WO2024259650A1

WO2024259650A1 - Control method, steering device, water area propeller and related device

Info

Publication number: WO2024259650A1
Application number: PCT/CN2023/101777
Authority: WO
Inventors: 屈晓峰; 杨威; �田宏; 陶师正; 万小康
Original assignee: Guangdong ePropulsion Technology Co Ltd
Current assignee: Guangdong ePropulsion Technology Co Ltd
Priority date: 2023-06-21
Filing date: 2023-06-21
Publication date: 2024-12-26
Anticipated expiration: 2025-12-21
Also published as: CN117957167A; CN117957167B

Abstract

A control method for a steering device of a water area mobile apparatus, comprising: if it is detected that a direction control device does not receive a steering input of a user, a steering motor (501) in a steering device does not operate normally, and the steering angle of the steering device has changed, determining that the steering device suffers a collision, wherein the direction control device is in communication connection with the steering device and is used for controlling steering of the steering device; and controlling the steering device to stop. The present method can reduce the probability of damage to steering systems, thus improving the driving safety.

Description

Control method, steering device, water area propulsion device and related devices

Technical Field

本申请涉及转向控制领域，尤其涉及一种控制方法、转向装置、水域推进器、水域推进系统、水域可移动设备及计算机可读存储介质。The present application relates to the field of steering control, and in particular to a control method, a steering device, a water area thruster, a water area propulsion system, a water area movable device, and a computer-readable storage medium.

Background Art

船舶、汽车等交通工具通过配备在其上的方向操纵装置(例如方向盘、舵柄等)来实现转向。以船舶为例，方向操纵装置与船外机等动力设备通信，并控制动力设备的转向，从而实现船舶航向控制。Vessels, cars and other vehicles use steering devices (such as steering wheels, tillers, etc.) to achieve steering. Taking a ship as an example, the steering device communicates with power equipment such as outboard motors and controls the steering of the power equipment, thereby achieving ship heading control.

在船舶航行过程中，船外机可能会受到外力撞击，此时，船外机内的转向系统可能在与该撞击外力对抗的过程中损坏，导致船只无法正常航行与转向，驾驶安全性较低。During the navigation of a ship, the outboard motor may be hit by external force. At this time, the steering system in the outboard motor may be damaged in the process of resisting the external force, causing the ship to be unable to navigate and steer normally, and the driving safety is low.

发明内容Summary of the invention

针对上述技术问题，本申请提供一种控制方法、转向装置、水域推进器、水域推进系统、水域可移动设备及计算机可读存储介质，技术方案如下：In view of the above technical problems, the present application provides a control method, a steering device, a water area thruster, a water area propulsion system, a water area movable device and a computer readable storage medium. The technical solutions are as follows:

根据本申请的第一方面，提供一种控制方法，应用于转向装置，控制方法包括：According to a first aspect of the present application, a control method is provided, which is applied to a steering device. The control method includes:

若检测到方向操纵装置未接收到用户的转向输入，所述转向装置中的转向电机未正常运转，且所述转向装置的转向角度发生变化，则确定所述转向装置受到撞击，其中，所述方向操纵装置与所述转向装置通信连接，并用于操控所述转向装置转向；If it is detected that the steering device does not receive the user's steering input, the steering motor in the steering device does not operate normally, and the steering angle of the steering device changes, it is determined that the steering device is hit, wherein the steering device is communicatively connected with the steering device and is used to control the steering of the steering device;

控制所述转向装置停机。The steering device is controlled to stop.

根据本申请的第二方面，提供一种转向装置，转向装置包括：According to a second aspect of the present application, a steering device is provided, the steering device comprising:

转向电机；及处理器，所述处理器与所述转向电机通信，所述处理器用于执行如第一方面所述的控制方法。A steering motor; and a processor, the processor communicating with the steering motor, the processor being used to execute the control method as described in the first aspect.

根据本申请的第三方面，提供一种水域推进器，水域推进器包括： According to a third aspect of the present application, a water area thruster is provided, the water area thruster comprising:

动力机构；及第二方面所述的转向装置，所述转向装置与所述动力机构通信。A power mechanism; and a steering device as described in the second aspect, wherein the steering device communicates with the power mechanism.

根据本申请的第四方面，提供一种水域推进系统，所述水域推进系统包括：According to a fourth aspect of the present application, a water area propulsion system is provided, the water area propulsion system comprising:

方向操纵装置；及第三方面所述的水域推进器，所述水域推进器与所述方向操纵装置通信。A direction control device; and the water area thruster described in the third aspect, wherein the water area thruster communicates with the direction control device.

根据本申请的第五方面，提供一种水域可移动设备，所述水域可移动设备包括：According to a fifth aspect of the present application, a movable device in water area is provided, the movable device in water area comprising:

可移动本体；及第四方面所述的水域推进系统，所述水域推进系统与所述可移动本体结合。A movable body; and the water area propulsion system described in the fourth aspect, wherein the water area propulsion system is combined with the movable body.

根据本申请的第六方面，提供一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现第一方面所述的控制方法。According to a sixth aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the control method described in the first aspect is implemented.

本申请提供的技术方案，转向系统包括方向操纵装置以及转向装置，方向操纵装置与转向装置通信连接，并用于操控转向装置转向，如果检测到该方向操纵装置的未接收到用户的转向输入，该转向装置中的转向电机未正常运转，并且该转向装置的转向角度发生变化，则确定该转向装置受到撞击，并控制该转向装置停机。本申请的技术方案能够快速检测到外力撞击，并及时控制转向装置停机，停机后的转向装置由于已经撤去了转向力，因此，该转向装置不会与撞击外力进行对抗，转向装置可以沿撞击方向偏移，从而能够降低转向系统损坏概率，提高驾驶安全性。The technical solution provided by the present application is that the steering system includes a steering device and a steering device. The steering device is connected to the steering device in communication and is used to control the steering of the steering device. If it is detected that the steering device does not receive the user's steering input, the steering motor in the steering device does not operate normally, and the steering angle of the steering device changes, it is determined that the steering device is hit, and the steering device is controlled to shut down. The technical solution of the present application can quickly detect external force impact and control the steering device to shut down in time. After the steering device is shut down, the steering force has been removed, so the steering device will not fight against the external impact force, and the steering device can be offset in the impact direction, thereby reducing the probability of damage to the steering system and improving driving safety.

应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本申请。It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application.

BRIEF DESCRIPTION OF THE DRAWINGS

为了更清楚地说明本申请实施例或相关技术中的技术方案，下面将对实施例或相关技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请中记载的一些实施例，对于本领域普通技术人员来讲，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

图1是相关技术的方向盘控制的应用场景示意图；FIG1 is a schematic diagram of an application scenario of a steering wheel control in the related art;

图2是本申请一个实施例的控制方法的流程示意图；FIG2 is a flow chart of a control method according to an embodiment of the present application;

图3是本申请另一个实施例的控制方法的流程示意图；FIG3 is a flow chart of a control method according to another embodiment of the present application;

图4是本申请另一个实施例的控制方法的流程示意图； FIG4 is a flow chart of a control method according to another embodiment of the present application;

图5是本申请提供的转向装置的结构示意图；FIG5 is a schematic structural diagram of a steering device provided in the present application;

图6是本申请提供的水域推进器的结构示意图；FIG6 is a schematic diagram of the structure of the water area propeller provided by the present application;

图7是本申请提供的水域推进系统的结构示意图；FIG7 is a schematic diagram of the structure of the water propulsion system provided by the present application;

图8是本申请提供的水域可移动设备的结构示意图。FIG8 is a schematic diagram of the structure of the movable equipment in water area provided by the present application.

DETAILED DESCRIPTION

为了使本领域技术人员更好地理解本申请中的技术方案，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行详细地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员所获得的所有其他实施例，都应当属于本申请保护的范围。In order to enable those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be described in detail below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field should fall within the scope of protection of this application.

请参见图1，首先对相关技术中方向操纵装置控制转向的应用场景进行介绍，船舶、汽车等交通工具通过操控配备在其上的方向操纵装置来实现转向。以船舶为例，请结合图1，图1中以方向操纵装置为方向盘为例，船舶上的方向盘101与船外机102的连接方式为电连接，驾驶员转动方向盘101，系统可以通过线控的方式使船外机102随方向盘101的旋转而旋转，从而实现船舶的转向。Please refer to Figure 1, first of all, the application scenario of steering control by a steering control device in the related art is introduced. Ships, cars and other vehicles realize steering by controlling the steering control device equipped thereon. Taking ships as an example, please refer to Figure 1. In Figure 1, the steering control device is a steering wheel as an example. The connection method between the steering wheel 101 on the ship and the outboard motor 102 is electrical connection. When the driver turns the steering wheel 101, the system can make the outboard motor 102 rotate with the rotation of the steering wheel 101 by wire control, thereby realizing the steering of the ship.

在船舶航行过程中，船外机102可能会受到外力撞击，此时，船外机102内的转向系统可能在与该撞击外力对抗的过程中损坏，导致船只无法正常航行与转向，驾驶安全性较低。During the navigation of the ship, the outboard motor 102 may be hit by an external force. At this time, the steering system in the outboard motor 102 may be damaged in the process of resisting the external force, resulting in the inability of the ship to navigate and steer normally, and the driving safety is low.

可以理解的是，上述对方向操纵装置控制转向的应用场景进行的介绍仅是示例性展示，在实际应用中，应用场景可根据设计者的需求灵活选择，对此不作限定。It is understandable that the above introduction to the application scenario of the direction control device controlling steering is only an exemplary display. In actual application, the application scenario can be flexibly selected according to the needs of the designer and is not limited to this.

针对上述问题，本申请一个实施例提供一种应用于转向装置的控制方法。本申请实施例的控制方法能够快速检测到外力撞击，并及时控制转向装置停机，使转向装置沿撞击方向偏移，降低转向系统损坏概率，提高驾驶安全性。如图2所示，该方法包括以下步骤：In view of the above problems, an embodiment of the present application provides a control method for a steering device. The control method of the embodiment of the present application can quickly detect an external force impact, and promptly control the steering device to stop, so that the steering device is offset in the direction of the impact, thereby reducing the probability of damage to the steering system and improving driving safety. As shown in FIG2 , the method includes the following steps:

S201、若检测到方向操纵装置未接收到用户的转向输入，所述转向装置中的转向电机未正常运转，且所述转向装置的转向角度发生变化，则确定所述转向装置受到撞击，其中，所述方向操纵装置与所述转向装置通信连接，并用于操控所述转向装置转向； S201: if it is detected that the steering device does not receive the user's steering input, the steering motor in the steering device does not operate normally, and the steering angle of the steering device changes, it is determined that the steering device is hit, wherein the steering device is communicatively connected with the steering device and is used to control the steering of the steering device;

作为例子，方向操纵装置包括方向盘或舵柄。值得说明的是，在实际应用中，方向操纵装置不排除存在方向盘以及舵柄之外的装置，例如，方向操控装置还可以是能够远程操控转向装置转向的遥控设备，本申请对此具体不作限定。As an example, the direction control device includes a steering wheel or a tiller. It is worth noting that in practical applications, the direction control device does not exclude the existence of devices other than a steering wheel and a tiller. For example, the direction control device can also be a remote control device that can remotely control the steering of the steering device, and this application does not specifically limit this.

作为例子，当方向操纵装置为方向盘时，方向盘中可以安装有用于检测方向盘自身的转动角度的角度传感器，当驾驶员转动方向盘时，方向盘中的角度传感器能够检测到方向盘的转动角度，因此，可以通过以下方式检测到方向盘未接收到用户的转向输入：如果检测到方向盘的角度传感器输出的角度值未发生变化，则确定方向盘未接收到用户的转向输入；如果检测到方向盘的角度传感器输出的角度值发生变化，则确定方向盘接收到用户的转向输入。值得说明的是，上述对于方向盘是否接收到转向输入的检测方式仅是示例性展示，在实际应用中，不排除存在通过方向盘的角度传感器输出的角度值检测以外的其他检测方式，对此具体不作限定。As an example, when the steering control device is a steering wheel, an angle sensor for detecting the rotation angle of the steering wheel itself can be installed in the steering wheel. When the driver turns the steering wheel, the angle sensor in the steering wheel can detect the rotation angle of the steering wheel. Therefore, it can be detected in the following way that the steering wheel has not received the user's steering input: if it is detected that the angle value output by the steering wheel angle sensor has not changed, it is determined that the steering wheel has not received the user's steering input; if it is detected that the angle value output by the steering wheel angle sensor has changed, it is determined that the steering wheel has received the user's steering input. It is worth noting that the above-mentioned detection method for whether the steering wheel receives the steering input is only an exemplary display. In actual applications, other detection methods other than the angle value detection output by the steering wheel angle sensor are not excluded, and no specific limitation is made to this.

作为例子，当方向操纵装置为舵柄(舵柄也可称近操把手或舵杆)时，舵柄中可以安装有用于检测舵柄自身位置变化的测力传感器，当驾驶员移动舵柄时，舵柄中的测力传感器能够检测到舵柄的位置变化，因此，可以通过以下方式检测到舵柄未接收到用户的转向输入：如果检测到舵柄的测力传感器的输出值未发生变化，则确定舵柄未接收到用户的转向输入；如果检测到舵柄的测力传感器的输出值发生变化，则确定舵柄接收到用户的转向输入。As an example, when the steering control device is a tiller handle (the tiller handle may also be called a handgrip or a tiller rod), a force sensor for detecting changes in the position of the tiller handle itself may be installed in the tiller handle. When the driver moves the tiller handle, the force sensor in the tiller handle can detect the changes in the position of the tiller handle. Therefore, it can be detected in the following way that the tiller handle has not received the user's steering input: if it is detected that the output value of the force sensor of the tiller handle has not changed, it is determined that the tiller handle has not received the user's steering input; if it is detected that the output value of the force sensor of the tiller handle has changed, it is determined that the tiller handle has received the user's steering input.

作为例子，上述测力传感器输出的值为零可以表征测力传感器的输出值未发生变化；上述测力传感器输出的值不为零可以表征传感器的输出值发生变化。As an example, a value of zero output by the force sensor may indicate that the output value of the force sensor has not changed; a value of non-zero output by the force sensor may indicate that the output value of the sensor has changed.

作为例子，舵柄的测力传感器可以至少包括以下两种类型：As an example, the force sensor of the tiller can include at least the following two types:

第一种类型，舵柄的测力传感器可以是扭矩传感器，舵柄的测力传感器的输出值可以是扭矩传感器输出的扭矩值。In the first type, the force sensor of the tiller handle may be a torque sensor, and the output value of the force sensor of the tiller handle may be a torque value output by the torque sensor.

第二种类型，舵柄的测力传感器可以是压力传感器，舵柄的测力传感器的输出值可以是压力传感器输出的压力值。In the second type, the force sensor of the tiller handle may be a pressure sensor, and the output value of the force sensor of the tiller handle may be a pressure value output by the pressure sensor.

值得说明的是，上述对于舵柄是否接收到转向输入的检测方式仅是示例性展示，在实际应用中，不排除存在通过舵柄的测力传感器的输出值检测以外的其他检测方式，对此具体不作限定。It is worth noting that the above-mentioned detection method of whether the tiller handle receives steering input is only an exemplary display. In actual application, other detection methods besides detecting the output value of the force sensor of the tiller handle are not excluded, and no specific limitation is made to this.

转向装置中的转向电机是否正常运转可以通过多种方式检测。作为例子，可以通过以下四种方式检测到转向电机未正常运转： Whether the steering motor in the steering device is operating normally can be detected in many ways. As an example, the following four ways can be used to detect that the steering motor is not operating normally:

第一种方式，如果检测到转向电机的母线电流的绝对值小于第一阈值，则确定转向电机未正常运转。其中，母线电流可以由转向装置中的电机控制器内部的母线电流采样电路检测得到。母线电流的绝对值小于第一阈值可以理解为母线电流的绝对值趋于0。可以理解，当母线电流的绝对值趋于0时，说明当前电机控制器并未输出控制信号来控制转向电机运转，转向电机的运转是由于外力导致的。因此，此种情况可以认定为转向电机未正常运转。In the first way, if it is detected that the absolute value of the bus current of the steering motor is less than the first threshold, it is determined that the steering motor is not operating normally. Among them, the bus current can be detected by the bus current sampling circuit inside the motor controller in the steering device. The absolute value of the bus current is less than the first threshold, which can be understood as the absolute value of the bus current tends to 0. It can be understood that when the absolute value of the bus current tends to 0, it means that the current motor controller does not output a control signal to control the operation of the steering motor, and the operation of the steering motor is caused by external force. Therefore, this situation can be determined as the steering motor is not operating normally.

第二种方式，如果检测到转向电机的三相电流的绝对值小于第二阈值，则确定转向电机未正常运转。其中，三相电流可以由转向装置中的电机控制器内部的三相电流采样电路检测得到。三相电流的绝对值小于第二阈值可以理解为三相电流的绝对值趋于0。可以理解，当三相电流的绝对值趋于0时，说明当前电机控制器并未输出控制信号来控制转向电机运转，转向电机的运转是由于外力导致的。因此，此种情况可以认定为转向电机未正常运转。The second way is that if it is detected that the absolute value of the three-phase current of the steering motor is less than the second threshold, it is determined that the steering motor is not operating normally. Among them, the three-phase current can be detected by the three-phase current sampling circuit inside the motor controller in the steering device. The absolute value of the three-phase current is less than the second threshold, which can be understood as the absolute value of the three-phase current tends to 0. It can be understood that when the absolute value of the three-phase current tends to 0, it means that the current motor controller does not output a control signal to control the operation of the steering motor, and the operation of the steering motor is caused by external force. Therefore, this situation can be determined as the steering motor is not operating normally.

第三种方式，如果检测到转向电机的霍尔值变化不符合第一预设变化规律，则确定转向电机未正常运转。作为例子，霍尔值由可以通过转向电机中的霍尔传感器的采样值确定，霍尔传感器设于转向电机中，用于检测转向电机的转子位置。例如，转向电机中可以设有三个霍尔传感器，霍尔传感器可以输出高电平以及低电平，可以记高电平的采样值为1，低电平的采样值为0，则当三个霍尔传感器的采样值组合为“110”时，可以对应霍尔值为6。即三个霍尔传感器的不同的采样值组合可以对应不同的霍尔值。值得说明的是，上述对于转向电机的霍尔值的确定方式仅是示例性展示，在实际应用中，不排除存在其他的确定方式，对此具体不作限定。可以理解，当转向电机正常运转时，霍尔传感器输出的霍尔值是遵循预设变化规律不断变化的，若转向电机是在外力作用下运转的，则霍尔传感器输出的霍尔值不会遵循预设变化规律进行变化。基于此，可以根据霍尔值的变化来判断转向电机的运行状态。作为例子，转向电机的霍尔值对应的预设变化规律可以是：转向电机呈顺时针转动时，霍尔值呈6、4、5、1、3、2的顺序不断切换。当霍尔值按照该规律变化时，则可以认为霍尔值变化符合预设变化规律，并可以确定转向电机在正常运转；当霍尔值未按照该规律变化时，则可以认为霍尔值变化不符合预设变化规律，并可以确定转向电机未正常运转。值得说明的是，上述对于转向电机的霍尔值对应的预设变化规律仅是示例性展示，在实际应用中，不排除存在其他的预设变化规律，对此具体不作限定。In the third way, if it is detected that the Hall value change of the steering motor does not conform to the first preset change rule, it is determined that the steering motor is not operating normally. As an example, the Hall value can be determined by the sampling value of the Hall sensor in the steering motor. The Hall sensor is provided in the steering motor to detect the rotor position of the steering motor. For example, three Hall sensors can be provided in the steering motor. The Hall sensor can output high level and low level. The sampling value of the high level can be recorded as 1, and the sampling value of the low level can be recorded as 0. When the sampling value combination of the three Hall sensors is "110", the corresponding Hall value can be 6. That is, different sampling value combinations of the three Hall sensors can correspond to different Hall values. It is worth noting that the above-mentioned method for determining the Hall value of the steering motor is only an exemplary display. In practical applications, other determination methods are not excluded, and there is no specific limitation on this. It can be understood that when the steering motor is operating normally, the Hall value output by the Hall sensor changes continuously according to the preset change rule. If the steering motor is operating under the action of external force, the Hall value output by the Hall sensor will not change according to the preset change rule. Based on this, the operating state of the steering motor can be judged according to the change of the Hall value. As an example, the preset change rule corresponding to the Hall value of the steering motor can be: when the steering motor rotates clockwise, the Hall value switches continuously in the order of 6, 4, 5, 1, 3, and 2. When the Hall value changes according to this rule, it can be considered that the Hall value change conforms to the preset change rule, and it can be determined that the steering motor is operating normally; when the Hall value does not change according to this rule, it can be considered that the Hall value change does not conform to the preset change rule, and it can be determined that the steering motor is not operating normally. It is worth noting that the above preset change rule corresponding to the Hall value of the steering motor is only an exemplary display. In actual applications, other preset change rules are not excluded, and no specific limitation is made to this.

第四种方式，如果检测到转向电机的反电动势变化不符合第二预设变化规律，则确定转向电机未正常运转。作为例子，转向电机的反电动势可以是指转向电机在正常运行时，机械能转化为电能的过程中形成的起反方向作用的电压，当转向电机通电正常运行后，转向电机的转子产生的磁场与转向电机的定子的磁场相互作用，在定子绕组中感应出一个方向与输入转向电机的电流相反的电势，该电势即反电动势。转向电机的反电动势可以通过多种方式测量，例如，通过测量转向电机的定子绕组的反馈电流从而计算得到反电动势。反电动势的大小与转向电机的正常运转时的转速成正比，可以设定一反电动势阈值，当转向电机的反电动势大于等于该反电动势阈值时，则转向电机的反电动势变化符合第二预设变化规律，则可以确定转向电机处于正常运转的状态，当转向电机的反电动势小于该反电动势阈值时，则转向电机的反电动势变化不符合第二预设变化规律，则可以确定转向电机未正常运转。值得说明的是，上述对于转向电机的反电动势变化对应的预设变化规律仅是示例性展示，在实际应用中，不排除存在其他的预设变化规律，例如，反电动势为三相正弦信号，通过比较三相正弦信号的值的大小可把一个周期的三相正弦信号分为6个区域，当这6个区域的信号的顺序满足645132时即认为反电动势满足第二预设变化规律，对此具体不作限定。In the fourth method, if it is detected that the back electromotive force change of the steering motor does not conform to the second preset change rule, It is determined that the steering motor is not operating normally. As an example, the back electromotive force of the steering motor can refer to the voltage that acts in the opposite direction during the process of converting mechanical energy into electrical energy when the steering motor is operating normally. When the steering motor is powered on and operating normally, the magnetic field generated by the rotor of the steering motor interacts with the magnetic field of the stator of the steering motor, and an electric potential in the stator winding is induced in the direction opposite to the current input to the steering motor. This electric potential is the back electromotive force. The back electromotive force of the steering motor can be measured in a variety of ways, for example, by measuring the feedback current of the stator winding of the steering motor to calculate the back electromotive force. The magnitude of the back electromotive force is proportional to the speed of the steering motor during normal operation. A back electromotive force threshold can be set. When the back electromotive force of the steering motor is greater than or equal to the back electromotive force threshold, the change of the back electromotive force of the steering motor conforms to the second preset change law, and it can be determined that the steering motor is in a normal operating state. When the back electromotive force of the steering motor is less than the back electromotive force threshold, the change of the back electromotive force of the steering motor does not conform to the second preset change law, and it can be determined that the steering motor is not operating normally. It is worth noting that the above-mentioned preset change law corresponding to the change of the back electromotive force of the steering motor is only an exemplary display. In practical applications, the existence of other preset change laws is not excluded. For example, the back electromotive force is a three-phase sinusoidal signal. By comparing the values of the three-phase sinusoidal signal, one cycle of the three-phase sinusoidal signal can be divided into 6 areas. When the order of the signals in these 6 areas satisfies 645132, it is considered that the back electromotive force satisfies the second preset change law. There is no specific limitation on this.

综上，母线电流绝对值小于阈值、三相电流绝对值小于阈值、霍尔值变化不符合预设变化规律以及反电动势变化不符合预设变化规律这四个条件中，满足其中之一即可确定转向电机未正常运转。In summary, if one of the following four conditions is met: the absolute value of the bus current is less than the threshold, the absolute value of the three-phase current is less than the threshold, the change of the Hall value does not conform to the preset change law, and the change of the back electromotive force does not conform to the preset change law, it can be determined that the steering motor is not operating normally.

值得说明的是，上述对于转向电机是否正常运转的检测方式仅是示例性展示，在实际应用中，不排除存在以上四种方式之外的其他检测方式，对此具体不作限定。It is worth noting that the above-mentioned detection methods for whether the steering motor is operating normally are only exemplary. In practical applications, other detection methods besides the above four methods are not excluded, and no specific limitation is made to this.

作为例子，转向装置的转向角度发生变化的情形有多种，其中一种情形可以包括：转向装置的转向角度变化量大于变化阈值。As an example, there are multiple situations in which the steering angle of the steering device changes, and one of the situations may include: the change amount of the steering angle of the steering device is greater than a change threshold.

作为例子，转向装置的转向角度变化量对应的变化阈值的取值范围可以是3-10度。以转向装置为船舶的转向装置为例，船舶在水中航行时，转向装置除了受到撞击而偏移的情形之外，其在受到水浪的冲击时，也可能发生较小角度的偏移，如果转向装置的转向角度变化量对应的变化阈值设定的过小，可能在转向装置仅受到水浪冲击而未受到撞击的情形下，也会误判为转向装置的偏移是受到撞击而引起的，如果转向装置的转向角度变化量对应的变化阈值设定的过大，可能在转向装置明显受到撞击而偏移时，转向系统仍未停机作出应对，为了防止变化阈值设定得过小而造成误判或变化阈值设定得过大而反应不及时，按照经验可以选3-10度，例如选取5度作为变化阈值的取值。 As an example, the value range of the change threshold corresponding to the change in the steering angle of the steering device can be 3-10 degrees. Taking the steering device of a ship as an example, when the ship is sailing in the water, in addition to the situation where the steering device is offset due to impact, it may also be offset at a smaller angle when it is impacted by waves. If the change threshold corresponding to the change in the steering angle of the steering device is set too small, it may be misjudged that the offset of the steering device is caused by impact when the steering device is only impacted by waves but not impacted. If the change threshold corresponding to the change in the steering angle of the steering device is set too large, the steering system may not shut down to respond when the steering device is obviously impacted and offset. In order to prevent the change threshold from being set too small and causing misjudgment or the change threshold from being set too large and causing untimely response, 3-10 degrees can be selected according to experience, for example, 5 degrees can be selected as the value of the change threshold.

转向装置的转向角度可以通过多种方式检测，作为例子，可以通过以下两种方式检测转向装置的转向角度：The steering angle of the steering device can be detected in a variety of ways. For example, the steering angle of the steering device can be detected in the following two ways:

第一种方式，可以获取转向装置的转向角度传感器采集的转向装置的转向角度。In a first manner, the steering angle of the steering device collected by a steering angle sensor of the steering device may be obtained.

第二种方式，在转向装置的转向角度传感器失效的情况下，可以获取转向装置中转向电机的转动角度，并根据转向电机的转动角度以及转向装置中减速机构的减速比确定转向结构的转向角度。The second method is to obtain the rotation angle of the steering motor in the steering device when the steering angle sensor of the steering device fails, and determine the steering angle of the steering structure according to the rotation angle of the steering motor and the reduction ratio of the reduction mechanism in the steering device.

在上述第二种方式中，获取转向装置中转向电机的转动角度的方式可以有多种，作为例子，可以通过霍尔传感器获取转向电机的霍尔值，该霍尔值与转向电机的转动角度存在关联关系；可以基于该霍尔值以及该关联关系确定转向电机的转动角度。In the second method mentioned above, there may be multiple ways to obtain the rotation angle of the steering motor in the steering device. As an example, the Hall value of the steering motor may be obtained through a Hall sensor, and the Hall value is correlated with the rotation angle of the steering motor; the rotation angle of the steering motor may be determined based on the Hall value and the correlation.

值得说明的是，上述转向装置的转向角度的检测方式以及转向装置中转向电机的转动角度的获取方式仅是示例性展示，在实际应用中，不排除存在其他的检测方式以及获取方式方式，对此具体不作限定。It is worth noting that the above-mentioned method of detecting the steering angle of the steering device and the method of obtaining the rotation angle of the steering motor in the steering device are only exemplary displays. In practical applications, other detection methods and acquisition methods are not excluded, and no specific limitation is made to this.

S202、控制所述转向装置停机。S202: Control the steering device to stop.

控制转向装置停机可以为控制转向电机停止运转，例如，停止向转向电机输出驱动信号，以使转向电机停止工作。Controlling the steering device to stop may be controlling the steering motor to stop running, for example, stopping outputting a driving signal to the steering motor so that the steering motor stops working.

考虑转向装置停机后，在转向装置受到的撞击消除后，需要再次启动转向装置以进行正常的转向，则需要先判断出转向装置受到的撞击是否消除，针对该问题，可以通过多种方式判断转向装置受到的撞击是否消除。作为例子，其中一种方式可以包括：可以在转向装置停机后开始计时，如果转向装置停机的时长大于等于预设停机时长，则确定转向装置受到的撞击已消除；如果转向装置停机的时长小于预设停机时长，则确定转向装置受到的撞击未消除。该预设停机时长可以通过经验值得到，或者通过实验得到等，此处不作限制。Considering that after the steering device is shut down, after the impact on the steering device is eliminated, the steering device needs to be started again for normal steering, then it is necessary to first determine whether the impact on the steering device has been eliminated. For this problem, there are many ways to determine whether the impact on the steering device has been eliminated. As an example, one of the methods may include: starting the timing after the steering device is shut down, if the shutdown time of the steering device is greater than or equal to the preset shutdown time, it is determined that the impact on the steering device has been eliminated; if the shutdown time of the steering device is less than the preset shutdown time, it is determined that the impact on the steering device has not been eliminated. The preset shutdown time can be obtained through experience, or obtained through experiments, etc., which is not limited here.

值得说明的是，上述对于转向装置受到的撞击是否消除的判断方式仅是示例性展示，在实际应用中，不排除存在其他判断方式，例如，还可以监测转向装置的转向角度在预设时间内是否发生变化，如果在该预设时间内，转向装置的转向角度仍在发生变化，则确定转向装置受到的撞击未消除；如果在该预设时间内，转向装置的转向角度未发生变化，则确定转向装置受到的撞击已消除。因此，对于转向装置受到的撞击是否消除的判断方式具体不作限定。 It is worth noting that the above-mentioned judgment method for whether the impact on the steering device has been eliminated is only an exemplary display. In practical applications, other judgment methods are not excluded. For example, it is also possible to monitor whether the steering angle of the steering device changes within a preset time. If the steering angle of the steering device is still changing within the preset time, it is determined that the impact on the steering device has not been eliminated; if the steering angle of the steering device has not changed within the preset time, it is determined that the impact on the steering device has been eliminated. Therefore, there is no specific limitation on the judgment method for whether the impact on the steering device has been eliminated.

作为例子，可以在确定转向装置受到撞击时，生成撞击信号。作为例子，该撞击信号可以是持续输出的信号，也可以是瞬时输出的信号，对于撞击信号的具体实现不作限定。As an example, when it is determined that the steering device is hit, an impact signal may be generated. As an example, the impact signal may be a continuously output signal or an instantaneously output signal, and the specific implementation of the impact signal is not limited.

作为例子，可以将撞击信号发送至与转向装置通信的动力机构，以使该动力机构停机。通过生成并发送撞击信号的方式及时并有效地使与转向装置通信的动力机构停机，能够避免撞击可能对动力机构造成的损坏，进一步保证系统的安全性。As an example, a collision signal may be sent to a power mechanism that communicates with a steering device to shut down the power mechanism. By generating and sending a collision signal to promptly and effectively shut down the power mechanism that communicates with a steering device, damage to the power mechanism that may be caused by a collision can be avoided, further ensuring the safety of the system.

作为例子，在转向装置停机后，如果检测到方向操纵装置接收到用户的转向输入，则清除上述撞击信号。如此，在停机后，若用户再次操作方向操作装置，则及时清除转向装置受撞击的状态，以快速启动转向系统实现正常转向。For example, after the steering device is stopped, if it is detected that the steering control device receives the user's steering input, the impact signal is cleared. In this way, after the shutdown, if the user operates the steering control device again, the state of the steering device being impacted is cleared in time to quickly start the steering system to achieve normal steering.

作为例子，转向装置可以是船外机、吊舱推进器等水域推进器中用于执行转向的机构，动力装置可以是船外机、吊舱推进器等水域推进其中用于提供动力的机构，例如动力机构可以包括驱动电机和螺旋桨等。As an example, the steering device can be a mechanism used to perform steering in water propulsion devices such as outboard motors and pod propulsion devices, and the power device can be a mechanism used to provide power in water propulsion devices such as outboard motors and pod propulsion devices. For example, the power mechanism can include a drive motor and a propeller.

本申请实施例提供的技术方案，转向系统包括方向操纵装置以及转向装置，方向操纵装置与转向装置通信连接，并用于操控转向装置转向，如果检测到该方向操纵装置的未接收到用户的转向输入，该转向装置中的转向电机未正常运转，并且该转向装置的转向角度发生变化，则确定该转向装置受到撞击，并控制该转向装置停机。本申请的技术方案能够快速检测到外力撞击，并及时控制转向装置停机，停机后的转向装置由于已经撤去了转向力，因此，该转向装置不会与撞击外力进行对抗，转向装置可以沿撞击方向偏移，从而能够降低转向系统损坏概率，提高驾驶安全性。The technical solution provided by the embodiment of the present application is that the steering system includes a steering device and a steering device. The steering device is connected to the steering device in communication and is used to control the steering of the steering device. If it is detected that the steering device does not receive the user's steering input, the steering motor in the steering device does not operate normally, and the steering angle of the steering device changes, it is determined that the steering device is hit, and the steering device is controlled to shut down. The technical solution of the present application can quickly detect external force impact and control the steering device to shut down in time. After the steering device is shut down, the steering force has been removed, so the steering device will not fight against the external impact force, and the steering device can be offset in the impact direction, thereby reducing the probability of damage to the steering system and improving driving safety.

考虑到相关技术中，转向装置受到外力撞击时，转向装置的损坏概率较高，驾驶安全性较低；并且，在转向装置受到撞击前，方向操纵装置的转动角度与转向装置的转向角度是存在映射关系的，当转向装置受到撞击并停机后，转向装置的转向角度因撞击而改变，而方向操纵装置的转动角度却可能未对应改变，则方向操纵装置的转动角度与转向装置的转向角度原有的映射关系可能被改变，从而可能发生转向装置受到撞击并停机后将方向操纵装置转到其极限角度后，转向装置无法随之转到与方向操纵装置对应的极限角度的情况，操控体验差、安全性低。Taking into account the related art, when the steering device is hit by external force, the probability of damage to the steering device is high and the driving safety is low; and, before the steering device is hit, there is a mapping relationship between the rotation angle of the steering control device and the steering angle of the steering device. When the steering device is hit and stops, the steering angle of the steering device changes due to the impact, but the rotation angle of the steering device may not change accordingly. The original mapping relationship between the rotation angle of the steering control device and the steering angle of the steering device may be changed, so that after the steering device is hit and stops, the steering control device is turned to its extreme angle, and the steering device cannot be turned to the extreme angle corresponding to the steering control device, resulting in poor control experience and low safety.

请参见图3，针对上述问题，本申请提供另一个实施例的控制方法，该控制方法应用于电转向场景，能够快速检测到转向装置受到外力撞击，并及时控制转向装置停机，使转向装置沿撞击方向偏移，降低转向系统损坏概率，提高驾驶安全性，同时还能够保证当转向装置受到撞击并停机后，将方向操纵装置转到方向操纵装置的极限角度后，转向装置能够随之转到与方向操纵装置的极限角度对应的极限角度，提升操控体验以及操控安全性。如图3所示，该方法包括以下步骤：Please refer to FIG3. In view of the above problems, the present application provides another control method of an embodiment. The control method is applied to the electric steering scenario, which can quickly detect that the steering device is hit by an external force, and timely control the steering device to stop, so that the steering device is offset in the direction of the impact, thereby reducing the probability of damage to the steering system and improving driving safety. It can also ensure that when the steering device is hit and stops, after the steering control device is turned to the extreme angle of the steering control device, the steering device can be turned to the extreme angle corresponding to the extreme angle of the steering control device, thereby improving the control experience and control safety. As shown in Figure 3, the method includes the following steps:

S301、若检测到方向操纵装置未接收到用户的转向输入，所述转向装置中的转向电机未正常运转，且所述转向装置的转向角度发生变化，则确定所述转向装置受到撞击，其中，所述方向操纵装置与所述转向装置通信连接，并用于操控所述转向装置转向；S301: If it is detected that the steering device does not receive the user's steering input, the steering motor in the steering device does not operate normally, and the steering angle of the steering device changes, it is determined that the steering device is hit, wherein the steering device is communicatively connected with the steering device and is used to control the steering of the steering device;

S302、控制所述转向装置停机；S302, controlling the steering device to stop;

S303、根据所述转向装置的转向角度变化量确定所述方向操纵装置的新转角范围；S303, determining a new steering angle range of the steering device according to the steering angle change of the steering device;

作为例子，可以根据转向角度变化量重新确定方向操纵装置的转动极限角度，通过重新确定的转动极限角度确定新转角范围。As an example, the turning limit angle of the steering device may be redetermined according to the steering angle change amount, and the new turning angle range may be determined by the redetermined turning limit angle.

以方向操纵装置为方向盘为例，可以根据转向角度变化量确定方向盘的转动角度修正量，再基于转动角度修正量调整方向盘的第一转动极限角度，得到第三转动极限角度，并根据转动角度修正量调整方向盘的第二转动极限角度，得到第四转动极限角度。其中，第一转动极限角度与第二转动极限角度是方向盘分别在两个相反的方向转动到的极限位置的角度。可以通过第三转动极限角度以及第四转动极限角度确定新转角范围，由此，可以通过转向角度辩护两来调整方向盘的新转角范围，使方向盘的转角范围根据转向角度变化量的变化而发生相应变化，增强转角范围调节的精准性。示例的，假设方向盘的转动极限角度为-360°与360°，则其转角范围为[-360°，360°]，假设转向装置的转动行程为[-45°，45°]。那么，在转向装置未受到撞击时，转向装置处于0°时，方向盘也应处于0°；而假设转向装置受到撞击后，转向装置从0°转到了10°，即转向装置的转向角度变化量为10°，则方向盘的转动角度修正量应为-80°，那么可以根据该转动角度修正量将方向盘的转动极限角度调整为-440°以及280°，对应的新转角范围即[-440°，280°]，此时转向装置处于0°时，方向盘应处于-80°。Taking the steering control device as a steering wheel as an example, the steering angle correction of the steering wheel can be determined according to the steering angle change, and then the first rotation limit angle of the steering wheel is adjusted based on the rotation angle correction to obtain the third rotation limit angle, and the second rotation limit angle of the steering wheel is adjusted according to the rotation angle correction to obtain the fourth rotation limit angle. Among them, the first rotation limit angle and the second rotation limit angle are the angles of the extreme positions to which the steering wheel is rotated in two opposite directions respectively. The new rotation angle range can be determined by the third rotation limit angle and the fourth rotation limit angle, and thus, the new rotation angle range of the steering wheel can be adjusted by the steering angle correction, so that the rotation angle range of the steering wheel changes accordingly according to the change in the steering angle change, thereby enhancing the accuracy of the rotation angle range adjustment. For example, assuming that the rotation limit angles of the steering wheel are -360° and 360°, its rotation angle range is [-360°, 360°], and assuming that the rotation stroke of the steering device is [-45°, 45°]. Then, when the steering device is not hit, when the steering device is at 0°, the steering wheel should also be at 0°; and assuming that after the steering device is hit, the steering device turns from 0° to 10°, that is, the steering angle change of the steering device is 10°, then the steering wheel rotation angle correction should be -80°, then the steering wheel rotation limit angle can be adjusted to -440° and 280° according to the rotation angle correction, and the corresponding new rotation angle range is [-440°, 280°]. At this time, when the steering device is at 0°, the steering wheel should be at -80°.

作为例子，上述转动极限角度调整方式可以是将方向盘的第一转动极限角度加上转动角度修正量得到第三转动极限角度、将第二转动极限角度加上转动角度修正量得到第四转动极限角度。值得说明的是，上述对本申请实施例中转动极限角度的调整方式仅是示例性展示，在实际应用中，转动极限角度的调整方式不排除上述方式之外的调整方式，对此具体不作限定。As an example, the above-mentioned rotation limit angle adjustment method can be to add the rotation angle correction amount to the first rotation limit angle of the steering wheel to obtain the third rotation limit angle, and add the rotation angle correction amount to the second rotation limit angle to obtain the fourth rotation limit angle. It is worth noting that the above-mentioned adjustment of the rotation limit angle in the embodiment of the present application The above method is only an example. In actual application, the adjustment method of the rotation limit angle does not exclude adjustment methods other than the above method, and no specific limitation is made to this.

S304、根据所述新转角范围重新建立所述方向操纵装置的转动量与所述转向装置的转向角度的映射关系；S304, re-establishing a mapping relationship between the rotation amount of the direction control device and the steering angle of the steering device according to the new steering angle range;

示例的，假设方向盘原有的转角范围为[-360°，360°]，而转向装置的转角范围为[-45°，45°]，[-360°，360°]与[-45°，45°]存在映射关系，而方向盘的转角范围经调整后，得到新转角范围[-380°，340°]，那么根据新转角范围[-380°，340°]重新建立映射关系，即新的映射关系为[-380°，340°]对应[-45°，45°]。For example, assuming that the original steering wheel angle range is [-360°, 360°], and the steering device angle range is [-45°, 45°], there is a mapping relationship between [-360°, 360°] and [-45°, 45°]. After the steering wheel angle range is adjusted, a new angle range of [-380°, 340°] is obtained. Then, the mapping relationship is re-established according to the new angle range [-380°, 340°], that is, the new mapping relationship is [-380°, 340°] corresponding to [-45°, 45°].

S305、在所述转向装置停机后，若检测到所述方向操纵装置接收到所述转向输入，则根据所述映射关系控制所述转向装置转向。S305: After the steering device stops, if it is detected that the steering control device receives the steering input, control the steering device to steer according to the mapping relationship.

示例的，假设新的映射关系为方向盘的新转角范围[-380°，340°]对应转向装置的新转角范围[-45°，45°]，那么可以根据该映射关系控制转向装置转向，例如，方向盘的转角为-380°时，控制转向装置的转角为-45°。For example, assuming that the new mapping relationship is that the new steering wheel angle range [-380°, 340°] corresponds to the new steering device angle range [-45°, 45°], the steering device can be controlled according to the mapping relationship. For example, when the steering wheel angle is -380°, the steering device is controlled to have a steering angle of -45°.

本实施例中，S301-S302与前述图2所示实施例中的S201-S202类似，具体此处不再赘述。In this embodiment, S301-S302 are similar to S201-S202 in the embodiment shown in FIG. 2 , and the details are not repeated here.

需要说明的是，S302与S303的先后关系不作限定。It should be noted that the order of S302 and S303 is not limited.

本申请实施例在撞击消除后，方向操纵装置与转向装置可以以更新后的映射关系进行转向操作，避免转向装置无法随方向操纵装置转到与方向操纵装置的极限角度对应的极限角度的情况，有利于提升驾驶安全性。In the embodiment of the present application, after the collision is eliminated, the steering device and the steering device can perform steering operations with an updated mapping relationship, avoiding the situation where the steering device cannot be turned to the extreme angle corresponding to the extreme angle of the steering device along with the steering device, which is beneficial to improving driving safety.

请参见图4，针对上述问题，本申请还提供了另一个实施例的控制方法，该控制方法应用于电转向场景，能够快速检测到转向装置受到外力撞击，并及时控制转向装置停机，使转向装置沿撞击方向偏移，降低转向系统损坏概率，提高驾驶安全性，同时还能够保证当转向装置受到撞击并停机后，将方向操纵装置转到方向操纵装置的极限角度后，转向装置能够随之转到与方向操纵装置的极限角度对应的极限角度，提升操控体验以及操控安全性。如图4所示，该方法包括以下步骤：Please refer to FIG. 4 . In view of the above problems, the present application also provides a control method of another embodiment. The control method is applied to the electric steering scenario, and can quickly detect that the steering device is hit by an external force, and timely control the steering device to stop, so that the steering device is offset in the direction of the impact, thereby reducing the probability of damage to the steering system and improving driving safety. At the same time, it can also ensure that when the steering device is hit and stops, after the steering control device is turned to the extreme angle of the steering control device, the steering device can be turned to the extreme angle corresponding to the extreme angle of the steering control device, thereby improving the control experience and control safety. As shown in Figure 4, the method includes the following steps:

S401、若检测到方向操纵装置未接收到用户的转向输入，所述转向装置中的转向电机未正常运转，且所述转向装置的转向角度发生变化，则确定所述转向装置受到撞击，其中，所述方向操纵装置与所述转向装置通信连接，并用于操控所述转向装置转向；S401: If it is detected that the steering device does not receive the user's steering input, the steering motor in the steering device does not operate normally, and the steering angle of the steering device changes, it is determined that the steering device is hit, wherein the steering device is communicatively connected with the steering device and is used to control the steering of the steering device;

S402、控制所述转向装置停机；S402, controlling the steering device to stop;

S403、在所述转向装置停机后，若检测到所述方向操纵装置接收到所述转向输入，则控制所述转向装置转动目标行程以到达目标角度，所述目标角度为所述转向输入指示的角度，所述目标行程根据所述转向装置的转向角度变化量和所述目标角度确定。S403. After the steering device stops, if it is detected that the steering control device receives the steering input, the steering device is controlled to rotate a target stroke to reach a target angle, where the target angle is the angle indicated by the steering input, and the target stroke is determined based on the steering angle change of the steering device and the target angle.

作为例子，在转向装置停机后，如果检测到方向操纵装置接收到用户的转向输入，则可以控制转向装置转动目标行程以到达目标角度，目标角度可以是用户的转向输入指示的角度，目标行程可以根据转向装置的转向角度变化量和该目标角度确定。举例说明：假设在转向装置受到撞击前，当方向操纵装置转到45°时，转向装置应转到10°的位置，当方向操纵装置转到90°时，转向装置应转到20°的位置。现在假设方向操纵装置转到了45°，由于转向装置受到撞击，转向装置在撞击下没有转到10°的位置，而是转到了5°的位置，那么在转向装置停机后，若检测到方向操纵装置转到了90°的位置，则转向装置一共需转动15°(目标行程)，而非10°，从而使得转向装置可以转到20°(目标角度)的位置，该15°是根据转向装置的转向角度变化量(即5°)以及目标角度(即20°)确定的。As an example, after the steering device stops, if it is detected that the steering device receives the user's steering input, the steering device can be controlled to rotate the target stroke to reach the target angle. The target angle can be the angle indicated by the user's steering input, and the target stroke can be determined according to the steering angle change of the steering device and the target angle. For example: suppose that before the steering device is hit, when the steering device is turned to 45°, the steering device should be turned to the position of 10°, and when the steering device is turned to 90°, the steering device should be turned to the position of 20°. Now suppose that the steering device is turned to 45°, and because the steering device is hit, the steering device does not turn to the position of 10° under the impact, but turns to the position of 5°. Then, after the steering device stops, if it is detected that the steering device is turned to the position of 90°, the steering device needs to be turned by 15° (target stroke) in total, not 10°, so that the steering device can be turned to the position of 20° (target angle), and the 15° is determined according to the steering angle change of the steering device (i.e., 5°) and the target angle (i.e., 20°).

本实施例中，S401-S402与前述图2所示实施例中的S201-S202类似，具体此处不再赘述。In this embodiment, S401-S402 are similar to S201-S202 in the embodiment shown in FIG. 2 , and the details are not repeated here.

本申请实施例在撞击消除后，由于转向装置的转向角度进行了修正，因此，方向操纵装置与转向装置可以原来的映射关系进行转向操作，避免了方向操纵装置与转向装置二者的转角不对应的问题，有利于提升驾驶安全性。In the embodiment of the present application, after the collision is eliminated, since the steering angle of the steering device is corrected, the steering operation of the steering control device and the steering device can be performed according to the original mapping relationship, thereby avoiding the problem of mismatch between the steering angles of the steering control device and the steering device, which is beneficial to improving driving safety.

对应于上述方法实施例，作为一种具体应用，可以将上述实施例应用在转向装置内部实现，因此，本申请还提供一种转向装置，参见图5所示，该转向装置可以包括：转向电机501；及处理器502，该处理器502与该转向电机501通信，该处理器502适用于控制本申请上文所述控制方法所适用的任何一种方向盘以及转向装置，处理器502用以执行上文中任一实施例所描述的控制方法。Corresponding to the above method embodiment, as a specific application, the above embodiment can be applied to a steering device for implementation. Therefore, the present application also provides a steering device, as shown in FIG. 5 , which can include It includes: a steering motor 501; and a processor 502, which communicates with the steering motor 501, and the processor 502 is suitable for controlling any steering wheel and steering device applicable to the control method described above in this application, and the processor 502 is used to execute the control method described in any embodiment above.

值得指出，上文所述的控制方法中各个实施例均可适用于处理器确定动力装置受到撞击，控制动力装置停机的过程。It is worth pointing out that each embodiment of the control method described above can be applied to the process in which the processor determines that the power device is hit and controls the power device to shut down.

参见图6，本申请还提供了一种水域推进器，该水域推进器包括动力机构601；及上述实施例所述的转向装置602，该转向装置602与该动力机构601通信。水域推进器可以是船外机、吊舱推进器等可以在水中提供动力的动力设备，此处不作限制。6 , the present application further provides a water area propulsion device, which includes a power mechanism 601 and a steering device 602 as described in the above embodiment, and the steering device 602 communicates with the power mechanism 601. The water area propulsion device can be an outboard motor, a pod propulsion device, or other power equipment that can provide power in water, which is not limited here.

参见图7，本申请还提供了一种水域推进系统，该水域推进系统包括方向操纵装置701；及上述实施例所述的水域推进器702，该水域推进器702与该方向操纵装置701通信。方向操控装置701与水域推进器702可以采用有线连接以进行通信，例如，当方向操纵装置701为方向盘或舵柄时，方向盘或舵柄可以通过总线与水域推进器702连接。方向操控装置701与水域推进器702也可以采用无线连接的方式进行通信，例如，当方向操纵装置701为遥控设备时，遥控设备可以通过蓝牙、WiFi等无线连接方式与水域推进器702进行通信。Referring to FIG. 7 , the present application further provides a water area propulsion system, which includes a direction control device 701; and the water area propeller 702 described in the above embodiment, and the water area propeller 702 communicates with the direction control device 701. The direction control device 701 and the water area propeller 702 can be connected by wire for communication. For example, when the direction control device 701 is a steering wheel or a tiller, the steering wheel or the tiller can be connected to the water area propeller 702 through a bus. The direction control device 701 and the water area propeller 702 can also communicate by wireless connection. For example, when the direction control device 701 is a remote control device, the remote control device can communicate with the water area propeller 702 by wireless connection such as Bluetooth, WiFi, etc.

参见图8，本申请还提供了一种水域可移动设备，该水域可移动设备包括可移动本体801；及上述实施例所述的水域推进系统802，该水域推进系统802与该可移动本体801结合。Referring to FIG. 8 , the present application further provides a movable device in water areas, which includes a movable body 801 and the water area propulsion system 802 described in the above embodiment, and the water area propulsion system 802 is combined with the movable body 801 .

作为例子，水域可移动设备可以是商用船、客船、游艇、渔船、帆船、民船等各类水域交通工具，还可以是水域巡检设备、水域治理设备、水域环境监测设备等能够在水域移动的设备，本申请对此具体不作限制。As an example, movable equipment in water areas can be various types of water transportation vehicles such as commercial ships, passenger ships, yachts, fishing boats, sailboats, civilian ships, etc., and can also be water area inspection equipment, water area management equipment, water area environment monitoring equipment and other equipment that can be moved in water areas. This application does not make any specific restrictions on this.

本申请还提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现上文任一实施例所描述的控制方法。The present application also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the control method described in any of the above embodiments is implemented.

计算机可读存储介质可以是ROM、随机存取存储器(RAM)、CD-ROM、磁带、软盘和光数据存储设备等，对此具体不作限定。The computer-readable storage medium may be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc., without being specifically limited thereto.

以上所述仅是本申请的具体实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本申请原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本申请的保护范围。 The above is only a specific implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

A control method is applied to a steering device, characterized in that the control method comprises:

If it is detected that the steering device does not receive the user's steering input, the steering motor in the steering device does not operate normally, and the steering angle of the steering device changes, it is determined that the steering device is hit, wherein the steering device is communicatively connected with the steering device and is used to control the steering of the steering device;

The steering device is controlled to stop.

The control method according to claim 1 is characterized in that the direction control device comprises a steering wheel or a tiller.

The control method according to claim 1, characterized in that the direction control device is a steering wheel, and the detecting that the direction control device does not receive the user's steering input comprises:

If it is detected that the angle value output by the angle sensor of the steering wheel does not change, it is determined that the steering wheel does not receive the steering input.

The control method according to claim 1, characterized in that the direction control device is a tiller, and the detecting that the direction control device does not receive the steering input of the user comprises:

If it is detected that the output value of the force sensor of the tiller arm does not change, it is determined that the tiller arm does not receive the steering input.

The control method according to claim 4 is characterized in that the force sensor is a torque sensor, and the output value is a torque value, or the force sensor is a pressure sensor, and the output value is a pressure value.

The control method according to claim 1 is characterized in that, detecting that the steering motor is not operating normally comprises:

If it is detected that the absolute value of the bus current of the steering motor is less than the first threshold value, it is determined that the steering motor is not operating normally, or

If it is detected that the absolute value of the three-phase current of the steering motor is less than the second threshold value, it is determined that the steering motor is not operating normally, or

If it is detected that the Hall value change of the steering motor does not conform to the first preset change rule, it is determined that the steering motor is not operating normally, or

If it is detected that the change of the back electromotive force of the steering motor does not conform to the second preset change rule, it is determined that the steering motor is not operating normally.

The control method according to claim 1 is characterized in that the steering angle of the steering device is detected by any one of the following methods:

Obtaining the rotation angle of the steering motor, and determining the steering angle according to the rotation angle and the reduction ratio, The reduction ratio is the reduction ratio of the reduction mechanism in the steering device; or

The steering angle collected by a steering angle sensor in the steering device is obtained.

The control method according to claim 1 is characterized in that if it is detected that the steering device does not receive the user's steering input, the steering motor in the steering device does not operate normally, and the steering angle of the steering device changes, then determining that the steering device is hit includes:

If it is detected that the steering device does not receive the user's steering input, the steering motor in the steering device does not operate normally, and the steering angle change of the steering device is greater than the change threshold, it is determined that the steering device is hit.

The control method according to claim 1 is characterized in that the value range of the change threshold is 3-10 degrees.

The control method according to claim 1, characterized in that the control method further comprises:

After the steering device stops, if it is detected that the steering control device receives the steering input, the steering device is controlled to rotate a target stroke to reach a target angle, where the target angle is the angle indicated by the steering input, and the target stroke is determined based on the steering angle change of the steering device and the target angle.

Determining a new steering angle range of the steering device according to a steering angle change of the steering device;

Re-establishing a mapping relationship between the rotation amount of the steering device and the steering angle of the steering device according to the new steering angle range;

After the steering device stops, if it is detected that the steering control device receives the steering input, the steering device is controlled to steer according to the mapping relationship.

When it is determined that the steering device is subjected to an impact, an impact signal is generated.

The control method according to claim 12, characterized in that the control method further comprises:

The impact signal is sent to a power mechanism to shut down the power mechanism, the power mechanism being in communication with the steering device.

After the steering device is stopped, if it is detected that the steering control device receives the steering input, the collision signal is cleared.

A steering device, characterized in that the steering device comprises:

Steering motor; and

A processor, the processor communicating with the steering motor, the processor being used to execute any of claims 1-14 The control method described in claim 1.

A water area propeller, characterized in that the water area propeller comprises:

Power mechanism; and

The steering device of claim 15, wherein the steering device is in communication with the power mechanism.

A water area propulsion system, characterized in that the water area propulsion system comprises:

steering gear; and

The water propeller of claim 16, wherein the water propeller communicates with the direction control device.

A movable device for use in water areas, characterized in that the movable device for use in water areas comprises:

A movable body; and

The water area propulsion system as described in claim 17 is combined with the movable body.

A computer-readable storage medium having a computer program stored thereon, characterized in that when the program is executed by a processor, the control method described in any one of claims 1 to 14 is implemented.