Propulsion system and control method therefor, and water-area movable device and storage medium

Abstract

A propulsion system and a control method therefor, and a water-area movable device and a storage medium. The control method comprises: acquiring a steering angle of each propulsion apparatus (S101); on the basis of the steering angles, categorizing the plurality of propulsion apparatuses into a first propulsion apparatus having a first angular relationship with a target propulsion apparatus, and a second propulsion apparatus having a second angular relationship with the target propulsion apparatus, wherein the target propulsion apparatus is one of the plurality of propulsion apparatuses, and the target propulsion apparatus has a third angular relationship with a steering adjustment apparatus (S102); controlling the target propulsion apparatus and the first propulsion apparatus to synchronously steer along with the steering adjustment apparatus (S103); and when the second propulsion apparatus also has the first angular relationship with the target propulsion apparatus, controlling the second propulsion apparatus to also synchronously steer along with the steering adjustment apparatus (S104). The control method improves the operation safety of a propulsion system.

Description

Propulsion system and its control method, water-based mobile equipment, storage medium Technical Field

[0001] This application relates to the field of steering control technology, and in particular to a propulsion system and its control method, a water-based mobile device, and a storage medium. Background Technology

[0002] With technological advancements, ship outboard motors have begun to employ electronic steering systems, using the steering wheel as a steering adjustment device. During navigation, as the steering wheel turns, the outboard motor also rotates synchronously by a certain angle, allowing it to output power in the direction controlled by the operator. However, because electronic steering systems lack mechanical constraints, misalignment between the steering wheel and the outboard motor's steering direction can occur. For ships with multiple outboard motors, simultaneously aligning each motor to follow the steering wheel's direction can easily lead to safety issues.

[0003] Summary of the Invention

[0004] Based on this, this application provides a propulsion system and its control method, an aquatic mobile device, and a storage medium, which can improve the safety of propulsion system operation.

[0005] In a first aspect, this application provides a control method for a propulsion system, the propulsion system including a steering adjustment device and a plurality of propulsion devices, the method comprising:

[0006] Obtain the steering angle of each of the propulsion devices;

[0007] Based on the steering angle, the plurality of propulsion devices are divided into a first propulsion device having a first angular relationship with the target propulsion device, and a second propulsion device having a second angular relationship with the target propulsion device. The target propulsion device is one of the plurality of propulsion devices and has a third angular relationship with the steering adjustment device.

[0008] Control the target propulsion device and the first propulsion device to turn synchronously with the steering adjustment device; and

[0009] When the second propulsion device and the target propulsion device also have the first angular relationship, the second propulsion device is controlled to turn synchronously with the steering adjustment device.

[0010] Secondly, this application also provides a control method for a propulsion system, the propulsion system including a steering adjustment device and a plurality of propulsion devices, the method comprising:

[0011] Obtain the steering angle of each of the propulsion devices;

[0012] Based on the steering angle, a third propulsion device with a fourth angular relationship to the steering adjustment device and a fourth propulsion device with a fifth angular relationship to the steering adjustment device are determined from the plurality of propulsion devices.

[0013] The third propulsion device is controlled to turn synchronously with the steering adjustment device;

[0014] When the fourth propulsion device and the steering adjustment device have the fourth angular relationship, the fourth propulsion device is controlled to also turn synchronously with the steering adjustment device.

[0015] Thirdly, this application also provides a propulsion system, which includes a memory and a processor;

[0016] The memory is used to store computer programs;

[0017] The processor is configured to execute the computer program and, when executing the computer program, implement the control method of the propulsion system described in the first or second aspect.

[0018] Fourthly, this application also provides a water-based mobile device, which includes the propulsion system described in the third aspect.

[0019] Fifthly, this application also provides a storage medium storing a computer program that, when executed by a processor, causes the processor to implement the control method of the propulsion system described in the first or second aspect.

[0020] This application provides a propulsion system and its control method, an aquatic mobile device, and a storage medium. For multiple propulsion devices in the propulsion system, based on the angular relationship between the multiple propulsion devices and the steering adjustment device, they are controlled to follow the steering adjustment device synchronously. Compared with driving multiple propulsion devices to follow the steering adjustment device synchronously at the same time, the probability of safety problems is reduced, thus improving the safety of the propulsion system operation.

[0021] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 is a schematic flowchart of the steps of a control method for a propulsion system provided in an embodiment of this application;

[0024] Figure 2 is a schematic diagram of the communication architecture of a propulsion system;

[0025] Figure 3 is a schematic flowchart of the steps of another propulsion system control method provided in an embodiment of this application;

[0026] Figure 4 is a schematic flowchart of the steps of adjusting at least one of a steering adjustment device and a target propulsion device according to an embodiment of this application;

[0027] Figure 5 is a schematic diagram of an embodiment of this application providing a display of operation prompt information;

[0028] Figure 6 is a schematic flowchart of the steps for adjusting at least one of the steering adjustment device and the target propulsion device according to an embodiment of this application;

[0029] Figure 7 is a schematic diagram of another display of operation prompt information provided by an embodiment of this application;

[0030] Figure 8 is a schematic diagram of a process provided by an embodiment of this application, in which the outboard motor turns synchronously with the steering wheel when the steering wheel is currently running in the first mode;

[0031] Figure 9 is a schematic diagram of a process provided by an embodiment of this application, in which the outboard motor follows the steering wheel to turn synchronously when the steering wheel is currently running in the second mode.

[0032] Figure 10 is a schematic flowchart of the steps of another propulsion system control method provided by an embodiment of this application;

[0033] Figure 11 is a schematic block diagram of a propulsion system provided in an embodiment of this application. Detailed Implementation

[0034] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0035] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0036] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0037] It should also be understood that the term "and / or" as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0038] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0039] Please refer to Figure 1, which is a flowchart illustrating the steps of a control method for a propulsion system according to an embodiment of this application. This control method for a propulsion system can be applied to a propulsion system or a water-based mobile device including a propulsion system, and can also be applied to other devices; no specific limitations are imposed in this application. Water-based mobile devices include, but are not limited to, ships and boats.

[0040] As shown in Figure 1, the control method of the propulsion system includes steps S101 to S104.

[0041] S101. Obtain the steering angle of each propulsion device.

[0042] The propulsion system includes a steering adjustment device and multiple propulsion devices. The steering adjustment device and each propulsion device can be connected via wired communication methods such as CAN (Controller Area Network) bus or RS-485 bus, or wirelessly via wireless communication methods such as WiFi or Bluetooth. The steering adjustment device includes, but is not limited to, a steering wheel, rudder, and wireless joystick, while the propulsion devices include, but are not limited to, outboard motors and rotatable podded propulsion systems.

[0043] For example, each propulsion device includes a controller and an electric steering control unit. The controller includes, but is not limited to, an ECU (Electronic Control Unit). The controller is responsible for coordinating the operation of various components in the propulsion device, such as issuing steering commands to the electric steering control unit so that the electric steering control unit can control the steering of the propulsion device. The controller can also interact with external devices, such as receiving steering control commands sent by the steering adjustment device.

[0044] For example, taking the steering adjustment device as the steering wheel and the propulsion device as the outboard motor, as shown in Figure 2, the propulsion system includes the steering wheel, outboard motor 1, outboard motor 2... outboard motor n. Each outboard motor includes an ECU and an electric steering control unit. Outboard motor 1, outboard motor 2... outboard motor n are connected to the steering wheel in parallel via a CAN1 bus. For each outboard motor in outboard motor 1, outboard motor 2... outboard motor n, its ECU and electric steering control unit are connected via a CAN2 bus.

[0045] To reliably control the operation of the propulsion system, it is necessary to obtain the steering angle of each propulsion unit in the system. For example, the propulsion system is equipped with angle detection devices such as angle sensors, which detect and obtain the steering angle of each propulsion unit.

[0046] In addition, it is necessary to obtain the rotation angle of the steering adjustment device. For example, the steering adjustment device is also equipped with angle detection devices such as angle sensors, and the rotation angle of the steering adjustment device is obtained by detecting the angle sensors.

[0047] S102. Based on the steering angle, the multiple propulsion devices are divided into a first propulsion device with a first angular relationship to the target propulsion device and a second propulsion device with a second angular relationship to the target propulsion device. The target propulsion device is one of the multiple propulsion devices and has a third angular relationship with the steering adjustment device.

[0048] For a propulsion system with multiple propulsion devices, one of them is designated as the target propulsion device. Then, using this target propulsion device as a reference, each propulsion device is controlled to turn synchronously with the steering adjustment device.

[0049] In some embodiments, among the multiple propulsion devices in the propulsion system, one is the primary propulsion device and the others are secondary propulsion devices, with the primary propulsion device directly used as the target propulsion device. That is, the primary propulsion device is used as a reference point to control the other propulsion devices to turn synchronously with the steering adjustment device. In a propulsion system containing multiple propulsion devices, one of the propulsion devices is elected as the primary propulsion device, which then manages the entire propulsion system. The primary propulsion device is selected after the propulsion system initialization is completed. In this embodiment, when at least some of the propulsion devices are detected to be misaligned with the steering adjustment device, the primary propulsion device is directly used as the target propulsion device, eliminating the need for a complex target propulsion device selection process and simplifying the selection logic.

[0050] In other embodiments, the control method of the propulsion system further includes: calculating the mapping angle difference between the steering adjustment device and each propulsion device, and selecting the propulsion device corresponding to the smallest mapping angle difference as the target propulsion device.

[0051] Based on the steering angle of each propulsion device and the rotation angle of the steering adjustment device, the mapping angle difference between the steering adjustment device and each propulsion device is calculated. Then, the propulsion device with the smallest mapping angle difference is selected as the target propulsion device from among multiple propulsion devices. That is, the propulsion device whose current steering position is closest to the steering position indicated by the steering adjustment device is selected as the target propulsion device. It can be understood that the smaller the mapping angle difference, the greater the possibility that the propulsion device corresponding to that mapping angle difference is aligned with the steering adjustment device. Even if they are not aligned, the propulsion device or steering adjustment device only needs to undergo a small amount of rotation adjustment to achieve alignment. Therefore, the solution in this embodiment uses the propulsion device with the smallest mapping angle difference as the target propulsion device. On the one hand, this reduces the probability of needing to align a certain propulsion device with the steering adjustment device first. On the other hand, it reduces the amount of rotation required by the propulsion device or steering adjustment device to a certain extent, improving the efficiency of steering adjustment and better meeting the user's needs.

[0052] In some embodiments, the control method of the propulsion system further includes: determining the external output angle corresponding to the rotation angle of the steering adjustment device based on the alignment strategy corresponding to the current configuration mode of the steering adjustment device, wherein the steering adjustment device corresponds to different alignment strategies in different configuration modes; and calculating the mapping angle difference between the steering adjustment device and each propulsion device based on the external output angle, the steering angle of each propulsion device, and the preset mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device.

[0053] Regarding the mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device, for example, assuming that the rotation angle range of the steering adjustment device is [-180°, 180°] and the steering angle range of each propulsion device is [-45°, 45°], then the steering transmission ratio is 360°:90° = 4:1. This mapping relationship means that the -180° rotation angle of the steering adjustment device corresponds to the -45° steering angle of the propulsion device, the 180° rotation angle of the steering adjustment device corresponds to the 45° steering angle of the propulsion device, and so on.

[0054] The steering adjustment device has two configuration modes: a first mode and a second mode. For example, the first mode is the unaligned mode, and the second mode is the aligned mode. The aligned mode sets the steering adjustment device to a certain rotation angle as the aligned state, and this rotation angle is called the alignment angle. For example, if the steering adjustment device is set to be aligned at 10°, the alignment angle is 10°. The unaligned mode is the mode without a set alignment angle. The rotation angle of the steering adjustment device corresponds to different output angles in different configuration modes.

[0055] In scenarios where the steering adjustment device is currently operating in the first mode, in some embodiments, based on the alignment strategy corresponding to the current configuration mode of the steering adjustment device, the external output angle corresponding to the rotation angle of the steering adjustment device is determined, including: determining the rotation angle of the steering adjustment device as the external output angle.

[0056] That is, when the steering adjustment device is not configured in centering mode, the external output angle of the steering adjustment device is the detected rotation angle of the steering adjustment device. For example, assuming the angle sensor detects a rotation angle of 40° for the steering adjustment device, then the external output angle of the steering adjustment device is 40°.

[0057] In some embodiments, when the steering adjustment device is currently operating in the second mode, the external output angle corresponding to the rotation angle of the steering adjustment device is determined based on the alignment strategy corresponding to the current configuration mode of the steering adjustment device. This includes determining the external output angle of the steering adjustment device based on the rotation angle of the steering adjustment device and the centering angle corresponding to the second mode.

[0058] That is, when the steering adjustment device is configured in centering mode, the outward output angle of the steering adjustment device is determined by the detected rotation angle of the steering adjustment device combined with the centering angle.

[0059] In some embodiments, determining the outward output angle of the steering adjustment device based on the rotation angle of the steering adjustment device and the centering angle corresponding to the second mode includes: determining the difference between the rotation angle of the steering adjustment device and the centering angle as the outward output angle of the steering adjustment device.

[0060] For example, assuming the angle sensor detects a rotation angle of 50° and a centering angle of 10° for the steering adjustment device, the output angle of the steering adjustment device is 50° minus 10°, which is 40°.

[0061] It should be noted that, in addition to the above-mentioned method of determining the external output angle of the steering adjustment device based on the difference between the rotation angle and the centering angle, other methods can also be used to determine the external output angle based on the rotation angle and the centering angle. This application does not impose any specific restrictions.

[0062] After obtaining the output angle of the steering adjustment device and the steering angle of each propulsion device, the mapping angle difference between the steering adjustment device and each propulsion device is calculated based on the mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device.

[0063] The angle difference between the steering adjustment device and each propulsion device can be either the angle difference mapped to the propulsion device end or the angle difference mapped to the steering adjustment device end.

[0064] For the case where the mapping is at the propulsion device end:

[0065] In some embodiments, based on the external output angle, the steering angle of each propulsion device, and the mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device, the mapping angle difference between the steering adjustment device and each propulsion device is calculated, including: determining the mapping angle corresponding to the steering angle of each propulsion device; calculating the absolute value of the difference between the mapping angle corresponding to the steering angle of each propulsion device and the external output angle of the steering adjustment device; and mapping the absolute value of the difference between the mapping angle corresponding to the steering angle of each propulsion device and the external output angle of the steering adjustment device under the mapping relationship as the mapping angle difference between the steering adjustment device and each propulsion device.

[0066] For example, if the steering angle of a propulsion device is 45° and the outward output angle of the steering adjustment device is 40°, based on the mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device, the mapped angle corresponding to the 45° steering angle is determined to be 180°. The absolute value of the difference between the mapped angle 180° and the outward output angle 40° is calculated to be 140°. The value of 140° mapped under this mapping relationship is 35°. Therefore, the mapping angle difference between the steering adjustment device and the propulsion device is determined to be 35°. In this way, the mapping angle difference between the steering adjustment device and each propulsion device can be calculated.

[0067] In other embodiments, based on the mapping relationship between the external output angle, the steering angle of each propulsion device, and the rotation angle of the steering adjustment device and the steering angle of the propulsion device, the mapping angle difference between the steering adjustment device and each propulsion device is calculated, including: determining the mapping angle corresponding to the external output angle of the steering adjustment device based on the mapping relationship; and determining the absolute value of the difference between the mapping angle corresponding to the external output angle of the steering adjustment device and the steering angle of each propulsion device as the mapping angle difference between the steering adjustment device and each propulsion device.

[0068] For example, if the steering angle of a propulsion device is 45° and the outward output angle of the steering adjustment device is 40°, based on the mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device, the mapping angle corresponding to the outward output angle of 40° is determined to be 10°. The absolute value of the difference between the mapping angle 10° and the steering angle of the propulsion device (45°) is calculated to be 35°. Therefore, the mapping angle difference between the steering adjustment device and the propulsion device is determined to be 35°. In this way, the mapping angle differences between the steering adjustment device and each propulsion device can be calculated.

[0069] For the case where the mapping is on the steering adjustment device:

[0070] In some embodiments, the mapping angle difference between the steering adjustment device and each propulsion device is calculated based on the external output angle, the steering angle of each propulsion device, and the mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device. This includes: determining the mapping angle corresponding to the steering angle of each propulsion device based on the mapping relationship; and determining the absolute value of the difference between the mapping angle corresponding to the steering angle of each propulsion device and the external output angle as the mapping angle difference between the steering adjustment device and each propulsion device.

[0071] For example, if the steering angle of a propulsion device is 45° and the outward output angle of the steering adjustment device is 40°, based on the mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device, the mapping angle corresponding to the 45° steering angle is determined to be 180°. The absolute value of the difference between the mapping angle 180° and the outward output angle 40° is calculated to be 140°. Therefore, the mapping angle difference between the steering adjustment device and the propulsion device is determined to be 140°. In this way, the mapping angle differences between the steering adjustment device and each propulsion device can be calculated.

[0072] In other embodiments, based on the mapping relationship between the external output angle, the steering angle of each propulsion device, and the rotation angle of the steering adjustment device and the steering angle of the propulsion device, the mapping angle difference between the steering adjustment device and each propulsion device is calculated, including: determining the mapping angle corresponding to the external output angle of the steering adjustment device based on the mapping relationship; calculating the absolute value of the difference between the mapping angle corresponding to the external output angle of the steering adjustment device and the steering angle of each propulsion device; and mapping the absolute value of the difference between the mapping angle corresponding to the external output angle of the steering adjustment device and the steering angle of each propulsion device under the mapping relationship as the mapping angle difference between the steering adjustment device and each propulsion device.

[0073] For example, if the steering angle of a propulsion device is 45° and the outward output angle of the steering adjustment device is 40°, based on the mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device, the mapped angle corresponding to the 40° outward output angle is determined to be 10°. The absolute value of the difference between the mapped angle 10° and the steering angle of the propulsion device 45° is calculated to be 35°. Under this mapping relationship, 35° is mapped to a value of 140°. Therefore, the mapping angle difference between the steering adjustment device and the propulsion device is determined to be 140°. In this way, the mapping angle difference between the steering adjustment device and each propulsion device can be calculated.

[0074] After calculating the mapping angle difference between the steering adjustment device and each propulsion device using any of the above methods, the propulsion device corresponding to the smallest mapping angle difference can be selected as the target propulsion device.

[0075] The steering angle of the target propulsion device is compared with the steering angle of other propulsion devices. Propulsion devices with a first angular relationship to the target propulsion device are grouped into one group, and propulsion devices with a second angular relationship to the target propulsion device are grouped into another group. For ease of distinction and description, the propulsion devices with a first angular relationship to the target propulsion device are referred to as the first propulsion device, and the propulsion devices with a second angular relationship to the target propulsion device are referred to as the second propulsion device.

[0076] For example, the first angular relationship is that the absolute value of the difference between the steering angle of the propulsion device and the steering angle of the target propulsion device is less than or equal to a first preset angle threshold; the second angular relationship is that the absolute value of the difference between the steering angle of the propulsion device and the steering angle of the target propulsion device is greater than the first preset angle threshold.

[0077] For example, a first preset angle threshold is set to 10°. That is, if the absolute value of the difference between the turning angle of a certain propulsion device and the turning angle of the target propulsion device is less than or equal to 10°, then the propulsion device and the target propulsion device have a first angular relationship; if the absolute value of the difference between the turning angle of a certain propulsion device and the turning angle of the target propulsion device is greater than 10°, then the propulsion device and the target propulsion device have a second angular relationship.

[0078] It should be noted that the specific value of the first preset angle threshold can be flexibly set according to the actual situation. For example, the first preset angle threshold can also be 5°, 15°, 20°, etc., and no specific limitation is made in this application.

[0079] Besides determining the first and second angular relationships based on the difference in steering angles as listed above, other methods can also be used to determine the first and second angular relationships, and this application does not impose specific limitations. For example, by calculating the ratio of the steering angle of the propulsion device to the steering angle of the target propulsion device, if the ratio is within a set range, then the propulsion device and the target propulsion device have a first angular relationship; conversely, if the ratio is outside the set range, then the propulsion device and the target propulsion device have a second angular relationship.

[0080] Furthermore, the target propulsion device and the steering adjustment device have a third angular relationship. For example, the third angular relationship is that the mapping angle difference between the target propulsion device and the steering adjustment device is less than or equal to a third preset angle threshold, the third preset angle threshold is less than or equal to a first preset angle threshold, or the mapping angle threshold under the preset mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device is less than or equal to the first preset angle threshold.

[0081] In some embodiments, the control method of the propulsion system further includes: determining the external output angle corresponding to the rotation angle of the steering adjustment device based on the alignment strategy corresponding to the current configuration mode of the steering adjustment device, wherein the steering adjustment device corresponds to different alignment strategies in different configuration modes; and calculating the mapping angle difference between the target propulsion device and the steering adjustment device based on the external output angle, the steering angle of the target propulsion device, and the mapping relationship.

[0082] The output angle corresponding to the rotation angle of the steering adjustment device can be referred to the description in the foregoing embodiments, and therefore will not be repeated here.

[0083] The mapping angle difference between the target propulsion device and the steering adjustment device is reflected at the target propulsion device end:

[0084] When the third preset angle threshold is less than or equal to the first preset angle threshold, in some embodiments, the mapping angle difference between the target propulsion device and the steering adjustment device is calculated based on the external output angle, the steering angle of the target propulsion device, and the mapping relationship. This includes: determining the first mapping angle of the steering angle mapping of the target propulsion device based on the mapping relationship; calculating the absolute value of the difference between the first mapping angle and the external output angle; and using the value obtained by mapping the absolute value of the difference between the first mapping angle and the external output angle under the mapping relationship as the mapping angle difference between the target propulsion device and the steering adjustment device.

[0085] For example, when the third preset angle threshold is less than or equal to 10°, based on the mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device, the mapping angle corresponding to the steering angle of the target propulsion device is determined. For ease of distinction and description, the mapping angle corresponding to the steering angle of the target propulsion device is referred to as the first mapping angle below. The absolute value of the difference between the first mapping angle and the external output angle of the steering adjustment device is calculated, and the value obtained by mapping this absolute value under the mapping relationship is taken as the mapping angle difference between the target propulsion device and the steering adjustment device.

[0086] When the third preset angle threshold is less than or equal to the first preset angle threshold, in some other embodiments, the mapping angle difference between the target propulsion device and the steering adjustment device is calculated based on the external output angle, the steering angle of the target propulsion device and the mapping relationship, including: determining the second mapping angle of the external output angle mapping based on the mapping relationship; and determining the absolute value of the difference between the second mapping angle and the steering angle of the target propulsion device as the mapping angle difference between the target propulsion device and the steering adjustment device.

[0087] For example, when the third preset angle threshold is less than or equal to 10°, based on the mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device, the mapping angle corresponding to the external output angle of the target steering adjustment device is determined. For ease of description, the mapping angle corresponding to the external output angle of the steering adjustment device is referred to as the second mapping angle below. The absolute value of the difference between the second mapping angle and the steering angle of the target propulsion device is calculated, and this absolute value is determined as the mapping angle difference between the target propulsion device and the steering adjustment device.

[0088] When the mapping angle difference between the target propulsion device and the steering adjustment device is mapped onto the target propulsion device, if the mapping angle difference between the target propulsion device and the steering adjustment device is less than or equal to a third preset angle threshold, and this third preset angle threshold is less than or equal to a first preset angle threshold, then the steering adjustment device and the target propulsion device satisfy the third angle relationship. Otherwise, the steering adjustment device and the target propulsion device do not satisfy the third angle relationship.

[0089] The mapping angle difference between the target propulsion device and the steering adjustment device is reflected at the steering adjustment device end:

[0090] When the mapping angle threshold under the mapping relationship is less than or equal to the first preset angle threshold, in some embodiments, the mapping angle difference between the target propulsion device and the steering adjustment device is calculated based on the external output angle, the steering angle of the target propulsion device and the mapping relationship, including: determining the first mapping angle of the steering angle mapping of the target propulsion device based on the mapping relationship; and determining the absolute value of the difference between the first mapping angle and the external output angle as the mapping angle difference between the target propulsion device and the steering adjustment device.

[0091] For example, when the mapping angle threshold corresponding to the third preset angle threshold is less than or equal to 10°, the first mapping angle corresponding to the steering angle of the target propulsion device is determined based on the mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device. The absolute value of the difference between the first mapping angle and the external output angle of the steering adjustment device is calculated, and this absolute value is determined as the mapping angle difference between the target propulsion device and the steering adjustment device.

[0092] When the mapping angle threshold under the mapping relationship is less than or equal to the first preset angle threshold, in some other embodiments, the mapping angle difference between the target propulsion device and the steering adjustment device is calculated based on the external output angle, the steering angle of the target propulsion device, and the mapping relationship. This includes: determining the second mapping angle of the external output angle based on the mapping relationship; calculating the absolute value of the difference between the second mapping angle and the steering angle of the target propulsion device; and mapping the absolute value of the difference between the second mapping angle and the steering angle of the target propulsion device under the mapping relationship as the mapping angle difference between the target propulsion device and the steering adjustment device.

[0093] For example, when the mapping angle threshold corresponding to the third preset angle threshold is less than or equal to 10°, based on the mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device, the second mapping angle corresponding to the external output angle of the target steering adjustment device is determined. The absolute value of the difference between the second mapping angle and the steering angle of the target propulsion device is calculated, and the value obtained by mapping the absolute value of the difference between the second mapping angle and the steering angle of the target propulsion device under the mapping relationship is used as the mapping angle difference between the target propulsion device and the steering adjustment device.

[0094] When the mapping angle difference between the target propulsion device and the steering adjustment device is mapped onto the steering adjustment device, if the mapping angle difference between the target propulsion device and the steering adjustment device is less than or equal to a third preset angle threshold, and the mapping angle threshold of the third preset angle threshold under the mapping relationship is less than or equal to a first preset angle threshold, then the steering adjustment device and the target propulsion device satisfy the third angle relationship. Otherwise, the steering adjustment device and the target propulsion device do not satisfy the third angle relationship.

[0095] S103, The target propulsion device and the first propulsion device are controlled to turn synchronously with the steering adjustment device.

[0096] When the steering adjustment device and the target propulsion device satisfy the third angular relationship, the target propulsion device and the first propulsion device, which has a first angular relationship with the target propulsion device, are controlled to turn synchronously with the steering adjustment device. In this way, the target propulsion device and the first propulsion device, whose current turning position is small in difference from the turning position indicated by the steering adjustment device, are allowed to turn synchronously with the steering adjustment device, while the second propulsion device, whose current turning position is large in difference from the turning position indicated by the steering adjustment device, temporarily stops turning. This avoids potential safety problems that might occur if the propulsion device with a low alignment with the steering adjustment device directly turns.

[0097] It should be noted that among multiple propulsion devices, there may only be a target propulsion device and a second propulsion device. In this case, in step S103, only the target propulsion device can be controlled to turn synchronously with the steering adjustment device.

[0098] In some embodiments, as shown in FIG3, step S105 is included before step S103.

[0099] S105. When the steering adjustment device and the target propulsion device do not satisfy the third angle relationship, adjust at least one of the steering adjustment device and the target propulsion device to make the steering adjustment device and the target propulsion device satisfy the third angle relationship.

[0100] For example, if the mapping angle difference between the target propulsion device and the steering adjustment device is mapped onto the end of the target propulsion device, and if the mapping angle difference between the target propulsion device and the steering adjustment device is greater than a third preset angle threshold (the third preset angle threshold is less than or equal to the first preset angle threshold), or if the mapping angle difference between the target propulsion device and the steering adjustment device is mapped onto the end of the steering adjustment device, and if the mapping angle difference between the target propulsion device and the steering adjustment device is greater than a third preset angle threshold (the mapping angle threshold of the third preset angle threshold under the mapping relationship is less than or equal to the first preset angle threshold), then the steering adjustment device or the target propulsion device is adjusted so that the steering adjustment device and the target propulsion device satisfy the third angle relationship.

[0101] In some embodiments, as shown in FIG4, step S105 includes steps S1051 to S1053.

[0102] S1051. Based on the preset mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device, determine the first mapping angle of the steering angle mapping of the target propulsion device;

[0103] S1052. Based on the first mapping angle and the alignment strategy corresponding to the current configuration mode of the steering adjustment device, determine the first target angle of the steering adjustment device; wherein, the steering adjustment device corresponds to different alignment strategies in different configuration modes.

[0104] S1053, control the rotation angle of the steering adjustment device to the first target angle.

[0105] By adjusting the rotation angle of the steering adjustment device, a third angular relationship is achieved between the steering adjustment device and the target propulsion device. Specifically, based on the mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device, a first mapping angle corresponding to the steering angle of the target propulsion device is determined. Then, based on the first mapping angle and the current configuration mode of the steering adjustment device, a target angle corresponding to the steering adjustment device is determined. For ease of description, the target angle corresponding to the steering adjustment device will be referred to as the first target angle below. Subsequently, the rotation angle of the steering adjustment device is controlled to the first target angle, thereby aligning the steering adjustment device with the target propulsion device. At this point, the steering adjustment device and the target propulsion device satisfy the third angular relationship.

[0106] In some embodiments, when the steering adjustment device is currently operating in the first mode, the first target angle of the steering adjustment device is determined based on the alignment strategy corresponding to the current configuration mode of the steering adjustment device, including: if the steering adjustment device is currently operating in the first mode, the first mapping angle is determined as the first target angle.

[0107] For example, suppose the rotation angle of the steering adjustment device is 40° and the steering angle of the target propulsion device is 45°. The steering adjustment device and the target propulsion device do not satisfy the third angle relationship. In this case, based on the mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device, the first mapping angle corresponding to the 45° steering angle of the target propulsion device is determined to be 180°, and 180° is determined as the first target angle. The rotation angle of the steering adjustment device is controlled to 180° (corresponding to the 45° steering angle of the target propulsion device), thereby aligning the steering adjustment device with the target propulsion device. At this point, the steering adjustment device and the target propulsion device satisfy the third angle relationship.

[0108] In some embodiments, controlling the rotation angle of the steering adjustment device to a first target angle includes: automatically updating the rotation angle of the steering adjustment device to the first target angle.

[0109] In a scenario where the steering adjustment device is currently operating in the first mode, the steering adjustment device does not need to align with the target propulsion device by rotating. Instead, the rotation angle of the steering adjustment device is automatically updated to the first target angle, for example, the original rotation angle of 40° is automatically updated to 180°, so that the steering adjustment device is aligned with the target propulsion device and the steering adjustment device and the target propulsion device satisfy the third angle relationship.

[0110] In some embodiments, when the steering adjustment device is currently operating in the second mode, the first target angle of the steering adjustment device is determined based on the alignment strategy corresponding to the current configuration mode of the steering adjustment device. This includes: if the steering adjustment device is currently operating in the second mode, determining the first target angle based on the first mapping angle and the preset centering angle corresponding to the second mode.

[0111] For example, suppose the rotation angle of the steering adjustment device is 50°, the steering angle of the target propulsion device is 40°, and the centering angle is 10°. The steering adjustment device and the target propulsion device do not satisfy the third angle relationship. In this case, based on the mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device, the first mapping angle corresponding to the steering angle of 40° of the target propulsion device is determined to be 160°. Combining the first mapping angle of 160° and the centering angle of 10°, the first target angle of the steering adjustment device is determined.

[0112] In some embodiments, determining the first target angle based on the first mapping angle and the centering angle corresponding to the preset second mode includes: determining the sum of the first mapping angle and the centering angle as the first target angle.

[0113] For example, taking the example listed above, the first mapping angle is 160° and the centering angle is 10°. The sum of the first mapping angle 160° and the centering angle 10° is calculated to be 170°, thus determining the first target angle as 170°. Then, the rotation angle of the steering adjustment device is controlled to be 170° (the corresponding external output angle is 160°, corresponding to the target propulsion device's steering angle of 40°), thereby aligning the steering adjustment device with the target propulsion device. At this point, the steering adjustment device and the target propulsion device satisfy the third angular relationship.

[0114] In some embodiments, controlling the rotation angle of the steering adjustment device to a first target angle includes: outputting operation prompt information so that the user can rotate the steering adjustment device to the first target angle according to the operation prompt information.

[0115] In scenarios where the steering adjustment device is currently operating in the second mode, if the steering adjustment device and the target propulsion device do not satisfy the third angle relationship, an operation prompt message is output, instructing the user to rotate the steering adjustment device to align with the target propulsion device. For example, taking the example of determining the first target angle as 170° as described above, as shown in Figure 5, an operation prompt message such as "Please rotate the steering adjustment device to 170° to align with the target propulsion device" is displayed. Following this prompt, the user rotates the steering adjustment device from 50° to 170°, corresponding to the 40° steering angle of the target propulsion device, thus aligning the steering adjustment device and the target propulsion device and satisfying the third angle relationship.

[0116] In some embodiments, as shown in FIG6, step S105 includes steps S1054 and S1055.

[0117] S1054. Based on the preset mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device, determine the second target angle mapped by the external output angle of the steering adjustment device;

[0118] S1055, The steering angle of the control target propulsion device is the second target angle.

[0119] By adjusting the steering angle of the target propulsion device, a third angular relationship is achieved between the steering adjustment device and the target propulsion device. For example, in a scenario where the steering adjustment device is currently operating in the first mode, assuming the rotation angle of the steering adjustment device is 40° and the steering angle of the target propulsion device is 45°, the third angular relationship is not satisfied. In this case, the outward output angle of the steering adjustment device is 40°. Based on the mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device, the second target angle mapped to the outward output angle of the steering adjustment device is determined to be 10°. This 10° is then defined as the second target angle. The steering angle of the target propulsion device is controlled to be 10° (corresponding to the rotation angle of 40° of the steering adjustment device), thereby aligning the steering adjustment device with the target propulsion device. At this point, the steering adjustment device and the target propulsion device satisfy the third angular relationship.

[0120] For another example, in a scenario where the steering adjustment device is currently operating in the second mode, assuming the rotation angle of the steering adjustment device is 70°, the steering angle of the target propulsion device is 40°, and the alignment angle is 10°, the steering adjustment device and the target propulsion device do not satisfy the third angle relationship. In this case, the outward output angle of the steering adjustment device is 60°. Based on the mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device, the second target angle mapped by the outward output angle of the steering adjustment device is determined to be 15°. This 15° is then designated as the second target angle. The steering angle of the target propulsion device is controlled to be 15° (corresponding to the 70° rotation angle of the steering adjustment device), thereby aligning the steering adjustment device with the target propulsion device. At this point, the steering adjustment device and the target propulsion device satisfy the third angle relationship.

[0121] In some embodiments, controlling the steering angle of the target propulsion device to be a second target angle includes: outputting alignment prompt information; and controlling the target propulsion device to automatically turn to the second target angle.

[0122] If the steering adjustment device and the target propulsion device do not meet the third angular relationship, the target propulsion device can align with the steering adjustment device without requiring manual rotation by the user. Instead, it outputs an alignment prompt message, and the steering control unit of the target propulsion device controls its mechanical steering components to automatically steer the target propulsion device to the second target angle. Because the alignment prompt message is output, the user knows that the current operation of the target propulsion device is to align the steering adjustment device with the target propulsion device, thus preventing the user from mistakenly believing that the target propulsion device is malfunctioning.

[0123] In other embodiments, controlling the steering angle of the target propulsion device to a second target angle includes: outputting operation prompt information so that the user can rotate the target propulsion device to the second target angle according to the operation prompt information.

[0124] If the steering adjustment device and the target propulsion device do not satisfy the third angle relationship, an operation prompt message can be output to instruct the user to rotate the target propulsion device to align with the steering adjustment device. For example, taking the example of determining the second target angle as 15° as described above, as shown in Figure 7, an operation prompt message such as "Please rotate the target propulsion device to 15° to align with the steering adjustment device" is displayed. Following this prompt, the user manually rotates the target propulsion device to 15°, corresponding to the 70° rotation angle of the steering adjustment device, thus aligning the steering adjustment device and the target propulsion device and satisfying the third angle relationship.

[0125] For example, each propulsion device includes a steering lock structure and a mechanical steering assembly. To ensure the safe operation of the propulsion system, when the steering function of the propulsion device is not needed or is disabled, the steering lock structure is controlled to be locked. In the locked state, the mechanical steering assembly is restricted, i.e., the steering angle of the propulsion device cannot be adjusted by the mechanical steering assembly. In some embodiments, the control method of the propulsion system includes, before controlling the steering angle of the target propulsion device to a second target angle, controlling the steering lock structure to release the locking state, thereby releasing the restriction of the steering lock structure on the mechanical steering assembly.

[0126] If the steering adjustment device and the target propulsion device do not satisfy the third angle relationship, the steering locking structure of the target propulsion device is unlocked to release the restriction of the steering locking structure on the mechanical steering component of the target propulsion device. This allows the steering angle of the target propulsion device to be controlled as the second target angle, so that the steering adjustment device and the target propulsion device are aligned and satisfy the third angle relationship.

[0127] When the steering adjustment device and the target propulsion device satisfy the third angle relationship, it is considered that the target propulsion device / first propulsion device and the steering adjustment device are "aligned". At this time, the target propulsion device and the first propulsion device with the first angle relationship with the target propulsion device can be controlled to turn synchronously with the steering adjustment device.

[0128] It should be noted that the aforementioned "alignment" does not require the target propulsion device / first propulsion device to be perfectly aligned with the steering adjustment device. That is, the target propulsion device and the first propulsion device are only allowed to turn synchronously with the steering adjustment device when the mapping angle difference between them is 0°. If the mapping angle difference between the target propulsion device / first propulsion device and the steering adjustment device is small, for example, less than or equal to the aforementioned third preset angle threshold, it can also be considered that the target propulsion device / first propulsion device and the steering adjustment device are aligned. It can be understood that when the mapping angle difference is small, it means that the turning position of the propulsion device is close to the turning position indicated by the steering adjustment device. In this case, directly controlling the steering of the propulsion device generally will not cause safety problems and can also allow the propulsion device to respond to the steering adjustment device's commands more quickly, thus better meeting the user's needs.

[0129] If the target propulsion device / first propulsion device is aligned with the steering adjustment device, in this scenario, if the steering adjustment device rotates, based on the first angle of rotation of the steering adjustment device and the mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device, the second angle mapped by the first angle is determined, and the target propulsion device / first propulsion device is controlled to rotate to the corresponding second angle, so that the target propulsion device / first propulsion device follows the steering adjustment device to turn synchronously.

[0130] If the target propulsion device and the steering adjustment device are not aligned, in this scenario, the steering adjustment device or the target propulsion device can be adjusted first to align them. Specific operations are described above and will not be repeated here. Then, the target propulsion device / first propulsion device should be controlled synchronously with the steering adjustment device according to the alignment scenario control method.

[0131] S104. When the second propulsion device and the target propulsion device also have a first angular relationship, control the second propulsion device to turn synchronously with the steering adjustment device.

[0132] After the target propulsion device and the first propulsion device turn synchronously with the steering adjustment device, the relationship between the steering angle of the second propulsion device and the steering angle of the target propulsion device can be monitored in real time. If the second propulsion device and the target propulsion device also satisfy the first angle relationship, such as the absolute value of the difference between the steering angle of the second propulsion device and the steering angle of the target propulsion device being less than or equal to the first preset angle threshold, then the second propulsion device is controlled to turn synchronously with the steering adjustment device.

[0133] After the second propulsion device and the steering adjustment device are aligned, the second propulsion device is allowed to turn synchronously with the steering adjustment device. In this way, multiple propulsion devices can be gradually activated during the operation of the propulsion system, which not only meets the user's needs but also ensures the safety of the propulsion system operation.

[0134] The following example uses the steering adjustment device as the steering wheel and the target propulsion device as the main outboard motor. With the steering wheel currently operating in the first mode (out-of-center mode), as shown in Figure 8, the process of the outboard motor synchronously turning with the steering wheel is as follows:

[0135] Step 1: After the propulsion system is powered on, the steering wheel recognizes that it is currently in an out-of-center mode, and the ECU of each outboard motor obtains the steering angle of its own outboard motor;

[0136] Step 2: The outboard motor's ECU reports its respective steering angle to the main outboard motor's ECU;

[0137] Step 3: Based on the steering angle of the main ship's outboard motor, the steering wheel determines its outward output angle according to the mapping relationship, and updates the steering wheel's rotation angle to this outward output angle (in the non-alignment mode, the steering wheel's outward output angle is the rotation angle) so that the steering wheel is aligned with the main ship's outboard motor.

[0138] Step 4: The ECU of the main outboard motor calculates the difference in steering angle between the main outboard motor and other slave outboard motors;

[0139] Step 5: If the difference in steering angle between all outboard motors is less than or equal to 10°, the ECU of the main outboard motor notifies the steering system of each outboard motor to prepare and enter the operation phase.

[0140] Step 6: If the steering angle difference between the outboard motor and the corresponding slave outboard motor is greater than 10°, the ECU of the master outboard motor instructs the ECU of the slave outboard motor to disable the output of the drive motor used to drive the propeller. The ECU of the master outboard motor sends a command to the display screen, which prompts the user that the slave outboard motor needs to be aligned with the steering wheel before starting operation. During this period, the master outboard motor and slave outboard motors with a steering angle difference of less than or equal to 10° are allowed to turn synchronously with the steering wheel. When the user operates the steering wheel, if the steering angle difference between another slave outboard motor and the master outboard motor is less than or equal to 10°, the ECU of the master outboard motor instructs the steering system of that slave outboard motor to prepare and enter the operation phase.

[0141] For example, suppose there are three outboard motors: the master outboard motor has a steering angle of 0°, the slave outboard motor 1 has a steering angle of 5°, and the slave outboard motor 2 has a steering angle of 45°. Since the difference in steering angle between the master and slave outboard motor 1 is less than 10°, and the difference between the master and slave outboard motor 2 is greater than 10°, when the steering wheel is rotated, the master and slave outboard motor 1 are allowed to follow the steering wheel, and their drive motors are allowed to output power. The slave outboard motor 2 is not allowed to follow the steering wheel, and its drive motor is prohibited from outputting power. When the steering wheel is rotated to 140°, corresponding to a steering angle of 35° (45° - 10° = 35°), the difference in steering angle between the master and slave outboard motor 2 is no longer greater than 10°. At this point, the slave outboard motor 2 is allowed to follow the steering wheel synchronously, and its drive motor is also allowed to output power.

[0142] With the steering wheel currently operating in the second mode (centering mode), as shown in Figure 9, the outboard motor follows the steering wheel's synchronous turning process as follows:

[0143] Step 1: After the propulsion system is powered on, the steering wheel recognizes that it is currently in centering mode, and the ECU of each outboard motor obtains the steering angle of its own outboard motor;

[0144] Step 2: The outboard motor's ECU reports its respective steering angle to the main outboard motor's ECU;

[0145] Step 3: The steering wheel's outward output angle is determined based on the rotation angle;

[0146] Step 4: Based on the outward output angle of the steering wheel and the steering angle of the main ship's outboard motor, calculate the mapping angle difference between the steering wheel and the main ship's outboard motor according to the mapping relationship;

[0147] Step 5: If the mapping angle difference between the steering wheel and the main outboard motor is less than or equal to 10°, the main outboard motor is allowed to turn synchronously with the steering wheel. If the mapping angle difference is greater than 10°, the drive motor output of all outboard motors is disabled. At this time, the user is prompted to perform an alignment operation. When the user rotates the steering wheel so that the mapping angle difference between the steering wheel and the main outboard motor is less than or equal to 10°, the main outboard motor is allowed to turn synchronously with the steering wheel, and the drive motor of the main outboard motor is allowed to output power.

[0148] Step 6: The ECU of the main outboard motor calculates the difference in steering angle between the main outboard motor and other slave outboard motors;

[0149] Step 7: If the steering angle difference between any outboard motor and the corresponding outboard motor is less than or equal to 10°, the ECU of the main outboard motor notifies the steering system of that outboard motor to prepare and enter the operation phase.

[0150] Step 8: If the steering angle difference between a slave outboard motor and the master outboard motor is greater than 10°, the master outboard motor's ECU instructs the slave outboard motor's ECU to disable the drive motor output of that outboard motor. The master outboard motor's ECU sends a command to the display screen, which prompts the user that the slave outboard motor needs to be aligned with the steering wheel before starting operation. During this period, the master outboard motor and slave outboard motors with a steering angle difference of less than or equal to 10° are allowed to turn synchronously with the steering wheel, and the drive motors of both the master outboard motor and slave outboard motors with a steering angle difference of less than or equal to 10° are allowed to output power. When the user operates the steering wheel, if the steering angle difference between another slave outboard motor and the master outboard motor is less than or equal to 10°, the master outboard motor's ECU instructs the slave outboard motor's steering system to prepare and enter the operation phase.

[0151] For example, suppose there are three outboard motors, where the main outboard motor has a steering angle of 0°, the slave outboard motor 1 has a steering angle of 5°, and the slave outboard motor 2 has a steering angle of 45°. Since the difference in steering angle between the main outboard motor and the slave outboard motor 1 is less than 10°, and the difference in steering angle between the main outboard motor and the slave outboard motor 2 is greater than 10°, when the steering wheel is rotated, the main outboard motor and the slave outboard motor 1 are allowed to follow the steering wheel, and their drive motors are allowed to output power. The slave outboard motor 2 is not allowed to follow the steering wheel, and its drive motor is prohibited from outputting power. When the steering wheel is rotated to the outward output angle of 140° (note: this 140° is not the rotation angle of the steering wheel, but the value after subtracting the centering angle from the rotation angle), corresponding to a steering angle of 35° (45°-10°=35°), the difference in steering angle between the main outboard motor and the slave outboard motor 2 is no longer greater than 10°. At this point, the slave outboard motor 2 is allowed to follow the steering wheel and turn synchronously.

[0152] During the propulsion system operation phase, based on the rotation angle of the steering adjustment device and the mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device, the steering angle corresponding to the propulsion device is calculated, and then the propulsion device is driven to the steering angle according to the steering angle.

[0153] In some embodiments, the propulsion device further includes a power component, which includes the aforementioned drive motor. For the power components of each propulsion device, the power components of the target propulsion device and the first propulsion device having a first angular relationship with the target propulsion device are permitted to operate, while the power components of the second propulsion device having a second angular relationship with the target propulsion device are prohibited from operating. It is understood that the target propulsion device and the first propulsion device have a high degree of alignment with the steering adjustment device; therefore, allowing the target propulsion device and the first propulsion device to steer and output power generally does not cause safety issues and can meet user needs. However, when the second propulsion device does not have a first angular relationship with the target propulsion device, that is, when the alignment of the second propulsion device with the steering adjustment device is low, if the second propulsion device is allowed to steer and output power, the resultant force direction of the propulsion force output by multiple propulsion devices may differ significantly from the direction indicated by the steering adjustment device, potentially leading to a safety accident. Therefore, the mechanical steering component and power component of the second propulsion device are only permitted to operate when the second propulsion device also has a first angular relationship with the target propulsion device, ensuring the operational safety of the propulsion system.

[0154] In some embodiments, the control method of the propulsion system further includes: if a mechanical steering component of a propulsion device fails and the failure level is greater than or equal to a preset failure level, controlling the failed propulsion device to stop; before the failure of the mechanical steering component is resolved, restricting the synchronous operation of the mechanical steering component and the power component of the failed propulsion device, and when the power component is running, the steering locking structure is in a locked state.

[0155] During the operation of a propulsion system, propulsion devices may malfunction. If a mechanical steering component of a propulsion device malfunctions and the fault level is greater than or equal to a preset fault level, it indicates a serious fault that may affect the safe operation of the propulsion system. In this case, shutting down the malfunctioning propulsion device ensures the safety of the propulsion system. For example, shutting down the malfunctioning propulsion device may include gradually reducing the output power of the malfunctioning propulsion device to zero, thus avoiding instability caused by a sudden shutdown of the malfunctioning propulsion device.

[0156] It should be noted that the preset fault level can be flexibly set according to the actual situation. For example, the preset fault level can be set to level three. No specific restrictions are imposed in this application.

[0157] Before the mechanical steering component malfunctions, the synchronous operation of the mechanical steering component and the power component of the faulty propulsion device is restricted. When the power component is running, the steering locking structure of the propulsion device is locked, thus restricting the mechanical steering component and preventing the propulsion device from turning erratically through the mechanical steering component, thereby ensuring the safety of the propulsion system operation.

[0158] In some embodiments, a user can manually set a faulty propulsion device to enter limp mode. For example, the propulsion system includes a human-machine interface unit, including but not limited to a touchscreen, through which the user can set the faulty propulsion device to enter limp mode. While the faulty propulsion device is operating in limp mode, its operation is permitted. Allowing the faulty propulsion device to operate only after entering limp mode avoids the problem of multiple propulsion devices failing without performing basic operational functions, thus preventing the vessel from returning to shore. It also ensures that the user notices the propulsion device malfunction and can address it promptly.

[0159] In some embodiments, when the faulty propulsion device is in operation, its output power is limited to a preset power threshold, that is, the faulty propulsion device is allowed to operate with limited power, thereby further ensuring the safety of the propulsion system. It should be noted that the specific value of the preset power threshold can be flexibly set according to actual conditions, and no specific limitation is made in this application.

[0160] The control method for the propulsion system provided in the above embodiments obtains the steering angle of each propulsion device in the propulsion system, and divides multiple propulsion devices into a first propulsion device with a first angular relationship to the target propulsion device and a second propulsion device with a second angular relationship to the target propulsion device. The target propulsion device is one of the multiple propulsion devices and has a third angular relationship with the steering adjustment device of the propulsion system. The target propulsion device and the first propulsion device are controlled to turn synchronously with the steering adjustment device. Then, when the second propulsion device also has a first angular relationship with the target propulsion device, the second propulsion device is controlled to turn synchronously with the steering adjustment device. This steering method reduces the probability of safety problems compared to simultaneously driving multiple propulsion devices to turn synchronously with the steering adjustment device, thus improving the safety of the propulsion system operation.

[0161] Please refer to Figure 10, which is a flowchart of another control method for a propulsion system provided in an embodiment of this application.

[0162] As shown in Figure 10, the control method of the propulsion system includes steps S201 to S204.

[0163] S201. Obtain the steering angle of each propulsion device.

[0164] For specific instructions, please refer to step S101, so they will not be repeated here.

[0165] S202. Based on the steering angle, determine from multiple propulsion devices a third propulsion device that has a fourth angular relationship with the steering adjustment device, and a fourth propulsion device that has a fifth angular relationship with the steering adjustment device.

[0166] Unlike the previous embodiment where the target propulsion device was used as a reference to control each propulsion device to turn synchronously with the steering adjustment device, this embodiment no longer uses the target propulsion device as a reference, but instead uses the steering adjustment device as a reference to control each propulsion device to turn synchronously with the steering adjustment device.

[0167] The rotation angle of the steering adjustment device is analyzed in relation to the steering angle of each propulsion device. The propulsion devices that have a fourth angular relationship with the steering adjustment device are grouped into one group, and the propulsion devices that have a fifth angular relationship with the steering adjustment device are grouped into another group. For ease of distinction and description, the propulsion devices that have a fourth angular relationship with the steering adjustment device are referred to as the third propulsion device, and the propulsion devices that have a fifth angular relationship with the steering adjustment device are referred to as the fourth propulsion device.

[0168] For example, the fourth angular relationship is that the mapping angle difference between the propulsion device and the steering adjustment device is less than or equal to the fourth preset angular threshold; the fifth angular relationship is that the mapping angle difference between the propulsion device and the steering adjustment device is greater than the fourth preset angular threshold.

[0169] The fourth preset angle threshold can be an angle set at the propulsion device end or an angle set at the steering adjustment device end. For example, if the preset fourth preset angle threshold at the propulsion device end is 10°, then if the mapping angle difference (mapped at the propulsion device end) between a propulsion device and a steering adjustment device is less than or equal to 10°, then the propulsion device and the steering adjustment device are determined to have a fourth angular relationship; if the mapping angle difference (mapped at the propulsion device end) between a propulsion device and the steering adjustment device is greater than 10°, then the propulsion device and the steering adjustment device are determined to have a fifth angular relationship. As another example, if the preset fourth preset angle threshold at the propulsion device end is 40°, then if the mapping angle difference (mapped at the steering adjustment device end) between a propulsion device and the steering adjustment device is less than or equal to 40°, then the propulsion device and the steering adjustment device are determined to have a fourth angular relationship; if the mapping angle difference (mapped at the steering adjustment device end) between a propulsion device and the steering adjustment device is greater than 40°, then the propulsion device and the steering adjustment device are determined to have a fifth angular relationship.

[0170] It should be noted that the specific value of the fourth preset angle threshold can be flexibly set according to the actual situation, and no specific restrictions are imposed in this application.

[0171] In some embodiments, the control method for the propulsion system further includes: determining the external output angle corresponding to the rotation angle of the steering adjustment device based on the alignment strategy corresponding to the current configuration mode of the steering adjustment device, wherein the steering adjustment device corresponds to different alignment strategies in different configuration modes; and calculating the mapping angle difference based on the external output angle, the steering angle of the propulsion device, and the preset mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device.

[0172] The mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device, as well as the alignment strategy corresponding to the steering adjustment device in different configuration modes, can be described in the foregoing embodiments and will not be repeated here.

[0173] In scenarios where the steering adjustment device is currently operating in the first mode, in some embodiments, based on the alignment strategy corresponding to the current configuration mode of the steering adjustment device, the external output angle corresponding to the rotation angle of the steering adjustment device is determined, including: determining the rotation angle of the steering adjustment device as the external output angle.

[0174] That is, when the steering adjustment device is not configured in centering mode, the external output angle of the steering adjustment device is the detected rotation angle of the steering adjustment device. For example, assuming the angle sensor detects a rotation angle of 40° for the steering adjustment device, then the external output angle of the steering adjustment device is 40°.

[0175] In some embodiments, when the steering adjustment device is currently operating in the second mode, the external output angle corresponding to the rotation angle of the steering adjustment device is determined based on the alignment strategy corresponding to the current configuration mode of the steering adjustment device. This includes determining the external output angle of the steering adjustment device based on the rotation angle of the steering adjustment device and the centering angle corresponding to the second mode.

[0176] That is, when the steering adjustment device is configured in centering mode, the outward output angle of the steering adjustment device is determined by the detected rotation angle of the steering adjustment device combined with the centering angle.

[0177] In some embodiments, determining the outward output angle of the steering adjustment device based on the rotation angle of the steering adjustment device and the centering angle corresponding to the second mode includes: determining the difference between the rotation angle of the steering adjustment device and the centering angle as the outward output angle of the steering adjustment device.

[0178] For example, assuming the angle sensor detects a rotation angle of 50° and a centering angle of 10° for the steering adjustment device, the output angle of the steering adjustment device is 50° minus 10°, which is 40°.

[0179] After obtaining the output angle of the steering adjustment device and the steering angle of each propulsion device, the mapping angle difference between the steering adjustment device and each propulsion device is calculated based on the mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device.

[0180] The mapping angle difference between the steering adjustment device and each propulsion device can be mapped at the propulsion device end or at the steering adjustment device end.

[0181] For the case where the mapping is at the propulsion device end:

[0182] In some embodiments, calculating the mapping angle difference based on the external output angle, the steering angle of the propulsion device, and the mapping relationship includes: determining a third mapping angle for the steering angle mapping of the propulsion device based on the mapping relationship; calculating the absolute value of the difference between the third mapping angle and the external output angle; and mapping the absolute value of the difference between the first mapping angle and the external output angle under the mapping relationship as the mapping angle difference.

[0183] For details, please refer to the foregoing embodiments, which will not be repeated here.

[0184] In other embodiments, the mapping angle difference is calculated based on the output angle, the steering angle of the propulsion device, and the mapping relationship, including: determining a fourth mapping angle for the output angle mapping based on the mapping relationship; and determining the absolute value of the difference between the fourth mapping angle and the steering angle of the propulsion device as the mapping angle difference.

[0185] For details, please refer to the foregoing embodiments, which will not be repeated here.

[0186] For the case where the mapping is on the steering adjustment device:

[0187] In some embodiments, calculating the mapping angle difference based on the external output angle, the steering angle of the propulsion device, and the mapping relationship includes: determining a third mapping angle of the steering angle mapping of the propulsion device based on the mapping relationship; and determining the absolute value of the difference between the third mapping angle and the external output angle as the mapping angle difference.

[0188] For details, please refer to the foregoing embodiments, which will not be repeated here.

[0189] In other embodiments, the mapping angle difference is calculated based on the output angle, the steering angle of the propulsion device, and the mapping relationship, including: determining a fourth mapping angle for mapping the output angle based on the mapping relationship; calculating the absolute value of the difference between the fourth mapping angle and the steering angle of the propulsion device; and mapping the absolute value of the difference between the fourth mapping angle and the steering angle of the propulsion device under the mapping relationship as the mapping angle difference.

[0190] For details, please refer to the foregoing embodiments, which will not be repeated here.

[0191] The mapping angle difference between the steering adjustment device and each propulsion device is calculated using any of the above methods. Based on the mapping angle difference, the third propulsion device with a fourth angular relationship to the steering adjustment device and the fourth propulsion device with a fifth angular relationship to the steering adjustment device are determined.

[0192] S203, Control the third propulsion device to turn synchronously with the steering adjustment device.

[0193] After identifying the third propulsion device that has a fourth angular relationship with the steering adjustment device, the third propulsion device is controlled to turn synchronously with the steering adjustment device. The specific operation process can be found in the foregoing embodiments and will not be repeated here.

[0194] In some embodiments, the control method of the propulsion system, before controlling the third propulsion device to synchronously turn with the steering adjustment device, includes: when the third propulsion device is not present, determining a target set including at least two propulsion devices from a plurality of propulsion devices, wherein the difference in steering angle between any two propulsion devices in the target set is less than a fifth preset angle threshold; using the average of the steering angles of all propulsion devices in the target set as a reference angle; determining a third mapping angle of the reference angle mapping based on a preset mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device; determining a third target angle of the steering adjustment device based on the third mapping angle and the alignment strategy corresponding to the current configuration mode of the steering adjustment device; wherein the steering adjustment device corresponds to different alignment strategies in different configuration modes; and controlling the rotation angle of the steering adjustment device to be the third target angle.

[0195] It should be noted that among multiple propulsion devices, there may not be a third propulsion device that has a fourth angular relationship with the steering adjustment device. In this case, a corresponding fifth preset angle threshold is pre-set, for example, the fifth preset angle threshold can be set to 10°. It is understood that the fifth preset angle threshold can also be 5°, 15°, 20°, etc., and this application does not impose specific limitations on the fifth preset angle threshold.

[0196] If none of the multiple propulsion devices has a fourth angular relationship with the steering adjustment device, then, based on a fifth preset angle threshold, at least two propulsion devices are selected from the multiple propulsion devices to form a target set. The difference in steering angle between any two propulsion devices in this target set is less than the fifth preset angle threshold. For example, taking a fifth preset angle threshold of 10° as an example, if the determined target set includes propulsion device A, propulsion device B, and propulsion device C, the difference in steering angle between propulsion device A and propulsion device B is less than 10°, the difference in steering angle between propulsion device A and propulsion device C is also less than 10°, and the difference in steering angle between propulsion device A and propulsion device C is also less than 10°.

[0197] Based on the steering angles of propulsion devices A, B, and C, the average steering angle of each device is calculated and used as the reference angle. Then, based on the mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion devices, the corresponding mapping angle is determined. For ease of description, the mapping angle corresponding to the reference angle will be referred to as the third mapping angle below. Next, based on the third mapping angle, the third target angle of the steering adjustment device is determined. Finally, the rotation angle of the steering adjustment device is controlled to be the third target angle.

[0198] In some embodiments, the control method of the propulsion system includes, before controlling the third propulsion device to synchronously turn with the steering adjustment device, the following steps: when the third propulsion device is not present, determining a third mapping angle of the steering angle mapping of the target propulsion device based on a preset mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device, wherein the target propulsion device is one of a plurality of propulsion devices; determining a third target angle of the steering adjustment device based on the alignment strategy corresponding to the current configuration mode of the steering adjustment device according to the third mapping angle; wherein the steering adjustment device corresponds to different alignment strategies in different configuration modes; and controlling the rotation angle of the steering adjustment device to be the third target angle.

[0199] In practical applications, there may not be a third propulsion device that has a fourth angular relationship with the steering adjustment device, that is, all propulsion devices have a fifth angular relationship with the steering adjustment device. In this case, one of the multiple propulsion devices is taken as the target propulsion device, and each propulsion device is controlled to follow the steering adjustment device to turn synchronously based on the target propulsion device.

[0200] In some embodiments, one of the multiple propulsion devices in the propulsion system is a primary propulsion device, and the others are secondary propulsion devices, with the primary propulsion device being directly used as the target propulsion device.

[0201] In other embodiments, the control method of the propulsion system further includes: calculating the mapping angle difference between the steering adjustment device and each propulsion device, and selecting the propulsion device corresponding to the smallest mapping angle difference as the target propulsion device.

[0202] The specific processing procedure can be referred to the description in the foregoing embodiments, and will not be repeated here.

[0203] Based on the steering angle of the target propulsion device, and the mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device, a third mapping angle for the steering angle of the target propulsion device is determined. Then, based on this third mapping angle, a third target angle for the steering adjustment device is determined. Finally, the rotation angle of the steering adjustment device is controlled to be the third target angle.

[0204] In some embodiments, when the steering adjustment device is currently operating in the first mode, the third target angle of the steering adjustment device is determined based on the alignment strategy corresponding to the current configuration mode of the steering adjustment device, according to the third mapping angle, including: if the steering adjustment device is currently operating in the first mode, the third mapping angle is determined as the third target angle.

[0205] For example, assuming that there is no third propulsion device among the multiple propulsion devices that has a fourth angular relationship with the steering adjustment device, if the third mapping angle is determined to be 160° through the above operation method, and the steering adjustment device is currently operating in the first mode, then 160° is determined as the third target angle.

[0206] Subsequently, the rotation angle of the steering adjustment device is controlled to a third target angle. In some embodiments, controlling the rotation angle of the steering adjustment device to a third target angle includes: automatically updating the rotation angle of the steering adjustment device to the third target angle.

[0207] For details, please refer to the process in the foregoing embodiment for automatically updating the rotation angle of the steering adjustment device to the first target angle, which will not be repeated here.

[0208] In some embodiments, when the steering adjustment device is currently operating in the second mode, a third target angle of the steering adjustment device is determined based on the alignment strategy corresponding to the current configuration mode of the steering adjustment device, according to the third mapping angle. This includes: if the steering adjustment device is currently operating in the second mode, determining the third target angle based on the third mapping angle and the preset centering angle corresponding to the second mode.

[0209] That is, when the steering adjustment device is configured in centering mode, the third target angle of the steering adjustment device is determined by combining the third mapping angle and the centering angle.

[0210] In some embodiments, determining the third target angle based on the third mapping angle and the centering angle corresponding to the preset second mode includes: determining the third target angle as the sum of the third mapping angle and the centering angle.

[0211] For example, assuming the centering angle is 10°, the third mapping angle is determined to be 160° through the above operation method. The sum of the third mapping angle 160° and the centering angle 10° is calculated to be 170°, so the third target angle is determined to be 170°. Then, the rotation angle of the steering adjustment device is controlled to be 170° (the corresponding external output angle is 160°).

[0212] In some embodiments, controlling the rotation angle of the steering adjustment device to a third target angle includes: outputting operation prompt information so that the user can rotate the steering adjustment device to the third target angle according to the operation prompt information.

[0213] For details, please refer to the description in the foregoing embodiments, which will not be repeated here.

[0214] In some embodiments, the control method of the propulsion system includes, before controlling the steering angle of the target propulsion device to a third target angle, controlling the steering locking structure to release the locking state, thereby releasing the restriction of the steering locking structure on the mechanical steering assembly.

[0215] For details, please refer to the description in the foregoing embodiments, which will not be repeated here.

[0216] S204. When the fourth propulsion device and the steering adjustment device have a fourth angular relationship, control the fourth propulsion device to also turn synchronously with the steering adjustment device.

[0217] After the third propulsion device follows the steering adjustment device to turn synchronously, for the fourth propulsion device, the relationship between the steering angle of the fourth propulsion device and the rotation angle of the steering adjustment device is monitored in real time. If the fourth propulsion device and the steering adjustment device also satisfy the fourth angle relationship, such as the mapping angle difference between the fourth propulsion device and the steering adjustment device being less than or equal to the fourth preset angle threshold, then the fourth propulsion device is controlled to also turn synchronously with the steering adjustment device.

[0218] During the propulsion system operation phase, based on the rotation angle of the steering adjustment device and the mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device, the steering angle corresponding to the propulsion device is calculated, and then the propulsion device is driven to the steering angle according to the steering angle.

[0219] In some embodiments, for the power components of each propulsion device, the power component of the third propulsion device, which has a fourth angular relationship with the steering adjustment device, is allowed to operate, while the power component of the fourth propulsion device, which has a fifth angular relationship with the steering adjustment device, is prohibited from operating. In this case, it can be understood that the alignment between the third propulsion device and the steering adjustment device is relatively high; therefore, allowing the third propulsion device to steer and output power generally does not cause safety issues and meets user requirements. However, when the fourth propulsion device does not have a fourth angular relationship with the target propulsion device, i.e., when the alignment between the fourth propulsion device and the steering adjustment device is low, allowing the fourth propulsion device to steer and output power may result in a significant discrepancy between the resultant force direction of the propulsion forces output by multiple propulsion devices and the direction indicated by the steering adjustment device, potentially leading to a safety accident. Therefore, the mechanical steering component and power component of the fourth propulsion device are only allowed to operate when the fourth propulsion device also has a fourth angular relationship with the steering adjustment device, ensuring the operational safety of the propulsion system.

[0220] In some embodiments, the control method of the propulsion system further includes: if a mechanical steering component of a propulsion device fails and the failure level is greater than or equal to a preset failure level, controlling the failed propulsion device to stop; before the failure of the mechanical steering component is resolved, restricting the synchronous operation of the mechanical steering component and the power component of the failed propulsion device, and when the power component is running, the steering locking structure is in a locked state.

[0221] For details, please refer to the description in the foregoing embodiments, which will not be repeated here.

[0222] In some embodiments, controlling the shutdown of a faulty propulsion device includes: gradually reducing the output power of the faulty propulsion device to zero. This avoids instability caused by a sudden shutdown of the faulty propulsion device.

[0223] In some embodiments, the faulty propulsion device is allowed to operate when it is operating in limp mode.

[0224] For details, please refer to the description in the foregoing embodiments, which will not be repeated here.

[0225] In some embodiments, when the fault propulsion device is in operation, the output power of the fault propulsion device is limited to a preset power threshold.

[0226] For details, please refer to the description in the foregoing embodiments, which will not be repeated here.

[0227] The control method for the propulsion system provided in the above embodiments obtains the steering angle of each propulsion device in the propulsion system, determines the third propulsion device with a fourth angular relationship to the steering adjustment device and the fourth propulsion device with a fifth angular relationship to the steering adjustment device from multiple propulsion devices based on the steering angle, controls the third propulsion device to turn synchronously with the steering adjustment device, and then controls the fourth propulsion device to turn synchronously with the steering adjustment device when the fourth propulsion device has a fourth angular relationship with the steering adjustment device. This steering method reduces the probability of safety problems compared to simultaneously driving multiple propulsion devices to turn synchronously with the steering adjustment device, thus improving the safety of the propulsion system operation.

[0228] Please refer to Figure 11, which is a schematic block diagram of a propulsion system provided in an embodiment of this application. As shown in Figure 11, the propulsion system 1000 includes a steering adjustment device 100, a plurality of propulsion devices 200, a processor 300, and a memory 400.

[0229] The steering adjustment device 100 includes, but is not limited to, a steering wheel, rudder, and wireless joystick; the propulsion device 200 includes, but is not limited to, an outboard motor and a rotatable pod propulsion system; and the processor 300 can be a microcontroller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP). The memory 400 can be a flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a portable hard drive. The memory 400 stores various computer programs that the processor 300 can execute.

[0230] The processor 300 is used to run a computer program stored in the memory 400, and when executing the computer program, it executes the control method of the propulsion system provided in any embodiment of this application. Therefore, the beneficial effects that the control method of the propulsion system provided in the embodiments of this application can achieve can be realized. For details, please refer to the previous embodiments, which will not be repeated here.

[0231] The number of processors 300 can be one or more. When there is only one processor 300, the processor 300 can be a controller for a propulsion device, such as a controller for a main propulsion device. When there are multiple processors 300, the multiple processors 300 can include a controller for at least one propulsion device, and can also include a controller in a steering adjustment device.

[0232] An embodiment of this application also provides a water-based mobile device, wherein the water-based mobile device includes, but is not limited to, ships, boats, etc.

[0233] For example, the water-based mobile device includes a propulsion system, which can be the propulsion system 1000 shown in FIG11. Therefore, the propulsion system can achieve the beneficial effects that the control method of the propulsion system provided in the embodiments of this application can achieve, as detailed in the preceding embodiments, and will not be repeated here.

[0234] The embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the control method for any of the propulsion systems provided in the above embodiments.

[0235] The computer-readable storage medium can be an internal storage unit of the propulsion system or water-based mobile device described in the foregoing embodiments, such as a hard disk or memory of the propulsion system or water-based mobile device. The computer-readable storage medium can also be an external storage device of the propulsion system or water-based mobile device, such as a plug-in hard disk, smart media card (SMC), secure digital card (SD card), flash card, etc., equipped on the propulsion system or water-based mobile device.

[0236] Since the computer program stored in the storage medium can execute any of the propulsion system control methods provided in the embodiments of this application, the beneficial effects that any of the propulsion system control methods provided in the embodiments of this application can achieve can be realized, as detailed in the preceding embodiments, and will not be repeated here.

[0237] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method for a propulsion system, characterized in that, The propulsion system includes a steering adjustment device and multiple propulsion devices, and the method includes: Obtain the steering angle of each of the propulsion devices; Based on the steering angle, the plurality of propulsion devices are divided into a first propulsion device having a first angular relationship with the target propulsion device, and a second propulsion device having a second angular relationship with the target propulsion device. The target propulsion device is one of the plurality of propulsion devices and has a third angular relationship with the steering adjustment device. Control the target propulsion device and the first propulsion device to turn synchronously with the steering adjustment device; and When the second propulsion device and the target propulsion device also have the first angular relationship, the second propulsion device is controlled to turn synchronously with the steering adjustment device.

2. The method according to claim 1, characterized in that, Of the plurality of propulsion devices, one is the main propulsion device and the others are secondary propulsion devices, and the target propulsion device is the main propulsion device.

3. The method according to claim 1, characterized in that, The method further includes: Calculate the mapping angle difference between the steering adjustment device and each of the propulsion devices, and select the propulsion device corresponding to the smallest mapping angle difference as the target propulsion device.

4. The method according to claim 1, characterized in that, The first angular relationship is that the absolute value of the difference between the turning angle of the propulsion device and the turning angle of the target propulsion device is less than or equal to a first preset angle threshold. The second angular relationship is that the absolute value of the difference between the turning angle of the propulsion device and the turning angle of the target propulsion device is greater than the first preset angle threshold. The third angle relationship is that the mapping angle difference between the target propulsion device and the steering adjustment device is less than or equal to a third preset angle threshold, the third preset angle threshold is less than or equal to a first preset angle threshold, or the mapping angle threshold of the third preset angle threshold under the preset mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device is less than or equal to the first preset angle threshold.

5. The method according to claim 4, characterized in that, The method further includes: Based on the alignment strategy corresponding to the current configuration mode of the steering adjustment device, the external output angle corresponding to the rotation angle of the steering adjustment device is determined, wherein the steering adjustment device corresponds to different alignment strategies in different configuration modes; The mapping angle difference is calculated based on the output angle, the steering angle of the target propulsion device, and the mapping relationship.

6. The method according to claim 5, characterized in that, When the third preset angle threshold is less than or equal to the first preset angle threshold, the calculation of the mapping angle difference based on the outward output angle, the steering angle of the target propulsion device, and the mapping relationship includes: Based on the mapping relationship, the first mapping angle of the steering angle mapping of the target propulsion device is determined; Calculate the absolute value of the difference between the first mapping angle and the external output angle; The absolute value of the difference between the first mapping angle and the external output angle is mapped under the mapping relationship to obtain the value of the mapping angle difference.

7. The method according to claim 5, characterized in that, When the third preset angle threshold is less than or equal to the first preset angle threshold, the calculation of the mapping angle difference based on the outward output angle, the steering angle of the target propulsion device, and the mapping relationship includes: Based on the mapping relationship, determine the second mapping angle of the outward output angle mapping; The absolute value of the difference between the second mapping angle and the steering angle of the target propulsion device is determined as the mapping angle difference.

8. The method according to claim 5, characterized in that, When the mapping angle threshold is less than or equal to the first preset angle threshold, the calculation of the mapping angle difference based on the outward output angle, the steering angle of the target propulsion device, and the mapping relationship includes: Based on the mapping relationship, the first mapping angle of the steering angle mapping of the target propulsion device is determined; The absolute value of the difference between the first mapping angle and the external output angle is determined as the mapping angle difference.

9. The method according to claim 5, characterized in that, When the mapping angle threshold is less than or equal to the first preset angle threshold, the calculation of the mapping angle difference based on the outward output angle, the steering angle of the target propulsion device, and the mapping relationship includes: Based on the mapping relationship, determine the second mapping angle of the outward output angle mapping; Calculate the absolute value of the difference between the second mapping angle and the steering angle of the target propulsion device; The absolute value of the difference between the second mapping angle and the steering angle of the target propulsion device is mapped under the mapping relationship to obtain the value of the mapping angle difference.

10. The method according to claim 5, characterized in that, The configuration mode includes a first mode. The step of determining the outward output angle corresponding to the rotation angle of the steering adjustment device based on the alignment strategy corresponding to the current configuration mode of the steering adjustment device includes: If the steering adjustment device is currently operating in the first mode, the rotation angle is determined as the external output angle.

11. The method according to claim 5, characterized in that, The configuration mode includes a second mode, wherein determining the outward output angle corresponding to the rotation angle of the steering adjustment device based on the alignment strategy corresponding to the current configuration mode of the steering adjustment device includes: If the steering adjustment device is currently operating in the second mode, the external output angle is determined based on the rotation angle and the preset centering angle corresponding to the second mode.

12. The method according to claim 11, characterized in that, Determining the outward output angle based on the rotation angle and the preset centering angle corresponding to the second mode includes: The difference between the rotation angle and the centering angle is determined as the outward output angle.

13. The method according to claim 1, characterized in that, The method includes, before controlling the target propulsion device and the first propulsion device to turn synchronously with the steering adjustment device: When the steering adjustment device and the target propulsion device do not satisfy the third angle relationship, at least one of the steering adjustment device and the target propulsion device is adjusted so that the steering adjustment device and the target propulsion device satisfy the third angle relationship.

14. The method according to claim 13, characterized in that, Adjusting at least one of the steering adjustment device and the target propulsion device includes: Based on the preset mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device, the first mapping angle of the steering angle mapping of the target propulsion device is determined; Based on the first mapping angle and the alignment strategy corresponding to the current configuration mode of the steering adjustment device, a first target angle of the steering adjustment device is determined; wherein, the steering adjustment device corresponds to different alignment strategies in different configuration modes; The rotation angle of the steering adjustment device is controlled to the first target angle.

15. The method according to claim 14, characterized in that, The configuration mode includes a first mode. Determining the first target angle of the steering adjustment device based on the alignment strategy corresponding to the current configuration mode of the steering adjustment device, according to the first mapping angle, includes: If the steering adjustment device is currently operating in the first mode, the first mapping angle is determined as the first target angle.

16. The method according to claim 15, characterized in that, The control of the rotation angle of the steering adjustment device to the first target angle includes: The rotation angle of the steering adjustment device is automatically updated to the first target angle.

17. The method according to claim 14, characterized in that, The configuration mode includes a second mode. The step of determining the first target angle of the steering adjustment device based on the alignment strategy corresponding to the current configuration mode of the steering adjustment device, according to the first mapping angle, includes: If the steering adjustment device is currently operating in the second mode, the first target angle is determined based on the first mapping angle and the preset centering angle corresponding to the second mode.

18. The method according to claim 17, characterized in that, Determining the first target angle based on the first mapping angle and the centering angle corresponding to the preset second mode includes: The sum of the first mapping angle and the centering angle is determined as the first target angle.

19. The method according to claim 17, characterized in that, The control of the rotation angle of the steering adjustment device to the first target angle includes: Output operation prompts so that the user can rotate the steering adjustment device to the first target angle according to the operation prompts.

20. The method according to claim 13, characterized in that, Adjusting at least one of the steering adjustment device and the target propulsion device includes: Based on the preset mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device, a second target angle is determined by mapping the external output angle of the steering adjustment device; The steering angle of the target propulsion device is controlled to be the second target angle.

21. The method according to claim 20, characterized in that, The control of the steering angle of the target propulsion device to the second target angle includes: Output alignment prompt message; The target propulsion device is controlled to automatically turn to the second target angle.

22. The method according to claim 20, characterized in that, The control of the steering angle of the target propulsion device to the second target angle includes: Output operation prompts so that the user can rotate the target propulsion device to the second target angle according to the operation prompts.

23. The method according to claim 21 or 22, characterized in that, The propulsion device includes a steering lock structure and a mechanical steering assembly. The method, prior to controlling the steering angle of the target propulsion device to the second target angle, includes: Control the steering locking structure to release the locking state, thereby releasing the restriction of the steering locking structure on the mechanical steering assembly.

24. The method according to claim 1, characterized in that, The propulsion device includes a steering lock structure, a mechanical steering assembly, and a power assembly; the method further includes: If the mechanical steering component of a propulsion device fails and the failure level is greater than or equal to the preset failure level, the failed propulsion device will be shut down. Before the mechanical steering component is cleared of its malfunction, the synchronous operation of the mechanical steering component and the power component of the malfunctioning propulsion device is restricted. When the power component is in operation, the steering locking structure is in a locked state.

25. The method according to claim 24, characterized in that, The control failure propulsion device shutdown includes: The output power of the faulty propulsion device is gradually reduced to zero.

26. The method according to claim 24, characterized in that, When the faulty propulsion device is operating in limp mode, the faulty propulsion device is permitted to operate.

27. The method according to claim 24, characterized in that, When the fault propulsion device is in operation, the output power of the fault propulsion device is limited to a preset power threshold.

28. The method according to claim 1, characterized in that, The propulsion device includes a power component. The power component of the target propulsion device and the first propulsion device are allowed to operate. The power component of the second propulsion device is allowed to operate when the second propulsion device and the target propulsion device also have the first angular relationship.

29. A control method for a propulsion system, characterized in that, The propulsion system includes a steering adjustment device and multiple propulsion devices, and the method includes: Obtain the steering angle of each of the propulsion devices; Based on the steering angle, a third propulsion device with a fourth angular relationship to the steering adjustment device and a fourth propulsion device with a fifth angular relationship to the steering adjustment device are determined from the plurality of propulsion devices. The third propulsion device is controlled to turn synchronously with the steering adjustment device; When the fourth propulsion device and the steering adjustment device have the fourth angular relationship, the fourth propulsion device is controlled to also turn synchronously with the steering adjustment device.

30. The method according to claim 29, characterized in that, The fourth angular relationship is that the mapping angle difference between the propulsion device and the steering adjustment device is less than or equal to the fourth preset angle threshold; the fifth angular relationship is that the mapping angle difference between the propulsion device and the steering adjustment device is greater than the fourth preset angle threshold.

31. The method according to claim 30, characterized in that, The method further includes: Based on the alignment strategy corresponding to the current configuration mode of the steering adjustment device, the external output angle corresponding to the rotation angle of the steering adjustment device is determined, wherein the steering adjustment device corresponds to different alignment strategies in different configuration modes; The mapping angle difference is calculated based on the external output angle, the steering angle of the propulsion device, and the preset mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device.

32. The method according to claim 31, characterized in that, The calculation of the mapping angle difference based on the external output angle, the steering angle of the propulsion device, and the preset mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device includes: Based on the mapping relationship, the third mapping angle of the steering angle mapping of the propulsion device is determined; Calculate the absolute value of the difference between the third mapping angle and the external output angle; The absolute value of the difference between the first mapping angle and the external output angle is mapped under the mapping relationship to obtain the value of the mapping angle difference.

33. The method according to claim 31, characterized in that, The calculation of the mapping angle difference based on the external output angle, the steering angle of the propulsion device, and the preset mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device includes: Based on the mapping relationship, the fourth mapping angle of the external output angle mapping is determined; The absolute value of the difference between the fourth mapping angle and the steering angle of the propulsion device is determined as the mapping angle difference.

34. The method according to claim 31, characterized in that, The calculation of the mapping angle difference based on the external output angle, the steering angle of the propulsion device, and the preset mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device includes: Based on the mapping relationship, the third mapping angle of the steering angle mapping of the propulsion device is determined; The absolute value of the difference between the third mapping angle and the external output angle is determined as the mapping angle difference.

35. The method according to claim 31, characterized in that, The calculation of the mapping angle difference based on the external output angle, the steering angle of the propulsion device, and the preset mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device includes: Based on the mapping relationship, the fourth mapping angle of the external output angle mapping is determined; Calculate the absolute value of the difference between the fourth mapping angle and the steering angle of the propulsion device; The absolute value of the difference between the fourth mapping angle and the steering angle of the propulsion device is mapped under the mapping relationship to obtain the value of the mapping angle difference.

36. The method according to claim 31, characterized in that, The configuration mode includes a first mode. The step of determining the outward output angle corresponding to the rotation angle of the steering adjustment device based on the alignment strategy corresponding to the current configuration mode of the steering adjustment device includes: If the steering adjustment device is currently operating in the first mode, the rotation angle is determined as the external output angle.

37. The method according to claim 31, characterized in that, The configuration mode includes a second mode, wherein determining the outward output angle corresponding to the rotation angle of the steering adjustment device based on the alignment strategy corresponding to the current configuration mode of the steering adjustment device includes: If the steering adjustment device is currently operating in the second mode, the external output angle is determined based on the rotation angle and the preset centering angle corresponding to the second mode.

38. The method according to claim 37, characterized in that, Determining the outward output angle based on the rotation angle and the preset centering angle corresponding to the second mode includes: The difference between the rotation angle and the centering angle is determined as the outward output angle.

39. The method according to claim 29, characterized in that, The method includes, before controlling the third propulsion device to turn synchronously with the steering adjustment device, the following: When the third propulsion device is not present, a target set including at least two propulsion devices is determined from the plurality of propulsion devices, wherein the difference in the turning angle of any two propulsion devices in the target set is less than a fifth preset angle threshold. The average of the steering angles of all the propulsion devices in the target set is used as the reference angle; Based on the preset mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device, the third mapping angle of the reference angle is determined; Based on the third mapping angle and the alignment strategy corresponding to the current configuration mode of the steering adjustment device, the third target angle of the steering adjustment device is determined; wherein, the steering adjustment device corresponds to different alignment strategies in different configuration modes; The rotation angle of the steering adjustment device is controlled to the third target angle.

40. The method according to claim 29, characterized in that, The method includes, before controlling the third propulsion device to turn synchronously with the steering adjustment device, the following: When the third propulsion device is not present, based on the preset mapping relationship between the rotation angle of the steering adjustment device and the steering angle of the propulsion device, the third mapping angle of the steering angle mapping of the target propulsion device is determined, and the target propulsion device is one of the plurality of propulsion devices; Based on the third mapping angle and the alignment strategy corresponding to the current configuration mode of the steering adjustment device, the third target angle of the steering adjustment device is determined; wherein, the steering adjustment device corresponds to different alignment strategies in different configuration modes; The rotation angle of the steering adjustment device is controlled to the third target angle.

41. The method according to claim 40, characterized in that, Of the plurality of propulsion devices, one is the main propulsion device and the others are secondary propulsion devices, and the target propulsion device is the main propulsion device.

42. The method according to claim 40, characterized in that, The method further includes: Calculate the mapping angle difference between the steering adjustment device and each of the propulsion devices, and select the propulsion device corresponding to the smallest mapping angle difference as the target propulsion device.

43. The method according to claim 39 or 40, characterized in that, The configuration mode includes a first mode. Determining the third target angle of the steering adjustment device based on the alignment strategy corresponding to the current configuration mode of the steering adjustment device, according to the third mapping angle, includes: If the steering adjustment device is currently operating in the first mode, the third mapping angle is determined as the third target angle.

44. The method according to claim 43, characterized in that, The control of the rotation angle of the steering adjustment device to the third target angle includes: The rotation angle of the steering adjustment device is automatically updated to the third target angle.

45. The method according to claim 39 or 40, characterized in that, The configuration mode includes a second mode. Determining the third target angle of the steering adjustment device based on the alignment strategy corresponding to the current configuration mode of the steering adjustment device, according to the third mapping angle, includes: If the steering adjustment device is currently operating in the second mode, the third target angle is determined based on the third mapping angle and the preset centering angle corresponding to the second mode.

46. ​​The method according to claim 45, characterized in that, Determining the third target angle based on the third mapping angle and the preset centering angle corresponding to the second mode includes: The sum of the third mapping angle and the centering angle is determined as the third target angle.

47. The method according to claim 45, characterized in that, The control of the rotation angle of the steering adjustment device to the third target angle includes: Output operation prompts so that the user can rotate the steering adjustment device to the third target angle according to the operation prompts.

48. The method according to claim 47, characterized in that, The propulsion device includes a steering lock structure and a mechanical steering assembly. The method, prior to controlling the steering angle of the target propulsion device to the third target angle, includes: Control the steering locking structure to release the locking state, thereby releasing the restriction of the steering locking structure on the mechanical steering assembly.

49. The method according to claim 29, characterized in that, The propulsion device includes a steering lock structure, a mechanical steering assembly, and a power assembly; the method further includes: If the mechanical steering component of a propulsion device fails and the failure level is greater than or equal to the preset failure level, the failed propulsion device will be shut down. Before the mechanical steering component is cleared of its malfunction, the mechanical steering component and the power component of the malfunctioning propulsion device are restricted to operate synchronously. When the power component is running, the steering locking structure is in a locked state.

50. The method according to claim 49, characterized in that, The control failure propulsion device shutdown includes: The output power of the faulty propulsion device is gradually reduced to zero.

51. The method according to claim 49, characterized in that, When the faulty propulsion device is operating in limp mode, the faulty propulsion device is permitted to operate.

52. The method according to claim 49, characterized in that, When the fault propulsion device is in operation, the output power of the fault propulsion device is limited to a preset power threshold.

53. The method according to claim 29, characterized in that, The propulsion device includes a power component, the power component of the third propulsion device is operable, and the power component of the fourth propulsion device is operable when the fourth propulsion device and the steering adjustment device have the fourth angular relationship.

54. A propulsion system, characterized in that, The propulsion system includes a memory and a processor; The memory is used to store computer programs; The processor is configured to execute the computer program and, in executing the computer program, implement the control method of the propulsion system as described in any one of claims 1 to 53.

55. A water-based mobile device, characterized in that, The water-based mobile equipment includes the propulsion system as described in claim 54.

56. A storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, causes the processor to implement the control method of the propulsion system according to any one of claims 1 to 53.

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