Abstract
A water sports device is provided which is configured for self-stabilization. The water sports device includes an active stabilization means, in the case of which the control unit provides control signals for actuators of the water sports device, actuators being active adjusting means. These can be a motor of the propulsion apparatus, adjustable flaps or nozzles, or adjustable fins, rudders, hydrofoils or individual adjustable sections thereof. Input data such as data about the position of the water sports device, power output of the propulsion apparatus, speed, acceleration and/or user inputs are evaluated in the control unit, and control commands for an actuator or a plurality of actuators are generated.
Claims
1. A water sports device comprising: a float; a hydrofoil apparatus which is fastened by a holding apparatus to the float, and a propulsion apparatus which is provided for the propulsion of the water sports device, wherein the hydrofoil apparatus is arranged on a link of the holding apparatus having one or more hydrofoils, wherein the float transferring into a position which is spaced apart from the water surface in the operating position and during a forward movement on account of a buoyancy brought about by way of the hydrofoil apparatus; wherein the propulsion apparatus is configured for automatic self-stabilization of the water sports device, and the water sports device has a control unit which is provided to this end.
2. The water sports device as claimed in claim 1, wherein the propulsion apparatus is configured for thrust control.
3. The water sports device as claimed in claim 31, wherein the control unit is configured for self-stabilization of the water sports device by means of the thrust vector control.
4. The water sports device of claim 1, wherein the propulsion apparatus has a vector nozzle.
5. The water sports device of claim 1, wherein the control unit is configured for multiple-axis stabilization of the float.
6. The water sports device of claim 1, wherein the propulsion apparatus has a pivotable propeller.
7. The water sports device of claim 1, wherein the propulsion apparatus has at least one pivotable guide vane.
8. The water sports device of claim 1, wherein the propulsion apparatus has a plurality of nozzles which point in different directions.
9. The water sports device of claim 1, further including at least one sensor from a group comprising gyro sensors, speed sensors, position sensors (GPS, Glonass, Beidou, etc.), distance sensors (echo sounders, sonar), infrared sensors and inclinometers.
10. The water sports device as claimed in claim 9, wherein the control unit is configured for processing the signals of the one or more sensors and for forming control signals on the basis of said signals.
11. The water sports device of claim 1, wherein a plurality of selectable movement profiles are stored in the control unit.
12. The water sports device of claim 1, wherein the control unit is configured for setting different spacings from the water surface in the operating position.
13. The water sports device of claim 1, wherein the hydrofoil apparatus is configured for setting different angles of attack of at least parts of the one or more hydrofoils and/or of rudders of the hydrofoil apparatus.
14. The water sports device of claim 1, wherein the control unit is configured for speed-dependent setting of the hydrofoil apparatus and/or the holding apparatus.
15. The water sports device of claim 1, wherein the control unit is assigned at least one handheld unit.
16. The water sports device of claim 1, further including a dead man's apparatus.
17. The water sports device of claim 1, wherein the hydrofoil apparatus can be transferred, via the holding apparatus out of the rest and/or starting position into an operating position below the float.
18. The water sports device of claim 17 wherein the holding apparatus has a drive which is provided with an energy store, via which the hydrofoil apparatus can be transferred out of the rest and/or starting position into the operating position and/or out of the operating position into the rest and/or starting position.
19. The water sports device of claim 1, wherein the holding apparatus has a further link which is mounted pivotably at one end on or in the float and is arranged pivotably at the other end on the hydrofoil apparatus.
20. The water sports device as claimed claim 18, further including a control apparatus which is configured for controlling the drive, and at least one depth and/or proximity sensor which is connected to the control apparatus, the control apparatus being configured to change the spacing of the hydrofoil apparatus from the float in a manner which is dependent on the spacing of the water sports device from the bottom and/or an obstacle.
21. The water sports device as claimed in claim 18, wherein the energy store has at least one spring which is prestressed by means of a drive motor.
22. The water sports device of claim 1, wherein the propulsion apparatus is configured at least partially as part of the hydrofoil apparatus.
23. The water sports device of claim 1, wherein the propulsion apparatus comprises an electric motor or an internal combustion engine.
24. The water sports device of claim 17, wherein the propulsion apparatus is operable both in the rest and/or starting position and in the operating position.
25. The water sports device of claim 1, further including a motor of the propulsion apparatus, which motor is arranged on the float side and is drive-connected to a propulsion element via a propulsion train which can be moved in an angular and/or longitudinal manner.
26. The water sports device of claim 1, wherein the propulsion apparatus has a sensor arrangement which can be used for positional determination, and the control unit is configured, for the purpose of geo-fencing, for generating control signals on the basis of signals of the sensor arrangement.
27. The water sports device of claim 1, further including at least one movement state sensor for determining the spacing of the float and/or the hydrofoil apparatus from the water surface.
28. The water sports device of claim 1, further including a visual display unit.
29. The water sports device as claimed claim 19, further including a control apparatus which is configured for controlling the drive, and at least one depth and/or proximity sensor which is connected to the control apparatus, the control apparatus being configured to change the spacing of the hydrofoil apparatus from the float in a manner which is dependent on the spacing of the water sports device from the bottom and/or an obstacle.
30. The water sports device as claimed in claim 2, wherein the propulsion apparatus is configured for automatic thrust control.
31. The water sports device as claimed in claim 2, wherein the propulsion apparatus is configured for automatic thrust vector control.
32. The water sports device as claimed in claim 9, wherein the propulsion apparatus includes the at least one sensor.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
[0059] Reference is now made more particularly to the drawings, which illustrate the best presently known mode of carrying out the invention and wherein similar reference characters indicate the same parts throughout the views.
[0060] FIG. 1 shows an object according to the invention in a side view.
[0061] FIG. 2 shows the object according to FIG. 1 in a view from the rear.
[0062] FIGS. 3a to 3c show a propulsion apparatus of an object according to the invention.
[0063] FIGS. 4a to 4c show an alternative propulsion apparatus of an object according to the invention.
[0064] FIGS. 5a to 5c show a further alternative propulsion apparatus of an object according to the invention.
[0065] FIG. 6 shows two objects according to the invention in a further use situation.
[0066] FIGS. 7a to 7c show a further object according to the invention in a perspective view.
[0067] FIGS. 8a to 8b show a further object according to the invention in a perspective view.
[0068] FIG. 9 shows the object according to FIG. 1 in a use situation.
[0069] FIGS. 10a to 10c to show a part of one exemplary embodiment according to the invention.
[0070] FIGS. 11 and 12 show a further exemplary embodiment according to the invention.
DETAILED DESCRIPTION OF THE DRAWINGS
[0071] Individual technical features of the exemplary embodiments which are described in the following text can also lead in combination with the features of the independent claim to developments according to the invention. If appropriate, functionally identical parts are provided with identical designations.
[0072] The water sports device 2 according to the invention is configured for self-stabilization. This takes place via a control unit 70 which is provided to this end. The latter generates control signals for actuating means. Said actuating means can be pivotably arranged hydrofoils 16 of the hydrofoil apparatus 6 (FIG. 7) or pivotably arranged sections of the hydrofoils 16 (FIG. 8).
[0073] As an alternative or in addition, a vector nozzle 92 (FIG. 1, FIG. 4), a pivotably arranged propeller 64, pivotable guide vanes 94 (FIG. 3) which are preferably arranged at an outlet opening 60 of the propulsion apparatus 50, and/or nozzles 66 which can be arranged both in a stationary or pivotable manner (FIG. 5) can be provided.
[0074] By way of the adjustment of the hydrofoils 16 and/or the apparatuses of a vector control which are arranged on the propulsion apparatus 50, the water sports device or system consisting of the water sports device and its user can be loaded with forces which repeatedly move it in the direction of the stable position.
[0075] The exemplary embodiment (shown in FIG. 1) of the water sports device 2 according to the invention comprises a float 4 which is connected via a hydrofoil apparatus 6 to a holding apparatus 8. The holding apparatus 8 comprises two links 10 which are arranged at one end in an articulated manner on the float 4 and at the other end in an articulated manner on the hydrofoil apparatus 8. Via an internal drive 12 which is shown using dashed lines, the front links 10 which are arranged on a common shaft are moved in the movement direction F. Via the coupling, the rear (in the movement direction F) links 10 are positively guided by means of the propulsion apparatus 50 of the hydrofoil apparatus 6. In this regard, merely a single drive 12 of sufficient dimensions is necessary.
[0076] In the present case, the propulsion apparatus 50 is configured with a hubless impeller 52 (FIG. 2). The associated motor has a rotor which forms part of the flow duct by way of its inner side and is correspondingly hollow, the blades 54 being fastened on the inner side of the rotor. The rotor is mounted outside the flow duct on its outer side which is directed away from the flow duct, and runs in a stator which is arranged in a propulsion body housing 56.
[0077] A vector nozzle 92 is arranged at the outlet 60 of the propulsion apparatus 50. A control unit 70 generates control commands for the vector nozzle 92, by way of which the thrust vector of the propulsion apparatus 50 can be changed. Via this, self-stabilization of the water sports device or of a system comprising the water sports device and its user can be achieved. To this end, the control unit 70 can evaluate signals of the sensor arrangement 74.
[0078] The links 10 are of optimized-flow configuration with a smaller extent as viewed in the movement direction F and transversely with respect thereto (FIGS. 1 and 2). Moreover, the incident flow faces are rounded, and the links are of teardrop-like or wing-like configuration in cross section, in particular.
[0079] Two laterally projecting housing walls 58 (cf. FIG. 1) delimit two openings which are configured as inlet openings and are situated on the surfaces which face away from one another, through which openings the water which is accelerated and ultimately ejected through the outlet opening 60 passes beforehand into the internal flow duct. The propulsion apparatus comprises the propulsion body housing 56 which is fixed in two receptacles 62 and has an internal propulsion energy store, the motor which is configured as an internal rotor motor including a hubless impeller, and a control unit 70 which is configured with a man/machine interface for operating the propulsion apparatus. Corresponding line means lead, for example, through the links 10 into the float 4, and are transmitted from there, for example, wirelessly to a hand-held unit 90 of the user 86 operating the water sports device 2 (FIG. 6).
[0080] Via a handheld unit of this type, for example, the transfer of the hydrofoil apparatus 6 with its hydrofoils 16 out of the operating position which is shown into a starting and/or rest position of the hydrofoil apparatus 6 closer to the float 4 can be enabled or triggered.
[0081] According to the invention, the transfer can be brought about, for example, by way of control signals of a control unit 70 which is arranged in the float 4 and is therefore shown merely using dashed lines, in an automatic manner on account of the evaluation of said control signals within the context of geo-fencing (FIG. 1). For this purpose, the control unit 70 receives signals of the sensor arrangement 74 via a signal line 72 which is shown using dotted lines. Control signals are generated on the basis of said signals if an internally or externally predefined area, in which the water sports device 2 may be used, is left. A control signal is generated automatically in the control unit 70 only when a predefined boundary 83 of a use area 82 of the water sports device 2 is left (cf. FIG. 9). Said control signal can lie, for example, at the transition of the hydrofoil apparatus 6 into the rest and/or starting position of the hydrofoil apparatus 6 and, for example, at throttling of the drive power output of the propulsion apparatus 50. For this purpose, the sensor arrangement is configured, for example, for receiving GPS signals or other localization signals and/or the spacing above the bottom by means of an acoustic signal. For the latter, the lower side of the float 4 has corresponding transmitting and receiving units 76. They are likewise coupled again to the control unit 70 via a corresponding signal line 72.
[0082] The foil board which is shown in FIGS. 1 and 2 can then be transferred back to its use location in a manner which is controlled via weight shifting. As an alternative or in addition, the foil board can also be configured for determining the spacing from a use location 78, in accordance with FIG. 9. For this purpose, for example, the transmission duration of a time-coded signal between a central controller 80 which is assigned to the use location 78 and the water sports device 2 is determined. Via a controller 80 of this type, further control options can also be carried out by a user having corresponding access permissions, in particular if the water sports device leaves a use area 82 via its boundary 83.
[0083] The sensor arrangement 74 can also be supplemented by a communications unit, by which the control units 70 of two water sports devices 2 which are correspondingly in a synchronous mode with one another can communicate with one another, indicated by way of the signals 84 which are shown using a plurality of curved lines. In a mode of this type, for example, a person 86 authorized as instructor can give movement signals to a learning person 88 by means of the handheld unit 90 which is attached wirelessly to the control unit 70, which movement signals lead, for example, to the initiation of cornering as a result of folding away of the movable hydrofoils 16 of the hydrofoil apparatus 6. Moreover, the area of use of the water sports devices 2 is restricted to an area 82 defined by way of geo-fencing by way of the correspondingly programmable control unit 70 (not shown in the present case) (cf. FIG. 9).
[0084] FIG. 3 shows a propulsion apparatus 50 of a water sports device 2 according to the invention in one embodiment. The propulsion apparatus 50 has an impeller 52. Guide vanes 94 are arranged at the end of the propulsion apparatus 50. Here, the guide vanes 94 form a cross, the arms of which are arranged turned by 90° with respect to one another. The guide vanes 94 can be pivoted about pivot axes, two guide vanes being arranged on each pivot axis. The guide vanes can be pivoted around the pivot axis, the horizontally arranged guide planes 94 can be pivoted from left to right and vice versa, and the horizontally arranged guide vanes 94 can be pivoted from top to bottom and vice versa. FIG. 3a shows the guide vanes 94 in the neutral position. In FIG. 3b, the vertically arranged guide vanes 94 are pivoted to the right and the horizontally arranged guide vanes 94 are pivoted to the bottom, and, in FIG. 3, the horizontally arranged guide vanes are pivoted to the top. It is possibly also conceivable for each of the four guide vanes 94 to be designed so as to be individually pivotable. As a result, for example, a torque about a longitudinal axis of the propulsion apparatus 50 can be generated.
[0085] FIG. 4 shows an alternative refinement of a corresponding propulsion apparatus 50 with an impeller 52, which propulsion apparatus 50 is equipped with a vector nozzle 92. Via the vector nozzle 92, the drive jet of the propulsion apparatus 50, the rearwardly ejected water quantity, can be oriented. FIG. 4a shows the vector nozzle 92 in the neutral position. FIG. 4b shows the vector nozzle 92 pivoted to the left, and FIG. 4c shows it pivoted to the bottom. By way of corresponding orientation of the vector nozzle 92, a directed force can be exerted on the propulsion apparatus 50 and therefore on the water sports device 2.
[0086] FIG. 5 shows a further alternative refinement of the propulsion apparatus 50 with a plurality of nozzles 96. Said nozzles 96 can either be configured as vector nozzles 92 and therefore have a variable position. As an alternative, the propulsion apparatus can also have a plurality of nozzles 96 which are oriented in different directions in a fixed manner. Control of the water sports device can be achieved by virtue of the fact that the drive jet which is ejected through defined nozzles 96 is regulated, for example, by way of valves. The drive jet is then ejected, for example, only through defined nozzles 96, or the proportion of the drive jet which exits through defined nozzles 96 is correspondingly variable.
[0087] FIG. 5a shows a propulsion apparatus 50 with five nozzles 96 as vector nozzles 92. FIG. 5b shows said nozzles 96 in a position, in which they are pivoted toward the bottom left. FIG. 5c shows nozzles 96 which point in different directions. These can either be vector nozzles 92 which are actuated independently of one another, or nozzles 96 which are not variable and in the case of which merely the proportion of the drive jet which exits through the respective nozzle can be varied.
[0088] FIG. 6 shows two water sports devices, in the case of which self-stabilization can take place as an alternative or in addition by way of the hydrofoil apparatus 6 with pivotably movably arranged hydrofoils 16. Via the control unit 70, signals for adjusting the adjustable hydrofoils 16 can therefore be transmitted, and the hydrofoils 16 can be adjusted.
[0089] FIG. 7 and FIG. 8 show two water sports devices 2 with alternative refinements of the hydrofoil apparatus 6 or the hydrofoils 16. The hydrofoil apparatus 6 is arranged on the propulsion apparatus 50. In the variant according to FIG. 7, the individual hydrofoils are arranged pivotably directly on the propulsion apparatus 7. FIG. 7a shows the hydrofoils 16 in the neutral position. In FIG. 7b, the hydrofoils 16 are pivoted downward and at the same time the right-hand (in the movement direction of the water sports device 2) hydrofoils 16 are pivoted against the propulsion apparatus. FIG. 7c shows the hydrofoils in a transport position or rest position. The control unit 70 of the water sports device 2 can actuate the individual hydrofoils 16 in such a way that automatic self-stabilization of the water sports device 2 in the water takes place.
[0090] FIG. 8 shows an alternative refinement of the hydrofoil apparatus 6. Here, a front and a rear hydrofoil which at least partially configure the hydrofoils are arranged on the propulsion apparatus 50. Pivotable tips of the hydrofoils 16 are arranged on said rigid hydrofoils in each case at the ends, which pivotable tips can be pivoted into various positions. As a result, stabilization of the water sports device 2 can also be achieved by way of adjustment of the hydrofoils 16, merely the pivotably arranged tips of the hydrofoils 16 in FIG. 8.
[0091] FIGS. 10a to c show one advantageous embodiment of an impeller 52, in the case of which blades 54 can be rotated and can therefore have their angle of attack adjusted. Here, the individual blades 54 are connected to one another merely indirectly. To this end, the propulsion apparatus 50 has a motor 200 which is configured as an internal rotor motor with a stator 202 and a rotor 204. On its outer side which is directed away from the flow duct, the rotor 204 is mounted by way of two radial bearings 206 which are configured in the present case as magnetic bearings and an axial bearing 208 which is likewise configured in the present case is a magnetic bearing. An impeller ring 210 which has pivotable blade receptacles 211 is arranged on the rotor. In each case one blade 54 is arranged on the blade receptacles 211. The propulsion apparatus 50 has an adjustment ring 212 which is arranged coaxially with respect to the rotor 204 or the impeller ring 210. The adjustment ring 212 is likewise hollow and is mounted on its outer side which is directed away from the flow duct. The spacing between the adjustment ring 212 in the impeller ring 210 is variable here in the axial direction. In the present case, this is achieved by way of active magnetic axial positioning in a magnetic bearing 214 of the adjustment ring 212. The adjustment ring 212 is in engagement via individual adjustment pins 216 with cylindrical outer sections of the blade receptacles 211. If the axial spacing between the adjustment ring 212 and the impeller ring 210 is changed by the magnetic bearing 214, this translational movement is converted by way of the interaction of the adjustment pins 216 and the blade receptacles 211 into a rotational movement of the blades 54, via which rotational movement the blades 54 can be pivoted. As a result, the angle of attack of the blades 54 can be set.
[0092] In accordance with a further exemplary embodiment according to the invention, a plurality of capacitive sensors 36 for configuring a movement state sensor 32 are arranged along a link 10 of the holding apparatus 8 (FIGS. 11 and 12). They extend uniformly over a large part of the link 10 along its longitudinal extent and transmit corresponding data to a control unit which is preferably arranged on the float 4, in a manner which is dependent on whether they are arranged above or below a water surface 34 which is indicated in each case by way of dashed lines. As a result, a spacing of the float 4 from the water surface 34 can be determined in said control unit, whereupon, in the case of undesired states, the control unit can adapt, for example, the thrust of the propulsion apparatus 50 which is integrated into the link 10 or an angular position of a hydrofoil 16, in order, in addition to the thrust vector control, to achieve a more stable movement state and to stabilize the water sports device.
[0093] The exemplary embodiment of FIGS. 11 and 12 has, furthermore, a visual display unit 31 which is integrated into the float and shows the spacing of the float 4 from the water surface. The display unit 31 comprises a plurality of multicolor LED units 33 which are laminated in, with the result that the spacing from the water surface 34 can be shown via the number and/or wavelength of the illuminating LED units 33.
