the bow face the target position and move the water area vehicle forward to maintain the target position.

5. The method according to claim 1, wherein When the stern is closer to the target position than the bow, the target thrust is used to make the stern face the target position and make the water area vehicle retreat to maintain the target position.

6. The method according to any one of claims 1 to 5, characterized in that The calculating the target thrust required by the propeller includes: Obtaining a subsequent position of the water body; calculating an angular error between the subsequent position and the target position; A thrust direction of the target thrust is determined based on the angular error.

7. The method according to claim 6, characterized in that The position of the water body is obtained based on the global navigation satellite system.

8. The method according to claim 7, characterized in that The global navigation satellite system is arranged on the water carrier.

9. The method according to claim 7, characterized in that The global navigation satellite system is arranged on the thruster.

10. The method according to claim 9, characterized in that Obtaining the location of the water area carrier includes: Obtaining the position of the propeller and the size of the water body; The position of the water body is determined based on the position of the propeller and the size of the water body.

11. The method according to claim 6, characterized in that The position of the water area carrier is obtained based on the global navigation satellite system and inertial measurement sensors.

12. The method according to claim 11, characterized in that Obtaining the location of the water area carrier includes: Obtaining the latest position data output by the global navigation satellite system; Calculating a movement distance of the water body based on the acceleration data output by the inertial measurement sensor, wherein the movement distance is a distance moved by the water body during a period between the moment when the global navigation satellite system outputs the latest position data and the current moment; The position of the water area carrier is calculated based on the position data and the movement distance.

13. The method according to claim 7, characterized in that Obtaining the location of the water area carrier includes: Obtaining the latest position data output by the global navigation satellite system; The moving distance of the water body is calculated based on the moving speed of the propeller and the heading of the water body, and the moving distance is the distance between the time when the water body outputs the latest position data of the global navigation satellite system and the current time. Distance moved; The position of the water area carrier is calculated based on the position data and the movement distance.

14. The method according to claim 6, characterized in that The calculating the angular error between the subsequent position and the target position includes: Obtaining a distance between the subsequent position and the target position; Obtaining a first projection distance of the distance on a first axis of the water area carrier and a second projection distance of the distance on a second axis of the water area carrier, wherein the first axis is parallel to the roll axis of the water area carrier and perpendicular to the second axis; The angular error is calculated based on the first projection distance and the second projection distance.

15. The method according to claim 14, characterized in that The thruster includes a steerable member, and determining the thrust direction of the target thrust based on the angle error includes: A target steering position of the steerable member is determined based on the angular error.

16. The method according to claim 15, characterized in that The steerable member comprises a propulsion device in the propeller.

17. The method according to claim 15, characterized in that The propeller includes a rudder blade and a propulsion device, and the steerable member includes the rudder blade.

18. The method according to claim 15, characterized in that The steering stroke of the steerable member from the reference position to the target steering position is positively correlated with the angular error, and the reference position is the position where the axis of the thrust direction of the propeller passes through the center point of the water area carrier.

19. The method according to claim 15, characterized in that The target steering position is determined based on the angular error and a predetermined steering parameter.

20. The method according to claim 6, characterized in that The calculating of the target thrust required by the propeller further includes: calculating a distance error between the subsequent position and the target position; The thrust magnitude of the target thrust is calculated based on the distance error.

21. The method according to claim 20, characterized in that The thrust magnitude is positively correlated with the distance error.

22. The method according to claim 20, characterized in that The thrust magnitude is determined based on the distance error and a predetermined distance parameter.

23. The method according to claim 20, characterized in that The calculating the thrust magnitude of the target thrust based on the distance error includes: Obtaining a moving speed of the water area carrier at the subsequent position; Calculating a speed error between the moving speed and an expected speed when the water body reaches the target position, the expected speed being less than a speed threshold; The thrust magnitude of the target thrust is calculated based on the distance error and the speed error.

24. The method according to claim 23, wherein The moving speed and the expected speed include a speed of the water body vehicle on a first axis, wherein the first axis is parallel to a roll axis of the water body vehicle.

25. The method according to claim 24, characterized in that The moving speed is obtained based on an inertial measurement sensor.

26. The method according to claim 24, characterized in that The moving speed is jointly acquired based on an inertial measurement sensor and a global navigation satellite system.

27. The method according to claim 26, characterized in that The obtaining of the moving speed of the water area carrier at the subsequent position includes: Calculate the first velocity of the water body on the first axis based on the acceleration data output by the inertial measurement sensor. Spend; determining a second speed of the water vehicle on the first axis based on speed data output by the global navigation satellite system; The first speed and the second speed are combined to obtain a moving speed of the water area carrier at the subsequent position.

28. The method according to claim 23, wherein The thrust magnitude is positively correlated with the distance error; and / or The thrust magnitude is positively correlated with the speed error.

29. The method according to claim 23, wherein The thrust magnitude is determined based on the speed error, the distance error, and a predetermined parameter, where the predetermined parameter includes at least one of a predetermined distance parameter and a predetermined speed parameter.

30. The method according to claim 20, wherein The controlling the thruster to generate the target thrust comprises: Determining target operating parameters that match the thrust magnitude of the target thrust based on a mapping relationship between the thrust magnitude of the propeller and the operating parameters; The thruster is controlled to operate with the target operating parameters to generate the target thrust.

31. The method according to claim 6, wherein The thrust magnitude of the target thrust is a predetermined thrust value.

32. The method according to claim 31, characterized in that The controlling the thruster to generate the target thrust comprises: Determining target operating parameters that match the predetermined thrust value based on a mapping relationship between the thrust magnitude of the propeller and the operating parameters; The thruster is controlled to operate with the target operating parameters to generate the target thrust.

33. The method according to claim 6, characterized in that The controlling the thruster to generate the target thrust comprises: The thruster is controlled to operate with predetermined operating parameters to generate the target thrust.

34. The method according to claim 1, wherein The method further comprises: When the distance error between the subsequent position of the water area carrier and the target position is within a predetermined error range, the propeller is controlled to stop generating thrust.

35. The method according to claim 1, wherein The method is performed when a movable part of an actuation device for actuating the propeller is inactive.

36. The method according to claim 35, characterized in that The method is executed when the propeller does not receive a steering instruction sent by the control device.

37. The method according to claim 35, characterized in that The method is executed when the propeller does not receive a throttle command sent by the control device.

38. The method according to claim 1, wherein The method further comprises: During the period when the propeller performs position keeping control, if the propeller receives a movement instruction to move the water area carrier sent by the control device, then after the propeller executes the movement instruction and the water area carrier meets the state maintenance condition, the position keeping control continues to be performed, and the control device is used to control the propeller.

39. The method according to claim 38, characterized in that The state maintaining condition includes that a deviation value of the position of the water area carrier after movement from the target position is less than a first deviation threshold.

40. The method according to claim 39, wherein The continuing to perform the position maintaining control comprises: When the deviation value is between the second deviation threshold and the first deviation threshold, the position after the water area carrier is moved is updating the target position to the target position and continuing to perform the position keeping control, wherein the second deviation threshold is less than the first deviation threshold; When the deviation value is smaller than the second deviation threshold, the target position is maintained unchanged and the position holding control is continued.

41. The method according to claim 39, wherein When the deviation value reaches the first deviation threshold, the position holding control is stopped.

42. The method according to claim 1, wherein The method further comprises: Detecting whether there are other propellers in working condition on the water body; If not, the step of calculating the target thrust required by the thruster is performed.

43. A method for maintaining the position of a water vehicle based on a single propeller, characterized in that: The method comprises: In response to a position-keeping instruction, taking the current position of the water area carrier as a target position; Obtaining a subsequent position of the water body; calculating an angular error between the subsequent position and the target position; determining a thrust direction of a target thrust required by the thruster based on the angular error; The propeller is controlled to generate the target thrust in the thrust direction so as to keep the water area vehicle at the target position.

44. The method according to claim 43, wherein The position of the water body is obtained based on the global navigation satellite system.

45. The method according to claim 44, wherein The global navigation satellite system is arranged on the water carrier.

46. ​​The method according to claim 44, wherein The global navigation satellite system is arranged on the thruster.

47. The method according to claim 46, wherein Obtaining the location of the water area carrier includes: Obtaining the position of the propeller and the size of the water body; The position of the water body is determined based on the position of the propeller and the size of the water body.

48. The method according to claim 43, wherein The position of the water area carrier is obtained based on the global navigation satellite system and inertial measurement sensors.

49. The method according to claim 48, characterized in that Obtaining the location of the water area carrier includes: Obtaining the latest position data output by the global navigation satellite system; Calculating a movement distance of the water body based on the acceleration data output by the inertial measurement sensor, wherein the movement distance is a distance moved by the water body during a period between the moment when the global navigation satellite system outputs the latest position data and the current moment; The position of the water area carrier is calculated based on the position data and the movement distance.

50. The method according to claim 44, wherein Obtaining the location of the water area carrier includes: Obtaining the latest position data output by the global navigation satellite system; Calculating a movement distance of the water body based on the movement speed of the propeller and the heading of the water body, wherein the movement distance is a distance moved by the water body during a period between the moment when the global navigation satellite system outputs the latest position data and the current moment; The position of the water area carrier is calculated based on the position data and the movement distance.

51. The method according to claim 43, wherein The calculating the angular error between the subsequent position and the target position includes: Obtaining a distance between the subsequent position and the target position; Obtain the first projection distance of the distance on the first axis of the water area carrier and the first projection distance of the distance on the second axis of the water area carrier. The first axis is parallel to the rolling axis of the water area carrier and perpendicular to the second axis; The angular error is calculated based on the first projection distance and the second projection distance.

52. The method according to claim 51, characterized in that The propeller includes a steerable member, and determining the thrust direction of the target thrust required by the propeller based on the angle error includes: A target steering position of the steerable member is determined based on the angular error.

53. The method according to claim 52, characterized in that The steerable member comprises a propulsion device in the propeller.

54. The method according to claim 52, wherein The propeller includes a rudder blade and a propulsion device, and the steerable member includes the rudder blade.

55. The method according to claim 52, wherein The steering stroke of the steerable member from the reference position to the target steering position is positively correlated with the angular error, and the reference position is the position where the axis of the thrust direction of the propeller passes through the center point of the water area carrier.

56. The method according to claim 52, wherein The target steering position is determined based on the angular error and a predetermined steering parameter.

57. The method according to claim 43, wherein The method further comprises: calculating a distance error between the subsequent position and the target position; Calculating the thrust magnitude of the target thrust based on the distance error; The controlling the propeller to generate the target thrust in the thrust direction includes: The thruster is controlled to generate the target thrust in the direction of the thrust and with a magnitude of the thrust.

58. The method according to claim 57, wherein The thrust magnitude is positively correlated with the distance error.

59. The method according to claim 57, wherein The thrust magnitude is determined based on the distance error and a predetermined distance parameter.

60. The method according to claim 57, wherein The calculating the thrust magnitude of the target thrust based on the distance error includes: Obtaining a moving speed of the water area carrier at the subsequent position; Calculating a speed error between the moving speed and an expected speed when the water body reaches the target position, the expected speed being less than a speed threshold; The thrust magnitude of the target thrust is calculated based on the distance error and the speed error.

61. The method according to claim 60, characterized in that The moving speed and the expected speed include a speed of the water body vehicle on a first axis, wherein the first axis is parallel to a roll axis of the water body vehicle.

62. The method according to claim 61, characterized in that The moving speed is obtained based on an inertial measurement sensor.

63. The method according to claim 61, characterized in that The moving speed is jointly acquired based on an inertial measurement sensor and a global navigation satellite system.

64. The method according to claim 63, wherein The obtaining of the moving speed of the water area carrier at the subsequent position includes: Calculating a first velocity of the water body on the first axis based on acceleration data output by the inertial measurement sensor; determining a second speed of the water vehicle on the first axis based on speed data output by the global navigation satellite system; The first speed and the second speed are combined to obtain a moving speed of the water area carrier at the subsequent position.

65. The method according to claim 60, wherein The thrust magnitude is positively correlated with the distance error; and / or The thrust magnitude is positively correlated with the speed error.

66. The method according to claim 60, wherein The thrust magnitude is determined based on the speed error, the distance error, and a predetermined parameter, where the predetermined parameter includes at least one of a predetermined distance parameter and a predetermined speed parameter.

67. The method according to claim 57, wherein The controlling the propeller to generate the target thrust in the thrust direction includes: Determining target operating parameters that match the thrust magnitude of the target thrust based on a mapping relationship between the thrust magnitude of the propeller and the operating parameters; The propeller is controlled to operate with the target operating parameters to generate the target thrust having a direction that is the thrust direction and a thrust magnitude that matches the target operating parameters.

68. The method according to claim 43, wherein The thrust magnitude of the target thrust is a predetermined thrust value.

69. The method according to claim 68, characterized in that The controlling the propeller to generate the target thrust in the thrust direction includes: Determining target operating parameters that match the predetermined thrust value based on a mapping relationship between the thrust magnitude of the propeller and the operating parameters; The propeller is controlled to operate with the target operating parameters to generate the target thrust having a direction that is the thrust direction and a thrust magnitude that is the predetermined thrust value.

70. The method according to claim 43, wherein The controlling the propeller to generate the target thrust in the thrust direction includes: The thruster is controlled to operate with predetermined operating parameters to generate the target thrust in the thrust direction.

71. The method according to claim 43, wherein The method further comprises: When the distance error between the subsequent position of the water area carrier and the target position is within a predetermined error range, the propeller is controlled to stop generating thrust.

72. The method according to claim 43, wherein The method is performed when a movable part of an actuation device for actuating the propeller is inactive.

73. The method according to claim 72, characterized in that The method is executed when the propeller does not receive a steering instruction sent by the control device.

74. The method according to claim 72, characterized in that The method is executed when the propeller does not receive a throttle command sent by the control device.

75. The method according to claim 43, wherein The method further comprises: During the period when the propeller performs position keeping control, if the propeller receives a movement instruction to move the water area carrier sent by the control device, then after the propeller executes the movement instruction and the water area carrier meets the state maintenance condition, the position keeping control continues to be performed, and the control device is used to control the propeller.

76. The method according to claim 75, characterized in that The state maintaining condition includes that a deviation value of the position of the water area carrier after movement from the target position is less than a first deviation threshold.

77. The method according to claim 76, wherein The continuing to perform the position maintaining control comprises: When the deviation value is between a second deviation threshold and the first deviation threshold, updating the moved position of the water area carrier to the target position and continuing to perform the position keeping control, and the second deviation threshold is less than the first deviation threshold; When the deviation value is smaller than the second deviation threshold, the target position is maintained unchanged and the position holding control is continued.

78. The method according to claim 76, wherein When the deviation value reaches the first deviation threshold, the position holding control is stopped.

79. The method according to claim 43, wherein The method further comprises: Detecting whether there are other propellers in working condition on the water body; If not, the step of calculating the target thrust required by the thruster is performed.

80. A computer-readable storage medium, characterized in that Computer instructions are stored thereon, and when the computer instructions are executed by a processor, the method for maintaining the position of a water body based on a single propeller as described in any one of claims 1 to 79 is implemented.

81. A propeller, characterized in that The propeller comprises: propulsion plant; and A processor, the processor being electrically connected to the propulsion device, and the processor being used to execute the method for maintaining the position of a water body based on a single propeller as described in any one of claims 1 to 79.

82. A movable device in water area, characterized in that: The movable equipment in the water area includes: Water carriers; and The propeller according to claim 81 is provided on the water body carrier.

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