一种限位保护方法、起翘装置、水域推进器、水域可移动设备及计算机可读存储介质。起翘装置包括角度传感器和行程开关,角度传感器用于检测起翘装置的起翘角度,行程开关用于检测起翘装置的起翘状态,起翘状态包括限位状态和非限位状态;限位保护方法包括:在角度传感器失效的情况下,若接收到起翘指令,则获取行程开关检测到的起翘装置的起翘状态;基于起翘状态,控制起翘装置根据起翘指令执行相应的起翘。在角度传感器失效的情况下,可以借助行程开关得知起翘装置的起翘状态,以提高起翘控制的准确性。

    The invention discloses a limiting protection method, a tilting device, a water area propeller, a water area movable device and a computer readable storage medium. The upwarping device comprises an angle sensor and a travel switch, the angle sensor is used for detecting the upwarping angle of the upwarping device, the travel switch is used for detecting the upwarping state of the upwarping device, and the upwarping state comprises a limiting state and a non-limiting state; the limiting protection method comprises the steps that under the condition that an angle sensor fails, if a tilting instruction is received, the tilting state, detected by a travel switch, of a tilting device is obtained; and based on the upwarp state, controlling the upwarp device to execute corresponding upwarp according to the upwarp instruction. Under the condition that the angle sensor fails, the tilting state of the tilting device can be known by means of the travel switch, so that the accuracy of tilting control is improved.


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    Title :

    限位保护方法、起翘装置、水域推进器、设备及存储介质


    Publication date :

    2024-06-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen