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。
A limiting protection method, a tilting device, a water area propeller, a water area movable apparatus, and a computer-readable storage medium. The tilting device comprises an angle sensor and a travel switch. The angle sensor is used for detecting the tilting angle of the tilting device, and the travel switch is used for detecting the tilting state of the tilting device, the tilting state comprising a limiting state and a non-limiting state. The limiting protection method comprises: when the angle sensor fails, if a tilting instruction is received, acquiring the tilting state of the tilting device detected by the travel switch; and on the basis of the tilting state, controlling the tilting device to perform corresponding tilting according to the tilting instruction. When the angle sensor fails, the tilting state of the tilting device can be known by means of the travel switch, so as to improve the accuracy of tilting control.
限位保护方法、起翘装置、水域推进器、设备及存储介质
2024-06-25
Patent
Electronic Resource
Chinese