WO2024197611A1

WO2024197611A1 - Tiller, water-area propeller, water-area movable device and control method therefor, and storage medium

Info

Publication number: WO2024197611A1
Application number: PCT/CN2023/084537
Authority: WO
Inventors: 宣泽元; 汤星星; 刘岳峰
Original assignee: 广东逸动科技有限公司
Priority date: 2023-03-28
Filing date: 2023-03-28
Publication date: 2024-10-03
Also published as: CN116829453A; CN116829453B

Abstract

The present application relates to the field of water-area movable devices. Provided are a tiller, a water-area propeller, a water-area movable device and a control method therefor, and a storage medium. The tiller comprises a basic part, a manipulation portion, and a pressure sensor, wherein the basic part is configured to connect to a main body of a water-area propeller; the manipulation portion is movably connected to the basic part, and is used for receiving a manipulation input and generating a displacement relative to the basic part; the pressure sensor is disposed between the basic part and the manipulation portion, and is used for acquiring a deformation pressure value caused by the displacement of the manipulation portion relative to the basic part; and when the deformation pressure value meets a set trigger pressure threshold value, the pressure sensor is triggered to generate a trigger signal, which is used for instructing the water-area propeller to execute a set action. The present application has the beneficial effect of being capable of simulating manipulation hand feelings under low steering damping during low-speed navigation and high steering damping during high-speed navigation, thereby improving the manipulation experience and the driving safety.

Description

Tiller, water area propeller, water area movable device, control method and storage medium

Technical Field

The present application relates to the field of movable equipment in water areas, and in particular, to a tiller, a water area thruster, a movable equipment in water areas, a control method and a storage medium.

Background Art

Mobile devices in water areas, such as various ships, need to perform various operations on the water propellers according to needs during driving, such as turning, lifting, accelerating and decelerating, etc.

However, the control effect of the mobile equipment in water areas of the known technology is poor or the control feel and safety are poor. For example, some technologies for steering the propeller in water areas cannot adjust the steering damping as needed.

Summary of the invention

The present application provides a tiller, a water area thruster, a water area movable device, a control method and a storage medium that are useful for controlling a water area thruster to execute a set action according to the size of a manipulation input.

In the first aspect, the present application provides a tiller handle, the water area thruster is used to push the movable device in the water area to move, and the tiller handle includes a base member, a control part and a pressure sensor. The base member is used to be connected to the main body of the water area thruster; the control part can be movably connected to the base member, and is used to receive the control input and generate displacement relative to the base member; the pressure sensor is arranged between the base member and the control part, and is used to obtain the deformation pressure value caused by the displacement of the control part relative to the base member; when the deformation pressure value meets the set trigger pressure threshold, the pressure sensor is triggered to generate a trigger signal, and the trigger signal is used to instruct the water area thruster to perform the set action.

When the tiller in the present application is used, the user applies a manipulation input through the manipulation part, thereby the manipulation part generates a displacement relative to the base member, and the pressure sensor obtains the displacement and generates a deformation pressure value. When the deformation pressure value meets the set trigger pressure threshold, the pressure sensor is triggered to generate a trigger signal, and the trigger signal is used to instruct the water thruster to perform a set action.

This implementation can control the triggering of the pressure sensor according to the size of the manipulation input, which is beneficial to controlling the water thruster to perform set actions according to the size of the manipulation input. For example, it can be used to simulate the manipulation feel of low steering damping during low-speed navigation and high steering damping during high-speed navigation, thereby improving the manipulation experience and driving safety.

In a second aspect, the present application provides a water area thruster, comprising a main body and the aforementioned tiller handle; the base member of the tiller handle is connected to the main body.

In a third aspect, the present application provides a movable water area device, which includes a water area carrier and the aforementioned water area propeller, wherein the water area propeller is connected to the water area carrier.

In a fourth aspect, the present application provides a method for controlling a movable device in a water area, comprising:

Get the set trigger pressure threshold;

The deformation pressure value obtained by the pressure sensor of the aforementioned tiller arm is compared with the trigger pressure threshold to obtain a posture adjustment signal, and the posture adjustment signal is used to instruct the water area thruster to adjust its posture.

In a fifth aspect, the present application provides a storage medium, which includes a stored program, and the program executes the aforementioned method for controlling a movable device in water area.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

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

FIG2 is a side view of the movable device for water area of FIG1 ;

FIG3 is a schematic structural diagram of a tiller of the mobile equipment in the water area of FIG1 ;

FIG4 is an expanded view of the tiller of FIG3 ;

FIG5 is a plan view of the tiller of FIG4 with the top wall hidden;

FIG6 is a cross-sectional view of the tiller of FIG3 ;

FIG7 is another expanded view of the tiller of FIG3 , wherein the inner surface of the top wall faces outward;

FIG8 is an enlarged view of point B in FIG5 , showing a schematic diagram of a first arrangement of the pressure sensor of the tiller in FIG5 ;

FIG9 is a schematic diagram of a second arrangement of the pressure sensor of the tiller of FIG5 ;

FIG10 is a schematic diagram of a third arrangement of the pressure sensor of the tiller of FIG5 ;

FIG11 is a schematic diagram of a fourth arrangement of the pressure sensor of the tiller of FIG5 ;

FIG12 is a schematic diagram of a fifth arrangement of the pressure sensor of the tiller of FIG5 ;

FIG13 is a schematic diagram of a sixth arrangement of a pressure sensor of a tiller arm at the A-A section of FIG6 ;

FIG14 is a schematic diagram of the tiller structure of another embodiment of the present application;

FIG15 is a cross-sectional view of the tiller of FIG14;

FIG16 is a schematic diagram of a structure in which a tiller handle rotates around a virtual axis according to an embodiment of the present application;

FIG17 is a schematic diagram of a state in which the tiller of FIG16 is rotated to one side;

FIG18 is a schematic diagram of a state in which the tiller of FIG16 is rotated to the other side;

FIG19 is a schematic diagram of another structure in which the tiller handle of the present embodiment rotates around a virtual axis;

FIG20 is a schematic structural diagram of a water area propulsion device according to another embodiment of the present application;

FIG21 is a schematic structural diagram of a mobile device for use in water areas according to another embodiment of the present application;

FIG22 is a schematic structural diagram of a tiller according to another embodiment of the present application;

FIG23 is a schematic structural diagram of another embodiment of the tiller of FIG21;

FIG. 24 is a schematic structural diagram of a tiller handle according to yet another embodiment of the present application.

Description of main component symbols:

Water movable equipment 300

Water carrier 310

Water Thruster 100

Tiller 10,70,80,90

Main Body 11

Motor 12

Propeller 13

Steering Actuator 14

Basic parts 15

Control part 16

Pressure Sensor 17

Swinging part 18

Turn direction 19

Joystick 20

Internal Space 21

Shaft hole 22

Rotation axis 23,63

Arc groove 24

Sliding pin 25,65

Support Department 26

Flexible pads 27

Gap 28

Deformable Wall 29

Bottom wall 30

Top wall 31

End wall 32

Side wall 33

Through hole 34

Activity spacing 35

Sensing end 36

Fixed end 37

Rotating end 38

Electric control box 39

Sensing devices 40

Throttle rotating sleeve 41

Button 42

Trigger Circuit Board 43

Signal processing circuit board 44

Controller 45

Cables 46

Vias 47

Display 48

Signal amplifier 49

Electronic control unit 50

Sliding part 51

Chute 52

Slider 53

Torsion 54

Torsion groove 55

Warp actuator 56

Middle part 57

Warping direction 58

Warping axis 59

Slide Direction 60

Central axis 61

Shaft connection 62

Twist direction 64

Swing end 66

Card slot 67

Card connector 68

Fixings 69

Clamping slot 71

Mounting Block 91

Mounting holes 92

Flexible Ring 93

Virtual axis 94

DETAILED DESCRIPTION

The technical solutions in the embodiments of the present application will be clearly and completely described 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, rather than all of the embodiments.

It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may also be a centered element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may also be a centered element. When an element is considered to be "set on" another element, it may be directly set on the other element or there may also be a centered element. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present application. The terms used herein in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. The term "or/and" used herein includes any and all combinations of one or more related listed items.

Some embodiments of the present application are described in detail. In the absence of conflict, the following embodiments and features of the embodiments can be combined with each other.

Example

1 , this embodiment provides a water area movable device 300 , including a water area carrier 310 and a water area propeller 100 . The water area propeller 100 is connected to the water area carrier 310 and is used to propel the water area movable device 300 to move.

The movable device 300 in the water area in this embodiment can be a passenger ship, a yacht or other ships, the corresponding water area carrier 310 is a ship hull, and the water area propeller 100 is an outboard motor. Of course, the movable device 300 in the water area can also be a fishing boat, a sailboat, or other ships, which is not limited here.

Continuing to refer to FIG. 1 , the water area propeller 100 includes a main body 11 and a tiller 10. The tiller 10 is connected to the main body 11. When in use, the user can control the water area propeller 100 to perform corresponding actions by manipulating the tiller 10. For example, the user controls the water area propeller 100 to perform steering, lifting, acceleration and deceleration, etc. through the tiller 10, thereby controlling the operation of the movable device 300 in the water area.

In this embodiment, the main body 11 is provided with a motor 12 and a propeller 13, the motor 12 is connected to the propeller 13 to drive the propeller 13 to rotate to generate propulsion. The main body 11 is also provided with a steering actuator 14 for driving the main body 11 to turn along the steering direction 19.

Referring to FIG. 2 , in this embodiment, the main body 11 is rotatably connected to the water body carrier 310 via a tilting shaft 59, and a tilting actuator 56 is provided for driving the main body 11 to tilt along a tilting direction 58. The tiller 10 can be electrically connected to the steering actuator 14, the tilting actuator 56 or the motor 12, and the main body 11 can be controlled by controlling the tiller 10 to send an electrical signal to the steering actuator 14, the tilting actuator 56 or the motor 12, thereby controlling the main body 11 to steer, tilt or accelerate and decelerate in an electric power-assisted manner.

Optionally, the water propeller 100 is connected to the tail of the water vehicle 310, and the tiller 10 is connected to the front of the main body 11, so that the tiller 10 extends to one side of the water vehicle 310, which is convenient for the user riding on the water vehicle 310 to operate.

3 to 8 show a tiller handle 10 of a water area propeller 100 provided in this embodiment.

The tiller 10 in this embodiment includes a base member 15, a control portion 16 and a pressure sensor 17. The base member 15 is used to be connected to the main body 11 of the water propeller 100, for example, connected to the front side of the main body 11, and the structure after connection can be seen in Figure 1. Optionally, the base member 15 and the main body 11 are connected via pins. In other embodiments, the base member 15 can also be a part of the main body 11.

The operating part 16 is movably connected to the base member 15, and is used to receive the operating input and generate displacement relative to the base member 15. The movably connected mode of the operating part 16 and the base member 15 can be a rotatable connection (as shown in Figures 3 to 8), a slidable connection, etc., as long as it can generate relative displacement.

The pressure sensor 17 is arranged between the base member 15 and the operating part 16, and is used to obtain the deformation pressure value caused by the displacement of the operating part 16 relative to the base member 15; when the deformation pressure value meets the set trigger pressure threshold, the processor connected to the pressure sensor 17 generates a trigger signal, and the trigger signal is used to instruct the water thruster 100 to perform the set action, such as acceleration and deceleration, tilting action, steering action, etc. Among them, the processor connected to the pressure sensor 17 can be any integrated circuit that can process control signals and software data, for example, it can be a CPU (Central Processing Unit), MPU (Microprocessor Unit), ECU (Electronic Control Unit) and other devices, and the processor can be arranged on the main body 11, and can also be arranged on the tiller 10. When the pressure sensor 17 is used to control the steering action, the pressure sensor 17 is electrically connected to the steering actuator 14 of the water thruster 100, and the trigger signal is used to instruct the steering actuator 14 to perform the steering action. When the pressure sensor 17 is used to control the lifting action, the pressure sensor 17 is electrically connected to the lifting actuator 56 of the water propeller 100, and the trigger signal is used to instruct the lifting actuator 56 to perform the lifting action. When the pressure sensor 17 is used to control the acceleration and deceleration action, the pressure sensor 17 is electrically connected to the motor 12 of the water propeller 100, and the trigger signal is used to instruct the motor 12 to accelerate and decelerate.

In this embodiment, the operating part 16 is rotatably connected to the base member 15. The rotation direction of the operating part 16 can be roughly parallel to the steering direction of the water propeller, or roughly parallel to the tilting direction of the water propeller, or roughly parallel to the rotation direction of the spiral. The rotation direction of the operating part 16 relative to the base member 15 can be configured according to the execution action of the water propeller 100 to which the pressure sensor 17 can respond. For example, if the sensing signal of the pressure sensor 17 responds to controlling the steering of the water propeller 100, the rotation direction of the operating part 16 relative to the base member 15 is roughly parallel to the steering direction of the water propeller 100, so that the operator can control the steering of the operating part 16 relative to the base member 15, and then the steering of the water propeller 100 can be mapped to increase the control experience and comfort. For another example, if the sensing signal of the pressure sensor 17 responds to controlling the tilting of the water propeller 100, the rotation direction of the control part 16 relative to the base part 15 is roughly parallel to the tilting direction of the water propeller 100, so that the operator can control the control part 16 to turn relative to the base part 15, which can map the control of the tilting of the water propeller 100, thereby increasing the control experience and comfort.

Please refer to FIG. 6 or FIG. 7 , the operating part 16 includes an axis connection part 62 and a swinging part 18 swinging around the axis connection part 62, and the axis connection part 62 is connected to the base member 15 through a rotating shaft so that the operating part 16 can rotate relative to the base member 15. The swinging part 18 generates displacement relative to the base member 15 when the operating part 16 rotates. Optionally, the rotation direction of the swinging part 18 relative to the base member 15 is substantially parallel to the steering direction 19 of the water propeller 100, and the pressure sensor 17 outputs a steering signal when the swinging part 18 rotates, which is used to control the steering of the water propeller 100. Optionally, the operating part 16 also includes a joystick 20, which is connected to the swinging part 18 and is used to drive the swinging part 18 to displace relative to the base member 15 around the axis connection part 62. The pressure sensor 17 is arranged between the swinging part 18 and the base member 15.

The base member 15 is a roughly shell-like structure and defines an internal space 21, and the swinging part 18 is arranged in the internal space 21. The shaft connection part 62 is provided with a rotating shaft hole 22, and the base member 15 is provided with a rotating shaft 23 that cooperates with the rotating shaft hole 22. The swinging part 18 can swing relative to the base member 15 around the axis of the rotating shaft 23 through the cooperation between the rotating shaft hole 22 and the rotating shaft 23. Optionally, the swinging part 18 is provided with an arc groove 24, and the center of the circle where the arc groove 24 is located coincides with the axis of the rotating shaft 23; the base member 15 is provided with a sliding pin 25 that slidably cooperates with the arc groove 24, and the inner walls at both ends of the arc groove 24 are used to limit the sliding stroke of the sliding pin 25, so as to limit the swing angle of the swinging part 18 relative to the base member 15, so as to avoid the swing angle of the swinging part 18 being too large to cause the deformation of the pressure sensor 17 to exceed the limit deformation state, thereby preventing the pressure sensor 17 from being damaged. As shown in FIG. 7 , two arc-shaped grooves 24 and two sliding pins 25 are provided respectively, and the two sets of arc-shaped grooves 24 and two sets of sliding pins 25 are symmetrically arranged about the central axis of the operating lever 20 .

The base member 15 is provided with two abutting portions 26, and the two abutting portions 26 are respectively located in the rotation direction of the swinging portion 18. Correspondingly, there are two pressure sensors 17, one of which is arranged between one of the abutting portions 26 and one side of the swinging portion 18, and the other pressure sensor 17 is arranged between the other abutting portion 26 and the other side of the swinging portion 18. Optionally, a flexible pad 27 is provided on one side of the abutting portion 26 corresponding to the pressure sensor 17. The flexible pad 27 can buffer the collision between the pressure sensor 17 and the abutting portion 26 when the swinging portion 18 swings, so as to avoid the rigid collision between the two and damage to the pressure sensor 17.

In this embodiment, the setting position of the pressure sensor 17 can be set as needed.

For example, as shown in FIG8 , the swing portion 18 has a swing end 66 away from the rotating shaft 23, and the swing end 66 has a larger rotation stroke due to being away from the rotating shaft 23. Two pressure sensors 17 are connected to two opposite side surfaces of the swing end 66. The pressure sensors 17 are respectively adjacent to two flexible pads 27 of the base member 15. There may be a gap 28 between the pressure sensor 17 and the flexible pad 27 or the pressure sensor 17 may be in contact with the flexible pad 27. In this embodiment, the pressure sensor 17 is connected to the side of the swing end 66 by pasting, embedding or other methods. For example, the pressure sensor 17 is fixed to the side of the swing end 66 by a connecting member such as a screw, and has an arm-shaped spring piece extending outward, and a strain gauge is pasted on the arm-shaped spring piece. When the swing portion 18 swings, the arm-shaped spring piece of the pressure sensor 17 approaches and presses against the flexible pad 27 to deform, thereby driving the strain gauge thereon to deform, thereby converting the deformation into an electrical signal. As shown in FIG. 9 , the swinging portion 18 is provided with a deformable wall 29, and the deformable wall 29 corresponds to the abutting portion 26 and the flexible pad 27, and the deformable wall 29 is deformed by pressing against the flexible pad 27 or the abutting portion 26 when the swinging portion 18 swings. The pressure sensor 17 is arranged on the inner surface of the deformable wall 29, so as to sense the deformation of the deformable wall 29 and generate a deformation pressure value. For example, the deformable wall 29 can be a thin-walled structure with fixed positions at both ends, and the middle position thereof can be subjected to lateral force and bend and deform as a whole. The pressure sensor 17 adopts the form of a patch-type strain gauge and is attached to the inner surface of the deformable wall 29. In this way, when the deformable wall 29 presses against the flexible pad 27 or the abutting portion 26, the middle position of the deformable wall 29 is bent and deformed, thereby driving the strain gauge of the pressure sensor 17 to deform, and the strain gauge changes its electrical parameters (such as resistance, etc.) under the action of the bending deformation, thereby obtaining the deformation pressure value. In this setting mode, the pressure sensor 17 is set on the inner surface of the deformable wall 29. When the pressure sensor 17 has a high requirement for waterproofing, the pressure sensor 17 is built-in. While transmitting deformation and pressure, it has a good waterproof effect, ensuring the safe use of the pressure sensor 17.

As shown in FIG. 10 , the pressure sensor 17 is connected to the abutment portion 26 of the base member 15. For the case where the flexible pad 27 is provided, the pressure The sensor 17 can be connected to the surface of the flexible pad 27 facing the swinging portion 18. The connection method of the pressure sensor 17 on the abutting portion 26 can refer to the connection method on the swinging portion 18, that is, the pressure sensor 17 is fixed on the abutting portion 26, and the arm-shaped spring of the pressure sensor 17 with the strain gauge attached extends toward the swinging portion 18. In this embodiment, optionally, referring to Figure 4, the base member 15 includes a bottom wall 30, a top wall 31, an end wall 32 and two side walls 33, the two side walls 33 are respectively vertically connected to the two sides of the bottom wall 30, and the end wall 32 is vertically connected to the bottom wall 30 and connected between the edges of one end of the side walls 33 on both sides. The top wall 31 can be set as a detachable cover structure, which encloses the internal space 21 with the bottom wall 30, the end wall 32 and the two side walls 33. The aforementioned rotating shaft 23 and sliding pin 25 can be convexly arranged on the inner surface of the bottom wall 30, and the swinging part 18 can be matched on the bottom wall 30 through its rotating shaft hole 22 and arc groove 24 to achieve a certain range of rotation. Of course, the rotating shaft hole 22 and the arc groove 24 can be set to pass through the swinging part 18, and the inner surface of the top wall 31 can be provided with a rotating shaft 63 and a sliding pin 65 corresponding to the rotating shaft hole 22 and the arc groove 24, so as to achieve the upper and lower sides of the swinging part 18 to rotate and cooperate respectively, and the cooperation is more stable. The two abutting parts 26 of the base member 15 are respectively located on the two side walls 33, and the corresponding flexible pads 27 are respectively fixedly connected to the inner surfaces of the side walls 33.

A through hole 34 (see FIG. 11 ) is provided on the end wall 32. One end of the joystick 20 passes through the through hole 34 and enters the internal space 21 (see FIG. 6 ) of the base member 15 and connects to the swinging portion 18. The other end extends out of the base member 15 for easy manipulation. In order to enable the joystick 20 to rotate, a certain size difference is set between the inner diameter of the through hole 34 and the outer diameter of the joystick 20, so that there is a movable spacing 35 between the outer peripheral surface of the joystick 20 and the inner peripheral side surface of the through hole 34. At this time, the pressure sensor 17 can also be changed to be set at the through hole 34. For example, as shown in FIG. 11 , the pressure sensor 17 is set at a position where the outer peripheral surface of the joystick 20 corresponds to the hole surface of the through hole 34. Of course, the pressure sensor 17 can also be changed to be set on the hole surface of the through hole 34. Under this setting implementation mode, the connection method of the pressure sensor 17 on the outer peripheral surface of the joystick 20 or the hole surface of the through hole 34 can refer to the aforementioned connection method on the swinging part 18, that is, the pressure sensor 17 is fixed on the outer peripheral surface of the joystick 20 or the hole surface of the through hole 34, and the arm-shaped spring piece of the attached strain gauge of the pressure sensor 17 extends toward the hole surface of the through hole 34 or the outer peripheral surface of the joystick 20.

Taking the implementation of Figures 3 to 8 as an example, when the movable device 300 for water areas is in use, a person on the movable device 300 for water areas applies a steering force to the portion of the joystick 20 extending outside the base member 15, driving the swinging portion 18 on the inner side of the base member 15 to rotate relative to the base member 15 around the axis of the rotating shaft 23, so that the swinging portion 18 drives the pressure sensor 17 thereon to press against the flexible pad 27 and the supporting portion 26, and the pressure sensor 17 obtains the deformation pressure value caused by the rotational displacement; when the deformation pressure value meets the set trigger pressure threshold (such as when the deformation pressure value exceeds the trigger pressure threshold), the pressure sensor 17 is triggered to generate a trigger signal, and the trigger signal is used to instruct the water area propeller 100 to perform a steering action, such as the steering actuator 14 of the water area propeller 100 drives the propeller 13 to turn after receiving the trigger signal, thereby driving the movable device 300 for water areas to turn.

In this embodiment, in addition to providing two pressure sensors 17 as described above to realize the sensing of rotational deformation on both sides, only one pressure sensor 17 may be used to realize the sensing, as shown in FIGS. 12 to 15 .

Referring to FIG. 12 , in this embodiment, the number of the pressure sensor 17 of the tiller handle 10 is one, and the pressure sensor 17 can respectively sense the displacement of the operating part 16 swinging in both sides of the rotation direction relative to the base member 15, and respectively generate deformation pressure values. The pressure sensor 17 has two sensing ends 36, and the two sensing ends 36 are respectively located on both sides of the operating part 16, and are used to respectively sense the swinging of the operating part 16 in both sides. When the operating part 16 rotates, the swing end located in the internal space 21 rotates to a position in contact with one of the sensing ends 36, so that the sensing end 36 generates pressure deformation, so that the piezoresistance of the pressure sensor 17 changes, thereby identifying that the sensing end 36 is subjected to a resistance effect; when the swing end rotates to a position in contact with the other sensing end 36, it is identified that the other sensing end 36 is subjected to a resistance effect. In this embodiment, the sensing end 36 can be provided with an arm-shaped spring piece attached with a strain gauge as described above, and one of the arm-shaped spring pieces of the two sensing ends 36 abuts against the base member 15, so that the strain gauge deformation is converted into an electrical signal. In this embodiment, in order to ensure the deformation of the arm-shaped spring piece, it is necessary to reserve the deformation space of the arm-shaped spring piece.

Referring to FIG. 13 , in another embodiment, the pressure sensor 17 has a fixed end 37 and a rotating end 38. The fixed end 37 is connected to the base member 15, specifically, it can be connected to the rotating shaft 23 of the base member 15; the rotating end 38 is connected to the operating part 16, specifically, it is connected to the swinging part 18 of the operating part 16. The middle part 57 between the fixed end 37 and the rotating end 38 can be twisted to output two sensing signals of the swinging of the operating part 16 to both sides. When the operating part 16 rotates, the swinging part 18 is twisted around the rotating shaft 23 along the twisting direction 64, so that the rotating end 38 connected to the swinging part 18 pulls the middle part 57 to twist. The positive rotation and reverse rotation of the swinging part 18 will cause the middle part 57 to deform in the positive or reverse direction, and the piezoresistance of the pressure sensor 17 will change accordingly, thereby identifying that the middle part 57 is subjected to positive or reverse twisting.

Referring to FIG. 14 and FIG. 15 , in another embodiment, the number of the pressure sensor 17 is one, and the pressure sensor 17 is in the shape of an elongated strip and extends along the axis direction of the joystick 20 of the operating part 16. A clamping block 68 with a clamping slot 67 is provided on the base member 15. One end of the pressure sensor 17 in the long direction is clamped in the clamping slot 67, and the other end is connected to the swinging part 18 of the operating part 16. In this way, when the swinging part 18 swings to both sides, the pressure sensor 17 will be driven to bend and deform in the corresponding direction, and the piezoresistance of the pressure sensor 17 will change accordingly, thereby generating a corresponding electrical signal. In this embodiment, the shape of the swinging part 18 can be set to be different from the swinging part shown in the above figure, as long as it can rotate relative to the base member 15. Optionally, a fixing member 69 is connected to the side of the swinging part 18 close to the pressure sensor 17, and the fixing member 69 is used to connect the pressure sensor 17. Optionally, the fixing member 69 is provided with a clamping groove 71 near one end of the pressure sensor 17, and the corresponding end of the pressure sensor 17 is clamped in the clamping groove 71. Of course, in other embodiments, the pressure sensor 17 can also be connected to the swinging portion 18 in other ways to receive the swing from the swinging portion 18, which is not limited here.

In the aforementioned embodiment, the operating part 16 rotates relative to the base member 15 around a physical axis structure (i.e., the rotation axis 23/rotation axis 63), while in another embodiment, the operating part 16 can also be arranged to rotate relative to the base member 15 around a virtual axis 94 to achieve swinging. The virtual axis 94 mentioned here refers to a rotation axis that does not exist such as a physical axis structure (i.e., the rotation axis 23/rotation axis 63). FIG. 16 shows an embodiment in which the operating part 16 rotates relative to the base member 15 around a virtual axis 94.

As shown in FIG. 16 , the base member 15 includes a mounting seat 91, the mounting seat 91 having a mounting hole 92, the joystick 20 of the operating part 16 passes through the mounting hole 92, and is supported in the mounting hole 92 of the mounting seat 91 by a flexible ring 93 arranged axially. The flexible ring 93 allows the joystick 20 to swing in the mounting hole 92, so that the flexible ring 93 provides a virtual axis 94 for the joystick 20 to rotate relative to the base member 15. It can be understood that the flexible ring 93 is an elastic member. Since the flexible ring 93 is sleeved on the part of the joystick 20 in the mounting hole 92, when the swinging force applied to the joystick 20 is greater than the anti-deformation force of the flexible ring 93, the joystick 20 will compress the part of the flexible ring 93 to produce deformation, thereby allowing the joystick 20 to swing in the mounting hole 92, thereby realizing that the joystick 20 can rotate relative to the base member 15.

Optionally, as shown in FIG. 17 and FIG. 18 , the joystick 20 is supported in the mounting hole 92 by configuring two spaced flexible rings 93 .

When the operating part 16 is swung left and right, the operating rod 20 can compress the flexible ring 93 to achieve swing relative to the mounting seat 91. The virtual axis 94 of the structure is roughly located between the two flexible rings 93. The structure does not require a complex physical shaft structure and is relatively simple. The state when swinging left and right can be seen in Figures 17 and 18. When the operating rod 20 swings in one direction, part of one of the flexible rings 93 is deformed and compressed, while another part is stretched, and another part of the flexible ring 93 is deformed and compressed at a position opposite to the previous flexible ring 93, while another part is stretched.

Optionally, as shown in FIG19 , the flexible ring 93 is a flexible sleeve sleeved on the joystick 20. The flexible ring 93 covers the entire area of the joystick 20 located in the mounting hole 92. When the swing force applied to the joystick 20 is greater than the anti-deformation force of the flexible ring 93, the end of the flexible ring 93 near one of the openings of the mounting hole 92 is partially compressed and partially stretched by deformation, while the end near the other opening of the mounting hole 92 is partially compressed and partially stretched at the opposite position, thereby allowing the joystick 20 to swing relative to the mounting seat 91, so as to realize the rotation of the joystick 20 relative to the base member 15.

In other embodiments, the virtual axis may be set in other ways, as long as it can be achieved that the manipulation input applied to the manipulation part 16 can act on the pressure sensor 17, and it is not limited here.

Please continue to refer to FIG. 6. The shape of the swinging part 18 in this embodiment can be set as needed. The swinging part 18 is set as an electric control box 39. The electric control box 39 is sealed with a sensing device 40. The sensing device 40 is used to sense another control input of the control part 16. The other control input mentioned here refers to a control input different from the aforementioned control input sensed by the pressure sensor 17, which is used to control the water propeller 100 to perform another action. For example, there are at least two control inputs applied to the tiller 10, one of which is to rotate the joystick 20 to drive the electric control box 39 to rotate, thereby triggering the pressure sensor 17, and controlling the water propeller 100 to perform a steering action through the trigger signal of the pressure sensor 17; the other control input is another control member (such as a switch button 42) applied to the joystick 20, and the control input applied to the control member is received by the sensing device 40 in the electric control box 39, and then used to control the water propeller 100 to perform another action (such as controlling the water propeller 100 to tilt/start and stop, etc.). By setting an additional sensing device 40, multiple control controls can be achieved through a tiller 10, which is convenient to use.

In this embodiment, optionally, the joystick 20 is fixedly connected to the electronic control box 39, and the operating part 16 also includes a throttle rotating sleeve 41, which is sleeved outside the joystick 20; the twisting of the throttle rotating sleeve 41 relative to the joystick 20 serves as another operating input.

Optionally, a button 42 is provided at the end of the joystick 20, the sensing device 40 is a trigger circuit board 43, and the button 42 is electrically connected to the trigger circuit board 43; the action of pressing the button 42 serves as another manipulation input.

It should be noted that the above-mentioned throttle rotating sleeve 41 and button 42 can exist at the same time, or only one of them can be provided, which is not limited here.

Optionally, a signal processing circuit board 44 is further provided in the electric control box 39. The signal processing circuit board 44 is electrically connected to the pressure sensor 17 and is used to receive the deformation pressure value caused by the displacement of the operating part 16 relative to the base member 15, and compare the deformation pressure value with the set trigger pressure threshold to obtain a trigger signal. The signal processing circuit board 44 can be a printed circuit board (PCB). After receiving the deformation pressure value, it compares the deformation pressure value with the preset trigger pressure threshold. If the deformation pressure value is less than the preset trigger pressure threshold, no trigger signal is generated; if the deformation pressure value is greater than or equal to the preset trigger pressure threshold, the water thruster 100 is controlled to perform a steering of a corresponding proportional angle according to the difference between the pressure value and the preset trigger pressure threshold.

In this embodiment, the preset trigger pressure threshold may be a fixed value or a variable value related to the operating parameters (such as the navigation speed) of the movable device 300. For example, the preset trigger pressure threshold is positively correlated with the navigation speed of the movable device 300, that is, the faster the navigation speed of the movable device 300, the greater the preset trigger pressure threshold.

Through this setting, when the navigation speed of the movable device 300 in the water area is low, the trigger pressure threshold is small, and the pressure sensor 17 can trigger the steering at a small pressure value, so that the steering damping is small at low speed, and the user only needs to push the joystick 20 lightly to achieve steering; and when the navigation speed of the movable device 300 in the water area is high, the trigger pressure threshold is large, and the pressure sensor 17 needs to be at a higher pressure value to trigger the steering, that is, the user needs to apply a larger thrust to achieve steering. On the one hand, the steering damping is large at high speed, and on the other hand, it ensures that the control part 16 will not be easily touched at high speed and accidentally turn or turn at a large angle at high speed, causing a safety accident.

The functional relationship between the preset trigger pressure threshold and the navigation speed of the water area movable device 300 can be preset and stored in a device with a storage function of the control system of the water area propulsion device 100, which will not be elaborated here.

In this embodiment, optionally, the base member 15 is provided with a controller 45, and the controller 45 is coupled to the signal processing circuit board 44, and is used to control the water thruster 100 to perform a set action according to a trigger signal generated by a processor that is communicatively connected to the pressure sensor 17. Optionally, the controller 45 is electrically connected to the signal processing circuit board 44 through a cable 46, and the electrical control box 39 is provided with a through hole 47 for allowing the cable 46 to pass through. A sealing plug is provided at the through hole 47 for achieving sealing at the through hole 47. In other embodiments, the controller 45 and the signal processing circuit board 44 can also be connected wirelessly. It should be noted that the cable 46 is only shown in FIG. 6 and is hidden and not shown in other figures.

In this embodiment, optionally, referring to FIG4 , the base member 15 is provided with a display screen 48 for displaying the posture information adjusted by the pressure sensor 17. Optionally, the display screen 48 is provided on the outer surface of the top wall 31.

In this embodiment, optionally, referring to FIG. 4 , the tiller handle 10 further includes a signal amplifier 49 , which is electrically connected to the pressure sensor 17 and is used for amplifying the sensing signal and transmitting it to the signal processing circuit board 44 .

In another embodiment, referring to FIG. 20 , the signal processing circuit board 44 in the aforementioned electric control box 39 is omitted, and an electronic control unit 50 on the main body 11 of the water thruster 100 is used to realize the function of receiving and processing the signal of the pressure sensor 17. In this embodiment, an electronic control unit 50 (ECU, Electronic Control Unit) is provided on the main body 11 of the water thruster 100, and the electronic control unit 50 is electrically connected to the pressure sensor 17, and is used to receive the deformation pressure value, and obtain the attitude adjustment signal according to the deformation pressure value and the set trigger pressure threshold, and the attitude adjustment signal is used to instruct the water thruster 100 to adjust the attitude, such as steering adjustment. The electronic control unit 50 is the central integrated operation processor of the water thruster 100, which is used to receive electrical signals from multiple modules such as the battery, steering wheel, tiller 10, steering system, tilting system, propulsion system, etc., and can control the power of the motor 12, the steering of the water thruster 100, the tilting of the water thruster 100, the output power of the battery, etc. after processing the corresponding electrical signals.

Referring to Figure 21, this embodiment also provides a movable device 300 for water areas, and the tiller handle 70 of the water area thruster 100 is basically the same as the aforementioned tiller handle 10, except that the rotation direction of the swinging part 18 of the tiller handle 10 is parallel to the steering direction 19 of the water area thruster 100, and the pressure sensor 17 outputs a steering signal when the swinging part 18 rotates, thereby controlling the water area thruster 100 to perform a steering action; while in the tiller handle 70 shown in Figure 15, the rotation direction of the swinging part 18 relative to the base part 15 is parallel to the lifting direction 58 of the water area thruster 100, and the pressure sensor 17 outputs a lifting signal when the swinging part 18 rotates, thereby controlling the lifting or lowering of the water area thruster 100.

Referring to FIG. 22 , the tiller handle 70 includes a base member 15, an operating portion 16 and a pressure sensor 17. The operating portion 16 includes a swinging portion 18 and a joystick 20. The swinging portion 18 is rotatably connected to the base member 15 via a rotating shaft 23. The rotating shaft 23 may be parallel to the steering plane of the water propeller. For example, the swinging portion 18 is rotatably connected between the two side walls of the base member 15 via the rotating shaft 23. One end of the joystick 20 is connected to the swinging portion 18, and the other end is used to receive driving control input. Pressure sensors 17 are respectively provided on the upper and lower sides of the swinging portion 18 in the illustrated state, and corresponding abutting portions 26 are respectively provided on the upper and lower walls of the base member 15.

When in use, the user drives the swinging part 18 to rotate relative to the base part 15 around the rotating shaft 23 through the joystick 20. The rotation causes the pressure sensor 17 on one side to press against the abutting part 26 to generate induction, which is then used to control the water propeller 100 to perform the lifting or falling action. When the user controls the joystick 20 to rotate downward, the pressure sensor 17 at the upper end senses the pressure signal, thereby responding to the control of the water propeller 100 to perform the descending action. When the user controls the joystick 20 to rotate upward, the pressure sensor 17 at the lower end senses the pressure signal, thereby responding to the control of the water propeller 100 to perform the lifting action.

Of course, the pressure sensor 17 of the tiller handle 70 shown in FIG. 23 may also be provided as one, and the setting position may also be flexibly selected, as long as it can sense the rotation of the swinging part 18, which will not be elaborated here.

FIG. 22 and FIG. 23 show another tiller handle 80 , which is different from the aforementioned tiller handle 10 or tiller handle 70 in that the displacement of the operating portion 16 of the tiller handle 80 is produced by sliding rather than rotation.

Referring to FIG. 22 , in the tiller handle 80, the operating portion 16 is slidably connected to the base member 15 to generate displacement. The operating portion 16 has a sliding portion 51, and the sliding portion 51 generates displacement relative to the base member 15 when the operating portion 16 slides. The base member 15 is provided with two abutting portions 26, and the two abutting portions 26 are respectively located on both sides of the sliding direction 60 of the sliding portion 51. There are two pressure sensors 17, and the two pressure sensors 17 are respectively arranged between the two abutting portions 26 and the sliding portion 51.

Referring to Figure 23, in another embodiment of the tiller handle 80, the number of pressure sensors 17 can also be set to only one, and the pressure sensor 17 has two sensing ends 36 located in the sliding direction of the operating part 16, which are used to respectively sense the displacement of the operating part 16 sliding forward and backward relative to the base part 15 along the sliding direction, and respectively generate deformation pressure values.

In the case where the operating part 16 includes the operating rod 20 and the electric control box 39, the electric control box 39 is slidably connected to the base member 15, and the operating rod 20 is connected to the electric control box 39, so as to drive the electric control box 39 to slide relative to the base member 15. Optionally, the electric control box 39 is provided with a slide groove 52, and the base member 15 is provided with a slider 53 that cooperates with the slide groove 52, and the sliding cooperation is achieved by the cooperation between the slide groove 52 and the slider 53. Of course, in other embodiments, the sliding cooperation between the electric control box 39 and the base member 15 can also be in other forms, which are not limited here.

In some embodiments, the manipulation method of sliding the tiller 80 forward and backward as shown in FIG. 22 or FIG. 23 is used to control the propulsion speed of the water propeller 100 to realize the electronic throttle function. For example, the user pushes the manipulation part 16 of the tiller 80 forward to control the water propeller 100 to accelerate forward; the user pulls the manipulation part 16 of the tiller 80 backward to control the water propeller 100 to decelerate or retreat. In this manipulation method, the manipulation action and the result are consistent, have a certain logical correlation, and are more easily accepted by the operator. Practice shows that in an emergency, for example, when the driver is driving a movable device in the water area and suddenly finds that there is an obstacle not far ahead, the instinctive action may be to pull the tiller backward to try to prevent the movable device in the water area from colliding with the obstacle forward. In this case, the tiller 80 using the manipulation method of sliding forward and backward can just control the movable device in the water area to decelerate and stop, thereby avoiding or reducing the risk of collision. Therefore, the tiller using this manipulation structure and manipulation method is more in line with the manipulation habit, and to a certain extent can increase the probability of the driver making a correct manipulation action in an emergency, thereby improving the safety of use.

FIG. 24 shows another tiller 90 , which is different from the aforementioned tiller 10 , tiller 70 or tiller 80 in that the displacement of the operating portion 16 of the tiller 90 is not generated by rotation or sliding, but by twisting.

Referring to FIG. 24 , in the tiller handle 90, the operating portion 16 is connected to the base member 15 in a twistable manner around the central axis 61 of the operating portion 16 to generate displacement. The operating portion 16 has a twisting portion 54, and the twisting portion 54 generates displacement relative to the base member 15 when the operating portion 16 is twisted. The base member 15 is provided with two abutting portions 26, and the two abutting portions 26 are respectively located on both sides of the twisting direction of the twisting portion 54. There are two pressure sensors 17, and the two pressure sensors 17 are respectively arranged between the two abutting portions 26 and the twisting portion 54.

In the case where the operating part includes the joystick 20 and the electric control box 39, the electric control box 39 is connected to the base member 15 in a twistable manner around the central axis of the electric control box 39, and the joystick 20 is connected to the electric control box 39 to drive the electric control box 39 to twist relative to the base member 15. Optionally, the base member 15 is provided with a twisting groove 55, and the electric control box 39 is twistably arranged in the twisting groove 55. Of course, in other embodiments, the twisting cooperation between the electric control box 39 and the base member 15 can also be in other forms, which are not limited here.

In another embodiment of the tiller handle 90 , the number of the pressure sensor 17 may also be one.

With regard to the method of generating displacement of the operating portion 16 of the tiller handle 90 by twisting as shown in FIG24, the signal is relatively small. By referring to the method of setting the aforementioned signal amplifier 49 to amplify the sensing signal and then transmit it to the signal processing circuit board 44, a better control effect can be obtained.

In some embodiments, the manipulation method of twisting the tiller 80 as shown in FIG. 24 is used to control the propulsion speed of the water propeller 100, imitating the electronic throttle of a motorcycle that controls the speed by twisting the handle. For example, the user twists the manipulation part 16 of the tiller 90 to control the water propeller 100 to accelerate forward. The greater the twisting force or twisting angle, the faster the speed or acceleration of the water propeller 100; when the manipulation part 16 of the tiller 90 stops twisting, the water propeller 100 stops accelerating. This manipulation method and the manipulation action are consistent with other types of vehicles (such as motorcycles), and are more easily accepted by operators with relevant usage experience.

This embodiment also provides a method for controlling a movable device in water area, which comprises the following steps:

Get the set trigger pressure threshold;

The deformation pressure value obtained by the pressure sensor 17 of the aforementioned tiller handle 10, 70, 80, 90 is compared with the trigger pressure threshold to obtain an attitude adjustment signal, which is used to instruct the water area propeller 100 to adjust its attitude. According to the setting, the attitude adjustment signal mentioned here can be a steering signal Signals, lifting signals, acceleration and deceleration signals, etc. are not limited here.

Optionally, the control method further includes: obtaining the navigation speed of the movable device 300 in the water area, and adjusting the trigger pressure threshold according to the navigation speed. For example, the trigger pressure threshold is positively correlated with the navigation speed, that is, when the navigation speed increases, the corresponding pressure threshold is adjusted to be larger. In this way, a low-damping control feeling at low speed and a high-damping control feeling at high speed can be obtained, and it is ensured that it is not easy to make dangerous actions such as large-angle steering due to misoperation at high speed.

In this control method, the number of the pressure sensor 17 may be two or one.

For example, there are two pressure sensors 17, namely a first pressure sensor and a second pressure sensor; the first deformation pressure value obtained by the first pressure sensor is compared with the trigger pressure threshold to obtain a first posture adjustment signal, and the first posture adjustment signal is used to instruct the water thruster 100 to adjust its posture; or, the second deformation pressure value obtained by the second pressure sensor is compared with the trigger pressure threshold to obtain a second posture adjustment signal, and the second posture adjustment signal is used to instruct the water thruster 100 to adjust its posture.

Alternatively, there is one pressure sensor 17, which is used to obtain a first deformation pressure value and a second deformation pressure value caused by the displacement of the operating part 16; compare the first deformation pressure value with the trigger pressure threshold to obtain a first posture adjustment signal, and the first posture adjustment signal is used to instruct the water propeller 100 to adjust its posture; or, compare the second deformation pressure value with the trigger pressure threshold to obtain a second posture adjustment signal, and the second posture adjustment signal is used to instruct the water propeller 100 to adjust its posture.

This embodiment also provides a storage medium, which includes a stored program, and the program executes the aforementioned method for controlling a movable device in water area.

The above implementation modes are only used to illustrate the technical solutions of the present application and are not intended to limit the present application. Although the present application has been described in detail with reference to the above preferred implementation modes, a person skilled in the art should understand that the technical solutions of the present application may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present application.

Claims

A tiller used for a water area propeller, the water area propeller is used to push a movable device in a water area to move, characterized in that the tiller comprises:

A base member, used for connecting to the main body of the water propeller;

A manipulation portion, movably connected to the base member, for receiving manipulation input and generating a displacement relative to the base member;

A pressure sensor is arranged between the base member and the operating part, and is used to obtain the deformation pressure value caused by the displacement of the operating part relative to the base member; when the deformation pressure value meets the set trigger pressure threshold, the pressure sensor is triggered to generate a trigger signal, and the trigger signal is used to instruct the water thruster to perform a set action.
The tiller according to claim 1, characterized in that:

The operating part is rotatably connected to the base member.
The tiller according to claim 2, characterized in that:

The operating part has a swinging portion, and the swinging portion generates a displacement relative to the base member when the operating part rotates;

The base member is provided with two abutting portions, and the two abutting portions are respectively located on both sides of the rotation direction of the swinging portion;

There are two pressure sensors, one of which is arranged between one of the abutting parts and one side of the swinging part, and the other pressure sensor is arranged between the other abutting part and the other side of the swinging part.
The tiller according to claim 3, characterized in that:

A flexible pad is provided on one side of the supporting portion corresponding to the pressure sensor.
The tiller according to claim 3, characterized in that:

The rotation direction of the swing part relative to the base member is parallel to the steering direction of the water propeller, and the pressure sensor outputs a steering signal when the swing part rotates.
The tiller according to claim 3, characterized in that:

The rotation direction of the swing part relative to the base member is parallel to the tilting direction of the water propeller, and the pressure sensor outputs a tilting signal when the swing part rotates.
The tiller according to claim 3, characterized in that:

The pressure sensor is connected to the abutting portion, and there is a gap between the pressure sensor and the swinging portion or the pressure sensor abuts against the swinging portion.
The tiller according to claim 3, characterized in that:

The pressure sensor is connected to the swinging portion, and there is a gap between the pressure sensor and the abutting portion or the pressure sensor is in contact with the abutting portion.
The tiller according to claim 2, characterized in that:

The number of the pressure sensor is one, and the pressure sensor can respectively sense the displacement of the operating part swinging towards both sides of the rotation direction relative to the base member, and respectively generate the deformation pressure value.
The tiller according to claim 9, characterized in that:

The pressure sensor has two sensing ends, which are respectively located at two sides of the operating part and are used to respectively sense the swing of the operating part to two sides.
The tiller according to claim 9, characterized in that:

The pressure sensor has a fixed end and a rotating end, the fixed end is connected to the base member, the rotating end is connected to the operating part, and the middle part between the fixed end and the rotating end can be twisted to output two sensing signals of the operating part swinging to both sides.
The tiller handle according to claim 11, characterized in that:

The tiller handle further comprises a signal amplifier, which is electrically connected to the pressure sensor and is used for amplifying the sensing signal.
The tiller according to claim 3, characterized in that:

The operating part is rotatably connected to the base member around a virtual axis; the operating part includes a joystick connected to the swinging part, and the base member includes a mounting seat, the mounting seat has a mounting hole, the joystick passes through the mounting hole, and is supported in the mounting hole by a flexible ring arranged axially, and the flexible ring allows the joystick to form the virtual axis relative to the rotation axis of the base member.
The tiller handle according to claim 13, characterized in that:

The joystick is supported in the mounting hole by two spaced apart flexible rings.
The tiller according to claim 13, characterized in that:

The flexible ring is a flexible sleeve sleeved on the joystick.
The tiller according to claim 1, characterized in that:

The operating portion is slidably connected to the base member to generate the displacement.
The tiller according to claim 16, characterized in that:

The operating part has a sliding part, and the sliding part generates displacement relative to the base member when the operating part slides;

The base member is provided with two abutting portions, and the two abutting portions are respectively located on both sides of the sliding direction of the sliding portion;

There are two pressure sensors, and the two pressure sensors are respectively arranged between the two abutting parts and the sliding part.
The tiller according to claim 16, characterized in that:

The number of the pressure sensor is one, and it has two sensing ends located in the sliding direction of the operating part, which are used to respectively sense the displacement of the operating part sliding back and forth relative to the base member along the sliding direction and respectively generate the deformation pressure values.
The tiller according to claim 1, characterized in that:

The operating part is connected to the base member in a rotatable manner around a central axis of the operating part to generate the displacement.
The tiller according to claim 19, characterized in that:

The operating part has a twisting portion, and the twisting portion generates a displacement relative to the base member when the operating part is twisted;

The base member is provided with two abutting portions, and the two abutting portions are respectively located on both sides of the torsion direction of the torsion portion;

There are two pressure sensors, and the two pressure sensors are respectively arranged between the two abutting parts and the twisting parts.
The tiller according to claim 19, characterized in that:

The number of the pressure sensor is one, one end of the pressure sensor is fixed to the base component, and the other end is fixed to a position of the operating part that deviates from the central axis.
The tiller according to claim 1, characterized in that:

The operating part includes an electric control box and an operating rod, the operating rod is connected to the electric control box, the electric control box is connected to the base component, and the pressure sensor is arranged between the electric control box and the base component;

A sensing device is sealed inside the electric control box, and the sensing device is used to sense another manipulation input of the manipulation part.
The tiller according to claim 22, characterized in that:

The electric control box is movably connected to the base component, and the joystick is used to drive the electric control box to move relative to the base component.
The tiller according to claim 23, characterized in that:

The electric control box is rotatably connected to the base member.
The tiller handle according to claim 24, characterized in that:

The electric control box is provided with a rotating shaft hole, and the base component is provided with a rotating shaft matched with the rotating shaft hole.
The tiller handle according to claim 24, characterized in that:

The electric control box is provided with an arc-shaped groove, and the center of the circle where the arc-shaped groove is located coincides with the rotation center of the electric control box;

The base member is provided with a sliding pin matched with the arc-shaped groove, which is used to limit the rotation range of the electric control box.
The tiller according to claim 23, characterized in that:

The electric control box is slidably connected to the base member.
The tiller according to claim 27, characterized in that:

The electric control box is provided with a slide groove, and the base component is provided with a sliding block matched with the slide groove.
The tiller according to claim 23, characterized in that:

The electric control box is connected to the base member in a rotatable manner around a central axis of the electric control box.
The tiller according to claim 28, characterized in that:

The base member is provided with a torsion groove, and the electric control box is torsionally arranged in the torsion groove.
The tiller according to claim 22, characterized in that:

A signal processing circuit board is provided in the electric control box. The signal processing circuit board is electrically connected to the pressure sensor and is used to receive the deformation pressure value and compare the deformation pressure value with a set trigger pressure threshold to obtain the trigger signal.
The tiller according to claim 31, characterized in that:

The base member is provided with a controller, which is coupled to the signal processing circuit board and is used to control the water thruster to perform a set action according to the trigger signal.
The tiller according to claim 32, characterized in that:

The controller is electrically connected to the signal processing circuit board via a cable;

The electric control box is provided with a through hole for allowing the cable to pass through; a sealing plug is provided at the through hole for achieving sealing at the through hole.
The tiller according to claim 32, characterized in that:

The controller is wirelessly connected to the signal processing circuit board.
The tiller according to claim 22, characterized in that:

The pressure sensor is arranged on the outer wall of the electric control box.
The tiller according to claim 22, characterized in that:

The pressure sensor is arranged on the inner wall of the electric control box, and a deformable portion is arranged on the inner wall of the electric control box corresponding to the pressure sensor.
The tiller according to claim 22, characterized in that:

The joystick is fixedly connected to the electric control box;

The control part also includes a throttle rotating sleeve, which is arranged outside the control rod; the torsion of the throttle rotating sleeve relative to the control rod serves as the other control input.
The tiller according to claim 22, characterized in that:

A button is provided at the end of the joystick, the sensing device is a trigger circuit board, and the button is electrically connected to the trigger circuit board; the action of pressing the button serves as the other manipulation input.
The tiller according to claim 1, characterized in that:

The base member is provided with a display screen for displaying the posture information adjusted by the pressure sensor.
The tiller according to any one of claims 1 to 39, characterized in that:

The trigger pressure threshold is positively correlated with the speed of the movable device in the water area.
A water area propeller, characterized by comprising:

main body;

The tiller handle according to any one of claims 1 to 40; the base member of the tiller handle is connected to the main body.
The water area propeller according to claim 41, characterized in that:

The main body is provided with a motor and a propeller, and the motor is transmission-connected to the propeller to drive the propeller to rotate to generate propulsion force.
The water propeller according to claim 42, characterized in that:

The pressure sensor is electrically connected to the motor, and the trigger signal is used to indicate the rotation speed of the motor.
The water area propeller according to claim 41, characterized in that:

The main body is provided with a tilting actuator, and the tilting actuator is used to drive the main body to tilt.
The water propeller according to claim 44, characterized in that:

The pressure sensor is electrically connected to the lifting actuator, and the trigger signal is used to instruct the lifting actuator to perform a lifting action.
The water area propeller according to claim 41, characterized in that:

The main body is provided with a steering actuator, and the steering actuator is used to drive the main body to turn.
The water propeller according to claim 46, characterized in that:

The pressure sensor is electrically connected to the steering actuator, and the trigger signal is used to instruct the steering actuator to perform a steering action.
The water area propeller according to claim 41, characterized in that:

The main body is provided with an electronic control unit, which is electrically connected to the pressure sensor and is used to receive the deformation pressure value and obtain a posture adjustment signal according to the deformation pressure value and a set trigger pressure threshold. The posture adjustment signal is used to instruct the water thruster to adjust its posture.
A movable device in water area, characterized by comprising:

Water carrier;

The water area thruster as described in any one of claims 41-48, wherein the water area thruster is connected to the water area carrier.
A method for controlling a movable device in water area, characterized by:

Get the set trigger pressure threshold;

Compare the deformation pressure value obtained by the pressure sensor of the tiller described in any one of claims 1-40 with the trigger pressure threshold to obtain a posture adjustment signal, and the posture adjustment signal is used to instruct the water area thruster to adjust its posture.
The method for controlling a movable device in water area according to claim 50 is characterized in that:

The navigation speed of the movable device in the water area is obtained, and the trigger pressure threshold is adjusted according to the navigation speed.
The method for controlling a movable device in water area according to claim 50 is characterized in that:

There are two pressure sensors, namely a first pressure sensor and a second pressure sensor;

Comparing the first deformation pressure value obtained by the first pressure sensor with the trigger pressure threshold to obtain a first attitude adjustment signal, wherein the first attitude adjustment signal is used to instruct the water area thruster to adjust its attitude; or,

The second deformation pressure value obtained by the second pressure sensor is compared with the trigger pressure threshold to obtain a second attitude adjustment signal, where the second attitude adjustment signal is used to instruct the water body thruster to adjust its attitude.
The method for controlling a movable device in water area according to claim 50 is characterized in that:

There is one pressure sensor, and the pressure sensor is used to obtain a first deformation pressure value and a second deformation pressure value caused by the displacement of the operating part;

comparing the first deformation pressure value with the trigger pressure threshold to obtain a first attitude adjustment signal, wherein the first attitude adjustment signal is used to instruct the water area thruster to adjust its attitude; or,

The second deformation pressure value is compared with the trigger pressure threshold to obtain a second attitude adjustment signal, wherein the second attitude adjustment signal is used to instruct the water area thruster to adjust its attitude.
A storage medium, comprising a stored program, characterized in that the program executes the method for controlling a movable device in water area as described in any one of claims 50-53.