TILLER, WATERSIDE THRUSTER, WATERCRAFT, CONTROL METHOD, AND STORAGE MEDIUM

Abstract

A tiller, a waterside thruster, a watercraft, a control method, and a storage medium are provided. The tiller includes a base member, a control portion, and a pressure sensor. The base member is connected to a body of the waterside thruster. The control portion is movably connected to the base member for receiving a control input and generating displacement with respect to the base member. The pressure sensor is provided between the base member and the control portion for acquiring a deformation pressure value caused by the displacement of the control portion with respect to the base member. The pressure sensor is triggered to generate a triggered signal when the deformation pressure value conforms to a preset threshold value of the triggered pressure. The triggered signal is configured to instruct that the waterside thruster performs a preset action.

Claims

1. A tiller for a waterside thruster, the waterside thruster being configured to propel a watercraft movement, wherein the tiller comprises: a base member, connected to a body of the waterside thruster; a control portion, movably connected to the base member for receiving control inputs and generating displacement relative to the base member; and a pressure sensor, provided between the base member and the control portion and configured to obtain a deformation pressure value caused by the displacement of the control portion with respect to the base member, wherein when the deformation pressure value meets a preset triggered pressure threshold, the pressure sensor is triggered to generate a triggered signal, the triggered signal being configured to instruct that the waterside thruster performs a preset action.

2. The tiller of claim 1, wherein the control portion is rotatably connected to the base member.

3. The tiller of claim 2, wherein the control portion is provided with a swinging portion, and the swing portion is configured to produce displacement relative to the base member when the control portion is rotated; wherein the base member is provided with two abutment portions, and the two abutment portions are respectively disposed on opposite sides of the swing portion along its pivoting direction; and wherein the number of the pressure sensors is two, one of the pressure sensors is provided between one of the abutment portion and one side of the swinging portion, and the other pressure sensor is provided between the other abutment portion and the other side of the swinging portion.

4. The tiller of claim 3, wherein the swing portion is configured to rotate relative to the base member in a direction parallel to a steering direction of the waterside thruster, and the pressure sensor is configured to be rotated by the swing portion to output a steering signal; or wherein the swing portion is configured to rotate relative to the base member in a direction parallel to a trimming direction of the waterside thruster, and the pressure sensor is configured to be rotated by the swing portion to output a trimming signal.

5. The tiller of claim 3, wherein the pressure sensor is connected to the abutment portion and disposed with a gap relative to the swinging portion, or in contact with the swinging portion; or wherein the pressure sensor is connected to the swing portion and disposed with a gap relative to the abutment portion, or in contact with the abutment portion.

6. The tiller of claim 2, wherein the pressure sensor comprises a single pressure sensor, and the pressure sensor is configured to sense the displacement of the control portion relative to the swing of the base member in the direction of rotation on each side separately and generates the corresponding deformation pressure value separately.

7. The tiller of claim 6, further comprising: a signal amplifier, electrically connected to the pressure sensor for amplifying the sensing signal.

8. The tiller of claim 3, wherein the control portion is rotatably connected to the base member about a virtual axis, the control portion comprises a control lever connected to the swing portion, the base member comprises a mounting base, the mounting base comprises a mounting hole, the control lever passes through the mounting hole and is supported in the mounting hole by a flexible ring configured in an axial direction, and the flexible ring allows the control lever to rotate relative to the base member about an axis that defines the virtual axis.

9. The tiller of claim 1, wherein the control portion is slidably connected to the base member to produce the displacement; or wherein the control portion is twistably connected to the base member about the central axis of the control portion to produce the displacement.

10. The tiller of claim 1, wherein the control portion comprises an electric control box and a control lever, the control lever is connected to the electric control box, the electric control box is connected to the base member, and the pressure sensor is provided between the electric control box and the base member; and wherein the electronic control box is sealed and provided with a sensing device, and the sensing device is configured to sense another control input from the control portion.

11. The tiller of claim 10, wherein the electronic control box is provided with a signal processing circuit board, the signal processing circuit board is electrically connected to the pressure sensor for receiving the deformation pressure value and comparing the deformation pressure value with the preset triggered pressure threshold to obtain the triggered signal.

12. The tiller of claim 11, wherein the base member is provided with a controller, the controller is coupled to the signal processing circuit board for controlling the waterside thruster to perform a preset action in accordance with the triggered signal.

13. The tiller of claim 10, wherein the control lever is fixedly connected to the electronic control box; wherein the control portion further comprises a throttle rotation sleeve, the throttle rotation sleeve being provided outside the control lever; and wherein the twisting of the throttle rotation sleeve relative to the control lever is configured to be used as the other control input.

14. The tiller of claim 10, wherein the control lever is provided with a button at an end of the control lever, the sensing device is a triggered circuit board, the button is electrically connected to the triggered circuit board, and an action of pressing the button is configured to be used as the other control input.

15. The tiller of claim 1, wherein the base member is provided with a display for showing attitude information adjusted by the pressure sensor.

16. The tiller of claim 1, wherein the triggered pressure threshold is positively correlated with a speed of the watercraft.

17. A waterside thruster, comprising: a body; and a tiller, wherein the tiller comprises: a base member, connected to the body; a control portion, movably connected to the base member for receiving control inputs and generating displacement relative to the base member; and a pressure sensor, provided between the base member and the control portion and configured to obtain a deformation pressure value caused by the displacement of the control portion with respect to the base member, wherein when the deformation pressure value meets a preset triggered pressure threshold, the pressure sensor is triggered to generate a triggered signal, the triggered signal being configured to instruct that the waterside thruster performs a preset action.

18. The waterside thruster of claim 17, wherein the body is provided with a motor and a propeller, the motor is rotatably connected to the propeller for driving the propeller to rotate to generate propulsion, the body is provided with a trimming actuator configured to drive the body to trim, and the body is provided with a steering actuator configured to drive the body to steer, wherein the pressure sensor is electrically connected to the motor, and the triggered signal is configured to instruct a rotational speed of the motor; or wherein the pressure sensor is electrically connected to the trimming actuator, and the triggered signal is configured to instruct the trimming actuator to perform a trimming action; or wherein the pressure sensor is electrically connected to the steering actuator, and the triggered signal is configured to instruct the steering actuator to perform a steering action.

19. The waterside thruster of claim 17, wherein the body is provided with an electronic control unit, the electronic control unit is electrically connected to the pressure sensor for receiving the deformation pressure value and obtaining an attitude adjustment signal based on the deformation pressure value and the preset triggered pressure threshold, and the attitude adjustment signal is configured to instruct the waterside thruster to make attitude adjustments.

20. A watercraft, comprising, a water carrier; and a waterside thruster, wherein the waterside thruster comprises: a body, connected to the water carrier; and a tiller, wherein the tiller comprises: a base member, connected to the body; a control portion, movably connected to the base member for receiving control inputs and generating displacement relative to the base member; and a pressure sensor, provided between the base member and the control portion and configured to obtain a deformation pressure value caused by the displacement of the control portion with respect to the base member, wherein when the deformation pressure value meets a preset triggered pressure threshold, the pressure sensor is triggered to generate a triggered signal, the triggered signal being configured to instruct that the waterside thruster performs a preset action.

Description

BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to illustrate the technical solutions of the embodiments of the present application, the accompanying drawings in the embodiments will be briefly introduced below, and it should be understood that the following accompanying drawings only show certain embodiments of the present application, and therefore should not be regarded as a limitation of the scope, and that for a person of ordinary skill in the field, other relevant accompanying drawings can be obtained based on the drawings without creative labor.

[0021] FIG. 1 shows a structural schematic view of a watercraft of some embodiments of the present application;

[0022] FIG. 2 shows a side view of the watercraft of FIG. 1;

[0023] FIG. 3 shows a structural schematic view of the tiller of the watercraft of FIG. 1;

[0024] FIG. 4 shows an expanded view of the tiller of FIG. 3;

[0025] FIG. 5 shows a plan view of the tiller of FIG. 4 with the top wall hidden;

[0026] FIG. 6 shows a sectional view of the tiller of FIG. 3;

[0027] FIG. 7 shows another expanded view of the tiller of FIG. 3, wherein the inner surface of the top wall faces outward;

[0028] FIG. 8 is an enlarged view of FIG. 5 at B, showing a schematic view of some setting of a pressure sensor for the tiller of FIG. 5;

[0029] FIG. 9 shows a schematic view of some other setting of a pressure sensor for the tiller of FIG. 5;

[0030] FIG. 10 shows a schematic view of some other setting of a pressure sensor for the tiller of FIG. 5;

[0031] FIG. 11 shows a schematic view of some other setting of a pressure sensor for the tiller of FIG. 5;

[0032] FIG. 12 shows a schematic view of some other setting of a pressure sensor for the tiller of FIG. 5;

[0033] FIG. 13 shows a schematic view of some other setting of a pressure sensor for the tiller of FIG. 4 provided at the A-A section of FIG. 6;

[0034] FIG. 14 shows a structural schematic view of a tiller of some other embodiments of the present application;

[0035] FIG. 15 shows a sectional view of the tiller of FIG. 14;

[0036] FIG. 16 shows a structural schematic view of the tiller of some embodiments of the present application rotating about a virtual axis;

[0037] FIG. 17 shows a schematic view of the state of the tiller of FIG. 16 turned to one side;

[0038] FIG. 18 shows a schematic view of the state of the tiller of FIG. 16 turned to the other side;

[0039] FIG. 19 shows a schematic view of another structure of the tiller of this embodiment rotating about a virtual axis;

[0040] FIG. 20 shows a structural schematic view of a waterside thruster of some other embodiments of the present application;

[0041] FIG. 21 shows a structural schematic view of a watercraft of some other embodiments of the present application;

[0042] FIG. 22 shows a structural schematic view of a tiller of some other embodiments of the present application;

[0043] FIG. 23 shows a structural schematic view of some other embodiments of the tiller of FIG. 21; and

[0044] FIG. 24 shows a structural schematic view of a tiller of some other embodiments of the present application.

DESCRIPTION OF MAIN COMPONENT SYMBOLS

[0045] watercraft 300 [0046] water carrier 310 [0047] waterside thruster 100 [0048] tiller 10, 70, 80, 90 [0049] body 11 [0050] motor 12 [0051] propeller 13 [0052] Steering actuator 14 [0053] base member 15 [0054] control portion 16 [0055] pressure sensors 17 [0056] swing portion 18 [0057] steering direction 19 [0058] control lever 20 [0059] inner space 21 [0060] pivot hole 22 [0061] rotating shaft 23,63 [0062] arcuate groove 24 [0063] slide pin 25, 65 [0064] abutment portion 26 [0065] flexible pad 27 [0066] gap 28 [0067] deformable wall 29 [0068] bottom wall 30 [0069] top wall 31 [0070] end wall 32 [0071] side wall 33 [0072] through-hole 34 [0073] movement spacing 35 [0074] sensing end 36 [0075] fixed end 37 [0076] rotating end 38 [0077] control box 39 [0078] sensing device 40 [0079] throttle rotation sleeve 41 [0080] button 42 [0081] trigger circuit board 43 [0082] signal processing circuit board 44 [0083] controller 45 [0084] cable 46 [0085] aperture 47 [0086] display 48 [0087] signal amplifier 49 [0088] electronic control unit 50 [0089] slide 51 [0090] slide groove 52 [0091] slider 53 [0092] twisting portion 54 [0093] torsion groove 55 [0094] trimming actuator 56 [0095] middle portion 57 [0096] trimming direction 58 [0097] trimming shaft 59 [0098] slide direction 60 [0099] central axis 61 [0100] shaft connection portion 62 [0101] twisting direction 64 [0102] swing end portion 66 [0103] slot 67 [0104] catch block 68 [0105] fixing member 69 [0106] clamping groove 71 [0107] mounting base 91 [0108] mounting hole 92 [0109] flexible ring 93 [0110] virtual axis 94

DETAILED DESCRIPTION

[0111] The technical solutions in the embodiments of the present application will be described in the following in conjunction with the accompanying drawings in the embodiments of the present application, and the described embodiments are only a part of the embodiments of the present application and not all of the embodiments.

[0112] It should be noted that when an element is the to be fixed to another element, it may be directly on the other element or there may also be a centered element. When an element is the to be connected to another element, it may be directly connected to the other element or there may be both centered elements. When an element is considered to be set on another element, it may be set directly on the other element or there may be both centered elements. The terms vertical, horizontal, left, right, and similar expressions are used herein for illustrative purposes only. are used herein for illustrative purposes only.

[0113] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art belonging to the field of this application. Terms used herein in the specification of this application are used only for the purpose of describing specific embodiments and are not intended to limit this application. The term or/and as used herein includes any and all combinations of one or more related listed items.

[0114] Some embodiments of the present application are described in detail. The following embodiments and features in the embodiments may be combined with each other without conflict.

[0115] Referring to FIG. 1, this embodiment provides a watercraft 300 including a waterside carrier 310 and a waterside thruster 100, the waterside thruster 100 being connected to the waterside carrier 310 for propelling the watercraft 300.

[0116] The watercraft 300 in some embodiments may be a passenger boat, a yacht, or other vessels, the waterside carrier 310 being a boat hull, and the waterside propeller 100 being an outboard. In some embodiments, the watercraft 300 may also be a fishing boat, a sailboat, or other vessels, without limitation herein.

[0117] Continuing to refer to FIG. 1, the waterside thruster 100 includes a body 11 and a tiller 10. The tiller 10 is connected to the body 11. During operation, a user may control the waterside thruster 100 to perform corresponding actions by controlling the tiller 10. For example, the user controls the waterside thruster 100 to perform actions such as steering, trimming, accelerating and decelerating through adjustment to the tiller 10, thereby controlling the operation of the watercraft 300.

[0118] In some embodiments, the body 11 is provided with a motor 12 and a propeller 13, and the motor 12 is rotatably-connected to the propeller 13 for driving the propeller 13 to rotate to generate propulsion. The body 11 is also provided with a steering actuator 14 for driving the body 11 to steer along the steering direction 19.

[0119] Referring to FIG. 2, in some embodiments, the body 11 is rotationally connected to the water carrier 310 via a trimming shaft 59 and is provided with a trimming actuator 56 to adjust the body 11 to trim in a trimming direction 58. The tiller 10 may be electrically connected to the steering actuator 14, the trimming actuator 56, or the motor 12, so that by controlling the tiller 10 to send an electrical signal to the steering actuator 14, the trimming actuator 56, or the motor 12, the body 11 can be operated. This allows the body 11 to steer, trim, accelerate, or decelerate as needed.

[0120] In some embodiments, the waterside thruster 100 is connected to the end portion of the waterside carrier 310, and the tiller 10 is connected to the front portion of the body 11 such that the tiller 10 extends to the side of the waterside carrier 310 for easy maneuvering by a user riding in the waterside carrier 310.

[0121] FIGS. 3-8 illustrate a tiller 10 of a waterside thruster 100 provided according to some embodiments.

[0122] The tiller 10 in some embodiments includes a base member 15, a control portion 16 and a pressure sensor 17. The base member 15 is connected to the body 11 of the waterside thruster 100, for example, on a front side of the body 11. The structure of the base member 15, when connected, can be seen in FIG. 1. In some embodiments, the base member 15 and the body 11 are connected via pins. In other embodiments, the base member 15 may also be part of the body 11.

[0123] The control portion 16 is movably connected to the base member 15 for receiving control inputs and generating displacement relative to the base member 15. The movable connection of the control portion 16 to the base member 15 may be a rotatable connection (as shown in FIGS. 3-8), a slidable connection, etc., as long as it is capable of generating relative displacement.

[0124] The pressure sensor 17 is provided between the base member 15 and the control portion 16 for obtaining a deformation pressure value caused by the displacement of the control portion 16 relative to the base member 15. When the deformation pressure value meets a preset trigger pressure threshold, the processor communicatively connected to the pressure sensor 17 generates a trigger signal, which is used to instruct that the waterside thruster 100 performs a preset action, such as acceleration and deceleration action, trimming action, steering action. The processor communicating with the pressure sensor 17 may be any integrated circuit capable of processing control signals and software data, such as a Central Processing Unit (CPU), a Microprocessor Unit (MPU), an Electronic Control Unit (ECU), and other devices, and the processor may be provided on the body 11 or 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 waterside 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 a trimming action, the pressure sensor 17 is electrically connected to the trimming actuator 56 of the waterside thruster 100, and the trigger signal is used to instruct the trimming actuator 56 to perform a trimming 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 waterside thruster 100, and the trigger signal is used to instruct the motor 12 to perform acceleration and deceleration.

[0125] In some embodiments, the control portion 16 is rotatably connected to the base member 15. The direction of rotation of the control portion 16 may be substantially parallel to the direction of steering of the waterside thruster, substantially parallel to the direction of trimming of the waterside thruster, or substantially parallel to the direction of rotation of the propeller. The direction of rotation of the control portion 16 with respect to the base member 15 may be configured according to the execution action of the waterside thruster 100 to which the pressure sensor 17 can respond. For example, if the sensing signal from pressure sensor 17 corresponds to steering control of the waterside thruster 100, the rotation direction of control portion 16 relative to the base member 15 is substantially parallel to the steering direction of the waterside thruster 100. This kinematic correspondence allows the operator to intuitively map the rotational movement of control portion 16 about base member 15 to the steering maneuver of the waterside thruster 100, thereby enhancing operational intuitiveness and comfort. In another implementation, if the sensing signal of pressure sensor 17 is associated with trim control of the waterside thruster 100, the pivotal displacement direction of control portion 16 relative to base member 15 aligns substantially parallel with the trimming shaft of the waterside thruster. This directional synchronization enables the user's manipulation of control portion 16 about base member 15 to directly govern the trim up motion of the waterside thruster 100, thereby optimizing ergonomic feedback during marine vessel attitude adjustment.

[0126] Referring to FIG. 6 or FIG. 7, the control portion 16 includes a shaft connection portion 62 and a swing portion 18 that oscillates about the shaft connection portion 62. The shaft connection portion 62 is connected to the base member 15 via a pivot shaft such that the control portion 16 is rotatable relative to the base member 15. The swing portion 18 produces displacement relative to the base member 15 when the control portion 16 is rotated. In some embodiments, the direction of rotation of the swing portion 18 relative to the base member 15 is substantially parallel to the steering direction 19 of the waterside thruster 100, and the pressure sensor 17 is subject to the rotation of the swing portion 18 to output a steering signal for controlling the steering of the waterside thruster 100. In some embodiments, the control portion 16 further includes a control lever 20, and the control lever 20 is connected to the swing portion 18 for driving the swing portion 18 to be displaced relative to the base member 15 around the shaft connection portion 62. In some embodiments, the pressure sensor 17 is provided between the swing portion 18 and the base member 15.

[0127] The base member 15 is substantially in the shape of a shell and defines an inner space 21, and the swing portion 18 is provided in the inner space 21. The shaft connection portion 62 is provided with a pivot hole 22, and the base member 15 is provided with a rotating shaft 23 that cooperates with the pivot hole 22. In some embodiments, the swing portion 18 is swingable relative to the base member 15 about an axis of the rotating shaft 23 through the cooperation of the pivot hole 22 and the rotating shaft 23. In some embodiments, the swing portion 18 is provided with an arcuate groove 24, and the center of the circle where the arcuate groove 24 is located coincides with the center of the axis of the rotating shaft 23. The base member 15 is provided with sliding pins 25 slidingly cooperating with the arcuate groove 24, and the inner walls of the two ends of the arcuate groove 24 are used to limit the sliding travel of the sliding pins 25, so as to limit the swing angle of the swing portion 18 with respect to the base member 15, and to avoid that the swing angle of the swing portion 18 is too large, which may lead to the deformation of the pressure sensor 17 exceeding the limit. When the deformation of the pressure sensor 17 exceeds the limit deformation state, it prevents the pressure sensor 17 from being destroyed. As illustrated in FIG. 7, the arcuate groove 24 and the sliding pin 25 are each provided in two sets, and the two sets of arcuate groove 24 and the sliding pin 25 are symmetrically provided about the center axis of the control lever 20.

[0128] The base member 15 is provided with two abutment portions 26. Each of the two abutment portions 26 is disposed in the direction of rotation of the swing portion 18. Correspondingly, there are two pressure sensors 17, wherein one of the pressure sensors 17 is provided between one of the abutment portions 26 and one side of the swing portion 18, and the other pressure sensor 17 is provided between the other abutment portion 26 and the other side of the swing portion 18. In some embodiments, the abutment portion 26 is provided with a flexible pad 27 on the side corresponding to the pressure sensors 17. The provision of the flexible pad 27 can cushion the collision between the pressure sensors 17 and the abutment portion 26 when the swing portion 18 is swinging, thereby avoiding a rigid collision between the two from damaging the pressure sensors 17.

[0129] In some embodiments, the setting position of the pressure sensor 17 may be preset as desired.

[0130] For example, as illustrated in FIG. 8, the swing portion 18 includes a swing end portion 66 that is located away from the rotating shaft 23, and the swing end portion 66 has a large rotational travel due to its location away from the rotating shaft 23. Two pressure sensors 17 are connected to two opposite sides of the swing end portion 66. Each of the pressure sensors 17 are adjacent to two respective flexible pads 27 of the base member 15. A gap 28 may exist between the pressure sensors 17 and the flexible pad 27 or in contact with the flexible pad 27. In this embodiment, the pressure sensors 17 are connected to the sides of the swing end portion 66 using affixed, embedded, or other connecting manners. For example, the pressure sensor 17 is secured to the side of the swing end portion 66 using a connection such as a screw and has an outwardly protruding arm-like shrapnel with strain gauges affixed to the arm-like shrapnel. When the swing portion 18 swings, the arm-like elastic piece of the pressure sensor 17 is deformed by approaching and pressing against the flexible pad 27, which in turn causes the strain gauges thereon to be deformed, thereby converting the deformation into an electrical signal. As also illustrated in FIG. 9, the swing portion 18 is provided with a deformable wall 29, the deformable wall 29 corresponds to the abutment portion 26 and the flexible pad 27, and the deformable wall 29 is deformed by pressing against the flexible pad 27 or the abutment portion 26 when the swing portion 18 swings. The pressure sensor 17 is provided on an 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 may be a thin-walled structure with fixed positions at both ends, the middle position of which is capable of undergoing overall bending and deformation by a lateral force, and the pressure sensor 17 is in the form of a patch-type strain gauge and is affixed 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 abutment portion 26, the middle position of the deformable wall 29 undergoes a bending deformation, which in turn drives the strain gauges of the pressure sensor 17 to deform, and the strain gauges undergo a change in an electrical parameter (e.g., electrical resistance, etc.) under the effect of the bending deformation, so as to obtain the value of the deformation pressure. In this setting method, the pressure sensor 17 is provided on the inner surface of the deformable wall 29, and in the case where the pressure sensor 17 has high requirements for waterproofing, the pressure sensor 17 is built-in, which has a better waterproof effect while transmitting the deformation and pressure, thereby ensuring the safety during the operation of the pressure sensor 17.

[0131] As shown again in FIG. 10, the pressure sensor 17 is connected to the abutment portion 26 of the base member 15, and for the case where the flexible pad 27 is provided, the pressure sensor 17 may be connected to the surface of the flexible pad 27 on the side facing the swing portion 18. The attachment of the pressure sensor 17 on the abutment portion 26 may refer to the aforementioned attachment on the swing portion 18, even though the pressure sensor 17 is fixed to the abutment portion 26 and the arm-like shrapnel of the pressure sensor 17 with the connected strain gauges extends toward the swing portion 18. In some embodiments, as shown in FIG. 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 being vertically connected to each side of the bottom wall 30, and the end wall 32 being vertically connected to the bottom wall 30 and connected between one end edge of the two side walls 33. The top wall 31 may be provided as a removable cover structure, enclosing the bottom wall 30, the end wall 32 and the two side walls 33 within an inner space 21. The aforementioned rotating shaft 23 and the slide pin 25 may be projected on the inner surface of the bottom wall 30, and the swing portion 18 fits on top of the bottom wall 30 through its rotating shaft hole 22 and the arcuate groove 24 to realize a certain range of rotation. Of course, the pivot hole 22 and the arcuate groove 24 may be provided through the swing portion 18, and the inner surface of the top wall 31 may be provided with a pivot shaft 63 and a slide pin 65 corresponding to the pivot hole 22 and the arcuate groove 24, so as to realize the rotational coordination of the upper and lower sides of the swing portion 18, and to provide a more stable coordination. The two abutment portions 26 of the base member 15 are located on the two sidewalls 33, and the corresponding flexible pads 27 are fixedly connected to the inner surfaces of the sidewalls 33.

[0132] The end wall 32 is provided with a through-hole 34 (see FIG. 11). One end of the control lever 20 passes through the through-hole 34, then enters the inner space 21 of the base member 15 (see FIG. 6) and connects to the swing portion 18. The other end of the control lever 20 extends outside of the base member 15 for easy maneuvering. In order to enable the control lever 20 to rotate, the inner diameter of the through-hole 34 and the outer diameter of the control lever 20 are provided with a certain size difference, so that there is a movement spacing 35 between the outer peripheral surface of the control lever 20 and the inner peripheral surface of the through-hole 34. At this time, in some embodiments, the pressure sensor 17 may be provided at the through-hole 34. For example, as shown in FIG. 11, the pressure sensor 17 is provided in a position at which the outer peripheral face of the control lever 20 corresponds to the aperture of the through-hole 34. The pressure sensor 17 may be located at the through-hole 34. In some embodiments, the pressure sensor 17 may also be disposed on the aperture surface of the through-hole 34. In this embodiment, the pressure sensor 17 is connected to the peripheral surface of the control lever 20 or the hole surface of the through-hole 34 in a manner similar to the manner of connection on the swing portion 18. As such, even when the pressure sensor 17 is fixed to the peripheral surface of the control lever 20 or the hole surface of the through-hole 34, the arm-like shrapnel of the pressure sensor 17 with the connected strain gauge may extend toward the hole surface of the through-hole 34 or the outer peripheral surface of the control lever 20.

[0133] Taking the embodiments of FIGS. 3-8 as examples, when the watercraft 300 is used, a user on the watercraft 300 applies a steering force to the portion of the control lever 20 extending out of the base member 15. This action drives the swing portion 18 inside the base member 15 to rotate relative to the base member 15 about the axis of the rotating axle 23. Consequently, the swing portion 18 compresses the pressure sensor 17 mounted thereon against both the flexible pad 27 and abutment portion 26. The pressure sensor 17 then acquires a deformation pressure value caused by the rotational displacement.

[0134] When the deformation pressure value meets a preset trigger pressure threshold (e.g., when the deformation pressure value exceeds the trigger pressure threshold), the pressure sensor 17 is triggered to generate a trigger signal. This trigger signal is used to cause the waterside thruster 100 to perform a steering action. Specifically, upon receiving the triggering signal, the steering actuator 14 of the waterside thruster 100 drives the propeller 13 to steer, thereby steering the watercraft 300.

[0135] In some embodiments, in addition to setting up two pressure sensors 17 to realize the sensing of the rotational deformation on both sides as described previously, it can be realized by using only one pressure sensor 17, as shown in FIGS. 12-15.

[0136] Referring to FIG. 12, in some embodiments, the number of pressure sensors 17 of the tiller 10 is one, and the pressure sensors 17 are capable of sensing the displacement of the control portion 16 oscillating with respect to the base member 15 to both sides of the direction of rotation and generating a deformation pressure value respectively. The pressure sensor 17 has two sensing ends 36, and the two sensing ends 36 are located on both sides of the control portion 16 for sensing the oscillation of the control portion 16 to the two sides respectively. When the control portion 16 is rotated, the swinging end disposed in the inner space 21 is rotated to a position in contact with one of the sensing ends 36 to cause that sensing end 36 to generate a pressure deformation such that a change in the piezo-variable resistance of the pressure sensor 17 occurs, thereby recognizing that the sensing end 36 is subject to resistive action; and when the swinging end is rotated to a position in contact with the other sensing end 36, then the other sensing end 36 is recognized as being subject to resistive action. In this embodiment, the inductive end 36 may be provided with an arm shrapnel with strain gauges connected as described previously, and the strain gauges are deformed into electrical signals by one of the arm shrapnel of the two inductive ends 36 being held against the base member 15. In this embodiment, in order to ensure deformation of the arm-like shrapnel, it is necessary to retain a deformation space for the arm-like shrapnel.

[0137] Referring to FIG. 13, in some other embodiments, the pressure sensor 17 has a fixed end 37 and a rotating end 38, where the fixed end 37 is connected to the base member 15, for example, being attachable to the rotating shaft 23 of the base member 15, and the rotating end 38 is connected to the control portion 16, for example, being attachable to the swing portion 18 of the control portion 16. The intermediate portions 57 of the fixed end 37 and the rotating end 38 are twistable to output two sensing signals from the control portion. The fixed end 37 and the middle portion 57 of the rotating end 38 may be twisted to output two inductive signals for the swinging of the control portion 16 to both sides. When the control portion 16 is rotated, the swing portion 18 is twisted around the rotating shaft 23 in the twisting direction 64 so that the rotating end 38 connected to the swing portion 18 pulls the intermediate portion 57 to twist, and the forward and reverse rotation of the swing portion 18 may cause the intermediate portion 57 to undergo a forward or reverse deformation, and the piezoelectric resistance of the pressure sensor 17 may change accordingly so as to recognize that the intermediate portion 57 is subject to a forward or reverse twisting action.

[0138] Referring to FIGS. 14 and 15, in some embodiments, the number of the pressure sensors 17 is one and the pressure sensor 17 is longitudinally shaped and extends in the direction of the axis of the control lever 20 of the control portion 16. The base member 15 is provided with a catch block 68 and a slot 67, and the longitudinal end of the pressure sensor 17 is coupled in the slot 67, and the other end is connected to the swing portion 18 of the control portion 16, so that when the swing portion 18 swings to both sides, the pressure sensor 17 may be driven to bend and deform in a corresponding direction, and the piezoelectric resistance of the pressure sensor 17 may change accordingly to generate a corresponding electrical signal. In this embodiment, the shape of the swing portion 18 may be set to be different from that of the swing portion shown in the preceding illustration, and only need to be able to rotate relative to the base member 15. In some embodiments, a fixing member 69 is connected to one side of the swing portion 18 near the pressure sensor 17, and the fixing member 69 is used to connect the pressure sensor 17. In some embodiments, a clamping groove 71 is provided at one end of the fixing member 69 near the pressure sensor 17, and the corresponding end of the pressure sensor 17 is clamped in the clamping groove 71. In other embodiments, the pressure sensor 17 may also be connected to the swing portion 18 in other forms to receive the swinging from the swing portion 18, which will not be limited herein.

[0139] Whereas in the preceding embodiment, the control portion 16 rotates relative to the base member 15 around a solid axis structure (i.e., rotating shaft 23/rotation shaft 63). In some other embodiments, the control portion 16 may also be set to rotate around a virtual axis 94 relative to the base member 15 to achieve oscillation. It is noted that the virtual axis 94 herein refers to an axis of rotation that is not present as the physical axis as in the case of a solid axis structure (i.e., rotating shaft 23/rotation shaft 63). In some embodiments, FIG. 16 illustrates examples of the rotation of the control portion 16 about the virtual axis 94 relative to the base member 15.

[0140] As illustrated in FIG. 16, the base member 15 includes a mount 91 having a mounting hole 92 through which the control lever 20 of the control portion 16 passes and is supported within the mounting hole 92 of the mount 91 by a flexible ring 93 configured in an axial direction. The flexible ring 93 allows the control lever 20 to swing within the mounting hole 92, whereby the flexible ring 93 provides a virtual axis 94 for rotation of the control lever 20 relative to the base member 15. It will be appreciated that the flexible ring 93 is a resilient member. Since the flexible ring 93 is set over the portion of the control lever 20 in the mounting hole 92, when the oscillating force applied to the control lever 20 is greater than the deformation-resistant force of the flexible ring 93, the control lever 20 compresses the portion of the flexible ring 93 to deform, thereby permitting the control lever 20 to oscillate within the mounting hole 92, and thereby allowing the control lever 20 to rotate with respect to the base member 15.

[0141] In some embodiments, as shown in FIGS. 17 and 18, the control lever 20 is supported within the mounting holes 92 by configuring two spaced-apart flexible rings 93.

[0142] In swinging the control portion 16 from left side to right side, the control lever 20 may compress the flexible rings 93 to achieve swinging relative to the mounting base 91. The virtual axis 94 of the structure is located substantially between the two flexible rings 93. The structure is much simpler and it does not require a complex physical pivot structure. The state when swinging from left side to right side can be seen in FIGS. 17 and 18. When the control lever 20 is swinging in one direction, one of the portions of the flexible ring 93 is compressed with deformation while the other portion is stretched. And when another portion of the flexible ring 93 is compressed with deformation in a position opposite to the previous flexible ring 93, the other portion is stretched.

[0143] In some embodiments, as shown in FIG. 19, the flexible ring 93 is a flexible sleeve disposed over the control lever 20. The flexible ring 93 covers the full area of the control lever 20 disposed within the mounting hole 92. When the control lever 20 is subject to an applied swinging force greater than the anti-deformation force of the flexible ring 93, the end portion of the flexible ring 93 proximate one of the mounting holes 92 is subject to partially compressed deformation and partially stretched deformation, and the end portion proximate the other opening of the mounting holes 92 is subject to partially compressed deformation and partially stretched deformation in the opposite position, thereby permitting the control lever 20 to swing with respect to the mounting base 91 for the purpose of achieving a swing of the control lever 20 to rotate relative to the base member 15.

[0144] In other embodiments, the virtual axis may be set up in other ways, as long as it is possible to realize that the control inputs applied to the control portion 16 are able to act on the pressure sensor 17. It is not limited herein.

[0145] Referring further to FIG. 6, the shape of the swing portion 18 in some embodiments may be set as desired. The swing portion 18 is provided as an electronic control box 39, with a sensing device 40 hermetically sealed inside the electronic control box 39, and the sensing device 40 is used for sensing another maneuvering input of the control portion 16. It is noted that the another control input described herein refers to a control input that is different from the aforementioned control input for being sensed by the pressure sensor 17, which is used to control the waterside thruster 100 to perform another action. For example, there are at least two control inputs applied to the tiller 10, wherein one of the control inputs is a rotation of the control lever 20 to rotate the electronic control box 39, which in turn triggers the pressure sensor 17 to control the waterside thruster 100 to perform a steering action through the triggering signal of the pressure sensor 17, and the other control input is another control member (e.g., an on/off button 42) applied to the control lever 20, and the control inputs applied to the control member are sensed by the electronic control box. Another control input is another control member (e.g., a switch button 42) applied to the control lever 20, and the control input applied to this control member is received by a sensing device 40 within the electronic control box 39, which in turn is used to control the water thruster 100 to perform another action (e.g., to control the water thruster 100 to trim/start/stop, etc.). By providing additional sensing devices 40, a variety of maneuvering controls can be achieved with a single tiller 10 for ease of use.

[0146] In some embodiments, the control lever 20 is fixedly connected to the electronic control box 39, and the control portion 16 further includes a throttle rotation sleeve 41, the throttle rotation sleeve 41 being socketed outside of the control lever 20. The twisting of the throttle rotation sleeve 41 with respect to the control lever 20 serves as another maneuvering input.

[0147] In some embodiments, the control lever 20 is provided with a button 42 at the end of the control lever 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 control input.

[0148] It is to be noted that both of the abovementioned ways of the throttle rotation sleeve 41 and the button 42 may be present at the same time or may have only one of them, without limitation herein.

[0149] In some embodiments, the electronic control box 39 is further provided with a signal processing circuit board 44, and the signal processing circuit board 44 is electrically connected to the pressure sensor 17 for receiving the deformation pressure value caused by the displacement of the control portion 16 with respect to the base member 15 and comparing the deformation pressure value with the preset trigger pressure threshold to obtain a trigger signal. The signal processing circuit board 44 may be a Printed Circuit Board (PCB), which, after receiving the deformation pressure value, performs a comparison operation between the deformation pressure value and the preset trigger pressure threshold, and does not generate the trigger signal if the deformation pressure value is less than the preset trigger pressure threshold; and does not generate the trigger signal if the deformation pressure value is greater than or equal to the preset trigger pressure threshold according to a comparison operation between the pressure value and the preset trigger pressure threshold. If the deformation pressure value is greater than or equal to the preset trigger pressure threshold, the waterside thruster 100 is controlled to perform steering at a corresponding proportional angle according to the size of the difference between the pressure value and the preset trigger pressure threshold.

[0150] In some embodiments, the predetermined trigger pressure threshold may be a fixed value or a variable value related to an operating parameter (e.g., sailing speed) of the watercraft 300. For example, the preset trigger pressure threshold is positively correlated with the sailing speed of the watercraft 300 watercraft 300, i.e., the faster the sailing speed of the watercraft 300, the greater the preset trigger pressure threshold.

[0151] Through this setting, when the navigational speed of the watercraft 300 is low, the trigger pressure threshold is small, and the pressure sensor 17 can trigger steering at a small pressure value, which can obtain the feeling of less steering damping at low navigational speed. Thus, the user only needs to gently push the control lever 20 to realize the steering. Whereas, when the navigational speed of the watercraft 300 is higher, the trigger pressure threshold is larger, and the pressure sensor 17 needs to trigger steering at a higher pressure value, which means that the user needs to apply a larger push force to realize the steering. When the sailing speed of the watercraft 300 is higher, the trigger pressure threshold is larger, and the pressure sensor 17 needs to be at a higher pressure value to trigger steering, i.e., the user needs to apply a larger thrust to realize steering, which on the one hand can obtain the feeling that the steering damping is larger when the sailing speed is higher, and on the other hand ensures that the control portion 16 under the high sailing speed may not be easily touched to accidentally steer or to steer in a large angle at the high sailing speed to cause a safety accident.

[0152] The predetermined trigger pressure threshold as a function of the navigational speed of the watercraft 300 may be predetermined and stored in a storage-capable device of the control system of the waterside thruster 100, and is not described herein.

[0153] In some embodiments, the base member 15 is provided with a controller 45. The controller 45 is coupled to the signal processing circuit board 44 for controlling the waterside thruster 100 to perform a preset action based on a trigger signal generated by a processor communicatively connected to the pressure sensor 17. In some embodiments, the controller 45 is electrically connected to the signal processing circuit board 44 via a cable 46, and the electronic control box 39 is provided with an aperture 47 for allowing the cable 46 to pass through. The aperture 47 is provided with a sealing plug for achieving a seal at the aperture 47. In other embodiments, the controller 45 and the signal processing circuit board 44 may also be connected wirelessly. It should be noted that the cable 46 is only shown in FIG. 6 and is hidden from view in the other figures.

[0154] In some embodiments, see FIG. 4, the base member 15 is provided with a display 48 for displaying attitude information adjusted by the pressure sensor 17. In some embodiments, the display 48 is provided at an outer surface of the top wall 31.

[0155] In some embodiments, as shown in FIG. 4, the tiller 10 further includes a signal amplifier 49, which is electrically connected to the pressure sensor 17 for amplifying the sensed signal for transmission to the signal processing circuit board 44.

[0156] In some other embodiments, referring to FIG. 20, the signal processing circuit board 44 within the aforementioned electronic control box 39 is omitted, and an electronic control unit 50 on the body 11 of the waterside thruster 100 is used to realize the function of receiving and processing the signal from the pressure sensor 17. In some embodiments, an electronic control unit 50 (ECU) is provided on the body 11 of the waterside thruster 100, and the electronic control unit 50 is electrically connected to the pressure sensor 17 for receiving a deformation pressure value and obtaining an attitude adjustment signal based on the deformation pressure value and a preset triggered pressure threshold, and the attitude adjustment signal is used to instruct the waterside thruster 100 to carry out attitude adjustment, such as to carry out steering adjustment. The electronic control unit 50 is a central integrated operation processor of the waterside thruster 100 for receiving electrical signals from a plurality of modules such as the battery, the steering wheel, the tiller 10, the steering system, the warping system, the propulsion system, etc., and after processing the corresponding electrical signals, the power of the motor 12, the steering of the waterside thruster 100, the warping of the waterside thruster 100, the output power of the battery, or the like may be controlled.

[0157] Referring to FIG. 21, the present embodiment also provides a watercraft 300 with a tiller 70 of the waterside thruster 100, which is basically the same as the aforementioned tiller 10, with the difference in that the swing portion 18 of the tiller 10 rotates in a direction parallel to the steering direction 19 of the waterside thruster 100, and the pressure sensor 17 is subject to the rotation of the swing portion 18 to output a steering signal, thereby controlling the waterside thruster 100. In the tiller 70 illustrated in FIG. 15, the swing portion 18 rotates relative to the base member 15 in a direction parallel to the trimming direction 58 of the waterside thruster 100, and the pressure sensor 17 is rotated by the swing portion 18 to output a trimming signal for controlling the trimming or lowering of the waterside thruster 100.

[0158] Referring to FIG. 22, the tiller 70 includes a base member 15, a control portion 16, and a pressure sensor 17. The control portion 16 includes a swing portion 18 and a control lever 20. The swing portion 18 is pivotably connected to the base member 15 by means of a rotational axis 23, which may be parallel to the steering plane of the waterside thruster. For example, the swing portion 18 is rotatably connected between two side walls of the base member 15 by the rotating shaft 23. A control lever 20 is connected to the swing portion 18 at one end and at the other end for receiving driving maneuvering inputs. The swing portion 18 is provided with pressure sensors 17 at the top and bottom of the swing portion 18 in the illustrated state, and corresponding abutment portions 26 are provided at the top and bottom walls of the base member 15.

[0159] During the operation, the user rotates the swing portion 18 around the rotating shaft 23 relative to the base member 15 by means of the control lever 20, the rotation of which causes the pressure sensor 17 on one side to sense by pressing against the abutment portion 26, which in turn is used to control the watersports propeller 100 to perform a trimming or dropping action. When the user controls the downward rotation of the control lever 20, the pressure sensor 17 on the upper side senses a pressure signal in response to controlling the waterside thruster 100 to perform a lowering action. When the user controls the control lever 20 to rotate upwardly, the pressure sensor 17 at the lower end senses a pressure signal in response to controlling the waterside thruster 100 to perform a trimming action.

[0160] In some embodiments, the pressure sensor 17 of the tiller 70 illustrated in FIG. 23 may also be provided as one, and the preset position may be flexibly selected to be capable of sensing only the rotation of the swing portion 18, and will not be repeated herein.

[0161] FIGS. 22 and 23 illustrate another type of tiller 80 which differs from the aforementioned tiller 10 or tiller 70 in that the displacement of the control portion 16 of the tiller 80 is generated not by rotation but by sliding.

[0162] Referring to FIG. 22, the tiller 80 includes the control portion 16 slidably connected to the base member 15 to generate displacement. The control portion 16 has a sliding portion 51, the sliding portion 51 generating displacement relative to the base member 15 as the control portion 16 slides. The base member 15 is provided with two abutment portions 26, and the two abutment portions 26 are located on each side of the sliding direction 60 of the sliding portion 51. There are two pressure sensors 17, and the two pressure sensors 17 are disposed between the two abutment portions 26 and the sliding portion 51.

[0163] Referring to FIG. 23, in some other embodiments of the tiller 80, the number of pressure sensors 17 may also be one, which has two sensing ends 36 disposed in the sliding direction of the control portion 16 for sensing, respectively, the displacement of the control portion 16 relative to the base member 15 sliding backward and forward in the sliding direction, and generating, respectively, a value of deformation pressure.

[0164] For the case where the control portion 16 includes a control lever 20 and an electric control box 39, the electric control box 39 is slidably connected to the base member 15, and the control lever 20 is connected to the electric control box 39 for driving the electric control box 39 to slide relative to the base member 15. In some embodiments, the electronic 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 fit is realized by the cooperation of the slide groove 52 and the slider 53. In other embodiments, the sliding fit of the electronic control box 39 and the base member 15 may also be in other forms, and will not be limited herein.

[0165] In some implementations, the manipulation of the tiller 80 sliding back and forth, as illustrated in FIG. 22 or FIG. 23, is used to control the advancement speed of the waterside thruster 100, realizing an electronic throttle function. For example, a user pushing forward on the control portion 16 of the tiller 80 realizes control of the waterside thruster 100 to accelerate forward, and a user pulling backward on the control portion 16 of the tiller 80 realizes control of the waterside thruster 100 to decelerate or recede. This manipulation method, in which the manipulation action and the result are consistent, has a certain logical correlation and is more easily accepted by the manipulator. Practice shows that in an emergency, for example, when the driver is driving the water mobile device, and suddenly finds an obstacle not far ahead, the instinctive action may be to pull the tiller backward to try to prevent the water mobile device from colliding with the obstacle forward, in which case the tiller 80 with the backward and forward sliding manipulation method is precisely able to control the slowing down and stopping of the water mobile device, so as to avoid or reduce the risk of collision. Therefore, the tiller with the maneuvering structure and the maneuvering method is more in line with the manipulation habit, and to a certain extent, it can improve the probability of the driver making the correct maneuvering action in an emergency, and improve the safety of use.

[0166] FIG. 24 illustrates yet another type of tiller 90 that differs from the aforementioned tiller 10, tiller 70, or tiller 80 in that the displacement of the control portion 16 of the tiller 90 is generated not by rotation or sliding, but by twisting.

[0167] Referring to FIG. 24, the tiller 90 has the control portion 16 twistably connected to the base member 15 around a central axis 61 of the control portion 16 to produce displacement. The control portion 16 has a torsion portion 54, the torsion portion 54 generating displacement relative to the base member 15 when the control portion 16 is twisted. The base member 15 is provided with two abutment portions 26, the two abutment portions 26 being located on each side of the twisting direction of the twisting portion 54. There are two pressure sensors 17, and the two pressure sensors 17 are disposed between the two abutment portions 26 and the twisting portion 54.

[0168] For the case where the operating portion includes the control lever 20 and the electronic control box 39, the electronic control box 39 is twistably connected to the base member 15 around a central axis of the electronic control box 39, and the control lever 20 is connected to the electronic control box 39 for driving the electronic control box 39 to twist relative to the base member 15. In some embodiments, the base member 15 is provided with a twisting groove 55, and the electric control box 39 is twistably disposed in the twisting groove 55. In other embodiments, the twisting fit of the electric control box 39 and the base member 15 may be in other forms, and will not be limited herein.

[0169] In some other embodiments of the tiller 90, the number of pressure sensors 17 may also be one.

[0170] For the way of twisting to generate the displacement of the control portion 16 of the tiller 90 adopted in FIG. 24, the signal is small, and better control can be obtained by referring to the way of setting the aforementioned signal amplifier 49 to amplify the inductive signal and then pass it to the signal processing circuit board 44.

[0171] In some embodiments, the manipulation of the twisting of the tiller 80, as illustrated in FIG. 24, is used to control the speed of advancement of the waterside thruster 100, mimicking electronic throttles such as motorcycles that control the speed by twisting the handle. For example, the user twists the control portion 16 of the tiller 90 to control the acceleration of the waterside propeller 100, and the greater the twisting force or angle of twisting, the faster the speed or acceleration of the waterside propeller 100. When stopping the twisting of the control portion 16 of the tiller 90, the waterside propeller 100 stops accelerating. The manipulation method, with manipulation movements consistent with other types of transportation (e.g., motorcycles), is more easily accepted by manipulators with relevant experience in use.

[0172] The present embodiment also provides a method of controlling a removable device in a watershed, including the steps of: [0173] obtaining the preset triggered pressure threshold; [0174] comparing a deformation pressure value obtained by the pressure sensors 17 of the aforementioned rudders 10, 70, 80, and 90 with a trigger pressure threshold, to obtain an attitude adjustment signal, where the attitude adjustment signal is used to instruct the waterside thruster 100 to adjust an attitude.

[0175] According to the setting, the attitude adjustment signal referred to herein may be a steering signal, a trimming signal, an acceleration/deceleration signal, or the like, without limitation herein.

[0176] In some embodiments, the control method further includes: obtaining a sailing speed of the watercraft 300, and adjusting the trigger pressure threshold according to the sailing speed. For example, the trigger pressure threshold is positively correlated with the sailing speed, i.e., when the sailing speed increases, the corresponding pressure threshold is adjusted larger. In this way, a sense of maneuvering with low damping at low speeds and high damping at high speeds can be obtained, as well as ensuring that dangerous maneuvers such as steering at a large angle are not easily performed by mistake at high speeds.

[0177] In some embodiments of the control method, the number of the pressure sensors 17 may be two or one.

[0178] For example, the pressure sensor 17 has two pressure sensors, a first pressure sensor and a second pressure sensor. The method includes: comparing a first deformation pressure value obtained by the first pressure sensor with a triggered pressure threshold to obtain a first attitude adjustment signal, the first attitude adjustment signal being used to instruct the waterside thruster 100 to make an attitude adjustment; or, comparing a second deformation pressure value obtained by the second pressure sensor with a triggered pressure threshold to obtain a second attitude adjustment signal, the second attitude adjustment signal being used for instructing the waterside thruster 100 to perform the attitude adjustment.

[0179] In some embodiments, there is one pressure sensor 17. The pressure sensor 17 is used to obtain a first deformation pressure value and a second deformation pressure value caused by the displacement of the control portion 16. The method includes: comparing the first deformation pressure value with the triggered pressure threshold to obtain a first attitude adjustment signal, the first attitude adjustment signal being used to instruct the waterside thruster 100 to make an attitude adjustment; or, comparing the second deformation pressure value with the triggered pressure threshold to obtain a second attitude adjustment signal, the second attitude adjustment signal being used for instructing the waterside thruster 100 to make the attitude adjustment.

[0180] The embodiments also provide a storage medium, which includes a stored program executing the aforementioned method of controlling a watercraft.

[0181] The above embodiments are only used to illustrate the technical solutions of the present application and are not intended to be limiting, although the application has been described in detail with reference to the above embodiments, a person of ordinary skill in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present application without departing from the spirit and scope of the technical solutions of the present application.