Apparatus for sensing movement of an object relative to a fluid

Abstract

Disclosed is inter alia an apparatus (63) for sensing a movement of an object (10, 11) relative to a fluid (12, 13), e.g. for sensing relative movements of a surf board in water. A particular characteristic of the invention is that the housing (21) is mounted in fixed arrangement to a surface (20) of the object, the housing receiving a spring member (62) having a plurality of blades (25a, 25b, 25c, 25d), wherein each blade has an outer end (27) which is fixed to the housing, and an inner end (28) which is connecting to a center portion (65) of the spring, the plurality of blades defining a plane (73), wherein a plurality of strain gauges (26a, 26b, 26c, 26d) is positioned on the blades, and wherein a rigid pin (17) is mounted on the center portion of the spring member which is extending in a direction of a normal vector (74) of the plane and which is protruding from the surface (20) of the object and configured to dip into the fluid.

Claims

1. An apparatus for sensing movement of a moving object moving relative to a fluid, the apparatus comprising: a housing fixed relative to and having a cover flush with a fluid-engaging surface of the moving object and not projecting from the fluid-engaging surface into the fluid; a spring held in the housing inward of a surface of the housing and having a plurality of elastically deformable blades together defining a plane substantially parallel to the fluid-engaging surface and each having an outer end fixed to the housing and an inner end; a hub connected to the inner ends of the blades of the spring; respective strain gauges on the blades; and a rigid pin mounted on the hub of the spring, extending perpendicular to the plane through the cover, and projecting from the fluid-engaging surface of the moving object into the fluid such that a transverse force exerted by the fluid on the pin deflects the pin and thereby deforms the blades and the strain gauges and measurably affects an electrical property of the strain gauges.

2. The apparatus according to claim 1, wherein there are at least three of the blades.

3. The apparatus according to claim 1, wherein the blades are angularly equispaced from each other about an axis of the pin.

4. The apparatus according to claim 1, wherein there is a respective one of the strain gauges on each of the blades.

5. The apparatus according to claim 1, further comprising: a float carried on the pin.

6. The apparatus according to claim 1, wherein the housing comprises a cover flush with the fluid-engaging surface of the moving object.

7. The apparatus according to claim 6, wherein the cover has a bore having an inner diameter larger than an outer diameter of the pin and the pin extends through the bore.

8. The apparatus according to claim 1, wherein the spring urges the pin into a rest position when no forces from the fluid act upon the pin.

9. A system for determining information about movement of a moving object relative to a fluid, the system comprising: an apparatus according to claim 1, a first communication unit on the moving object and connected to the apparatus, and a second communication unit remote from the moving object and receiving information from the first communication unit.

10. The system according to claim 9, further comprising: a calculating unit configured to calculate from information received from the first unit a velocity of the moving object and a direction of movement of the moving object relative to the fluid.

11. The system according to claim 10, wherein the calculating unit uses GPS-information about the moving object for calculating a velocity of the moving object and a direction of movement of the moving object relative to the fluid.

Description

(1) Any further advantages can be derived from the dependent claims not cited as well as from the embodiments of the invention shown in the drawings by way of example only.

(2) In the drawings there is shown in:

(3) FIG. 1 a first embodiment of the apparatus of the invention incorporated in a surf board which is shown in a schematic side view,

(4) FIG. 2 the surf board of FIG. 1 in a schematic bottom view according to arrow II in FIG. 1,

(5) FIG. 3 a schematic cross sectional view of the embodiment of the apparatus of FIG. 2 taken along line in FIG. 2,

(6) FIG. 4 an embodiment of a 4-blade-sensor element of the apparatus of the invention in a perspective schematic view,

(7) FIG. 5 the sensor element of FIG. 4 in a perspective back view according arrow V in FIG. 4 with four strain gauges in exploded view,

(8) FIG. 6 a further embodiment of a 4-blade-sensor similar to that of FIG. 4 in a different perspective and showing differently formed blades,

(9) FIG. 7 a schematic explosion view of a further embodiment of the apparatus of the invention,

(10) FIG. 8 the embodiment of FIG. 7 with numerous parts shown in FIG. 7 subassembled

(11) FIG. 9 a schematic perspective view of the embodiment of FIG. 8 in a mounted state,

(12) FIG. 10a a schematic cross sectional view of the apparatus of FIG. 4 without floating member in a position where no forces act upon the pin, the pin being in target position,

(13) FIG. 10b the apparatus of FIG. 10a in a situation where a first force F is exerted upon the pin,

(14) FIGS. 10c-10e the apparatus of FIG. 10a showing further positions of the pin and the blades under action of different forces F acting along different directions onto the pin,

(15) FIG. 11 an electric circuit in form of wheatstone bridge in a schematic diagrammatic illustration, embedding the strain gauges,

(16) FIG. 12 a further embodiment of the apparatus according to the invention in an illustration similar to FIG. 6 showing a 3-blade sensor having three strain gauges (not shown),

(17) FIG. 13 a further embodiment of the apparatus of the invention in schematic illustration similar to FIG. 3 showing a pin which is pliable and having strain gauges mounted on the pin,

(18) FIG. 14 a schematic diagram illustrating an embodiment of a system according to the invention comprising an object configured as a water vehicle shown in the water and having a first communication unit, a second communication unit mounted on the shore, and a satellite,

(19) FIG. 15 a further embodiment of the apparatus according to the invention in an illustration similar to FIG. 3 showing a membrane for detecting z-directional forces mounted in the pin, and

(20) FIG. 16 a further embodiment of apparatus of the invention in an illustration similar to FIG. 3 showing a membrane arranged in the housing, near or at the blades.

(21) Numerous embodiments of the invention are shown in the drawings described in the following description of the figures and under reference to the drawings only in an exemplary way.

(22) For the sake of clarity identical parts or parts having identical functions have been designated with the same reference numerals, in part by adding small alphabetic characters, even for different embodiments.

(23) Features, which have been disclosed only in reference to one single embodiment, can—within the frame of the invention—also be provided at any other embodiment of the invention. Such embodiments are also comprised of the invention, even if such embodiments are not disclosed in the drawings.

(24) All features disclosed in the following description are of relevancy for the invention. In the disclosure of this patent application there is also included the disclosure of any cited prior art documents and prior art apparatus, including for the purpose to take up one or several features of those prior apparatuses into one or more claims of the present patent application.

(25) An embodiment of an apparatus according to the invention is designated in its entity in the figures with the reference numeral 63.

(26) The embodiment of the apparatus 63 according to the invention will be referenced to in view of the object 10. The object 10 is schematically shown in the drawings as a surf board 11. This surf board 11 serves to be used in a fluid 12 which in the present case is water.

(27) According to FIGS. 1 and 2 the surf board 11 might have a plurality of fins 14a, 14b, 14c.

(28) The middle axis of the surf board 11 is designated with the reference numeral 15 and the direction of travel 16 of the surf board 11 will mostly correspond to the middle axis 15.

(29) The apparatus 63 is arranged at the underside 64 of the surf board 11 and is—as can be seen from FIG. 2—positioned advantageously on or near to the middle axis 15 of the surf board 11.

(30) FIG. 3 shows an enlarged schematic cross section view of FIG. 1 according to circle line III.

(31) The apparatus 63 will be now described in detail in view of FIG. 3:

(32) The cross section of FIG. 3 shows the inner structure of the surf board 11 including an inside foam 19 which might be a light weight foam, e.g. made of polyurethane, and hard surfaces 20a, 20b, which may consist of resin and glass fibers. The apparatus 63 comprises a housing 21 which is inserted into the inner structure of the surf board 11 and affixed thereto. The housing 21 receives a ring member 22 which is affixed to the housing 21.

(33) From the inner faces of the ring member 22 there are four blades 25a, 25b, 25c, 25d extending. The outer ends 27 of each blade 25a, 25b, 25c, 25d are affixed to the ring member 22. The inner ends 28 meet in the central hub portion 65. The plurality of blades 25a, 25b, 25c, 25d form a spring member 62 and define a plane 73.

(34) Affixed to a central hub portion 65 of the spring member 62 there is a pin 17.

(35) The pin 17 is cylindrical and has a circular cross section. The pin 17 is extending in a direction orthogonal to the plane 73, which is the direction of a normal vector 74.

(36) The pin 17 consists of a stiff, rigid material, as metal or hard plastics, and does not ply when forces are exerted on the pin.

(37) FIG. 10a shows a target position of the pin 17. The spring member 62 is biasing the pin 17 into its target position.

(38) If onto the free end 66 of the pin 17 a force F is exerted (see FIG. 10b) then the pin 17 will pivot from the position according to FIG. 10a into the position according to FIG. 10b.

(39) While the pin 17 is rigid and stiff and will not bend, the blades 25a, 25c will bend as can be seen in comparison of FIGS. 10a and 10b.

(40) According to FIG. 3 the housing 21 of the apparatus advantageously is closed by a cover member 23. The cover member 23 has a bore 24 through which a pin 17 is extending.

(41) As can be seen in FIG. 3, there is an annular space 67 provided between the bore 24 and the pin 17 to allow movements of the pin 17 as shown in FIGS. 10a to 10c. For the sake of clarity it is noted that the bore 24 has an inner diameter 75 which is larger than the outer diameter 76 of the pin 17.

(42) It shall be noted that the movements shown in FIGS. 10b and 10c are for purpose of illustration only and that in real applications only very small angles, for example of much less than one degree, will be reached.

(43) According to FIG. 5, which is an exploded view, there are four strain gauges 26a, 26b, 26c, 26d provided on the back face 30 of the blades 25a, 25b, 25c, 25d. Other embodiments of the invention which are not shown in the drawings provide strain gauges on the front side 29 of the blades 25a, 25b, 25c, 25d. All embodiments shown in the drawings only show strain gauges 26a, 26b, 26c arranged on the back side 30 of the blades 25a, 25b, 25c, 25d.

(44) Strain gauges which can be employed in the embodiments of the invention are standard known electronic elements.

(45) Strain gauges appropriate for use with the invention are commercially available for example at Hottinger Baldwin Messtechnik GmbH in 64293 Darmstadt, Germany.

(46) According to the invention strain gauges 26a, 26b, 26c are glued to the backside 30 of the blades 25a, 25b, 25c and then covered with an insulating material like silicone or resin. The strain gauges 26a, 26b, 26c connected are via cables 34a, 34b (see FIG. 3) connected to other electronic elements and/or are part of an electric circuit 44 which will be explained later under reference to FIG. 11.

(47) Strain gauges 26a, 26b, 26c employed according to the embodiment of the invention are preferably linear strain gauges.

(48) Strain gauges which can be used within the invention change their electrical resistance if the blades 25a, 25b, 25c, 25d, on which the strain gauges 26a, 26b, 26c, 26d are glued to, undergo a change in length.

(49) As can bee seen in comparison of FIGS. 10a and 10b the portion of the back side 30 of blade 25a will be elongated when the pin 17 is pivoted from the position of FIG. 10a in the position of FIG. 10b, while the length of portion of the back side 30 of the blade 25c will be reduced at the same time.

(50) This length discrepancy will lead to discrepancy in the resistance of the strain gauges 26a, 26c.

(51) According to the embodiments of FIG. 3 to FIG. 10e the two strain gauges 26a and 26c are positioned on two blades 25a, 25c, which are arranged exactly opposite to each other. Any change in resistance of strain gauge 26a therefore will be the same at the opposing strain gauge 26c, however with a negative effect.

(52) Using an appropriate electrical circuit, these changes in resistance of the strain gauges 26a, 26b, 26c, 26d can be measured and can be used to obtain information about forces F being exerted on the pin 17.

(53) If for example according to FIG. 10b a force F is exerted onto the pin 17 this will lead to a certain movement of the pin 17 which will result in a certain change in the electric resistances of the two strain gauges 26a, 26c.

(54) If however a contrary force F according to FIG. 10c is exerted onto the pin 17 as shown in FIG. 10c—in the opposite direction compared to FIG. 10b—, then a different behavior of the deviation of the resistances of the strain gauges 26a, 26c will be detected.

(55) The detection of the changes in resistance of the strain gauges 26a, 26b, 26c, 26d can be employed to derive information about the force F exerted onto the pin 17. From the information about the strength of the force F and from the direction of the force F information about the current direction D of the object 10 relative to the fluid 12 and of the velocity of the object 10 relative to the fluid 12 can be calculated.

(56) According to the FIGS. 10a to 10c is has been shown that by detection of the change of resistance of the strain gauges 26a and 26c an information about the force F acting in x-direction can be employed, or an information about the part of the force F acting in x-direction can be employed. It is also possible by using the strain gauges 26b and 26d to obtain information about the strength of the forces F acting in y-direction.

(57) A detection of the differences in the resistance of the strain gauges 26b, 26d can be used to derive information about the direction and the force F which have been exerted onto the pin 17 in y-direction.

(58) According to FIGS. 1 and 2 the direction of travel 16 of the surf board 11 is designated with an X, the direction transverse thereto is designated Y and the vertical direction is designated Z.

(59) It shall be assumed that the strain gauges 26a, 26c of the apparatus 63 shown in FIG. 10a are positioned in such a way at the surf board 11 that they are arranged along a line which corresponds to the direction X. If the surf board 11 would be moving exactly in the direction of travel 16 through the water 13, then the force F according to FIG. 10b would be exerted onto the pin 17.

(60) If however the surf board 11 would—for whatever reason—make a reverse movement in direction −X, the force F as shown in FIG. 10c would be exerted onto the pin 17 and a reverse change of resistance of the strain gauges 26a, 26c would be sensed.

(61) The same applies for strain gauges 26b and 26d, which under the previous assumption, would be orientated in this embodiment in the direction Y, which is transverse to the direction X.

(62) Also the changes of resistance of the strain gauges 26b, 26d are detected through the electric circuit 44.

(63) From the measurements it can not only be derived an information about the relative speed of the object 10 relative to the fluid 12, but also information about the direction of the speed—thus indicating the direction of the object.

(64) Regarding FIGS. 10d and 10e it is pointed out to the following:

(65) Some embodiments of the apparatus 63 of the invention might include a floating member 43, which is schematically shown in the embodiments of FIGS. 5, 10b to 10e.

(66) This floating member 43 can for example be disk shaped and can be used to measure the buoyancy of the object 10 relative to the fluid 12 The disk shaped floating member 43 can for example be arranged at the free end 66 of the pin 17.

(67) If onto the floating member 43 a force F is exerted in the direction z or in direction −z as shown in FIG. 10d, then ongoing from the state of the apparatus 63 as shown in FIG. 10a the pin 17 is drawn downward which will lead to a change in resistance of both strain gauges 26a, 26c commonly.

(68) The same applies analogously if a force F would be exerted to the floating member 43 according to FIG. 10e in upward direction (Z-direction) which will lead to an enlargement of the portion of the back face 30 of the blades 25a, 25c again resulting in a change in resistance of the strain gauges 26a, 26c commonly.

(69) While it is clear, that the change in resistance of strain gauge 26a and strain gauge 26c according to FIG. 10d will be same or will approximately be the same, it is also clear, that the same effect will take place in a position as shown in FIG. 10e, however with a negative i.e. inverse way.

(70) Therefore, a measurement of the change of resistance of the strain gauges 26, 26c can also give information about whether or not a force F is exerting onto the pin 17 in z-direction or in −z-direction and also information about the amount of the force F in z-direction.

(71) Therefore, an appropriate electronic circuit 44 as shown in FIG. 11 can differ between movements of the pin 17 relative to the spring member 62 in all three different directions x, y and z. This will permit receiving vector information about the direction and the length of the force vector of the force F which is applied to the pin 17.

(72) For clarification it is pointed out to the fact that all embodiments shown may include a floating member 43 or may not include such floating member 43.

(73) All embodiments of the invention as shown in the drawings can also operate without a floating member 43 and still permit to the user to obtain information about the forces F in x- and y-direction.

(74) In many applications there will be no need for obtaining information about z-directional forces F. So such a floating member 43 can be omitted for such applications.

(75) For further explication it is noted that the length L1 of the pin 17 and the length L2 of the pin 17 protruding from the surface 20 of the object may differ in dependency of the different conditions:

(76) It is important for the invention that the free end 66 of the pin 17 is reaching a zone in the fluid 12 which is called the “free layer zone”.

(77) Between the free layer zone and the surface 20 there might be a turbulent zone of fluid 12 which might lead to incorrect measuring and values and results.

(78) A turbulent zone of fluid 12 might be part of the fluid which is in movement due to the movement of the object and measurements within this turbulent zone of fluid might not be representative and might result in incorrect measurement values.

(79) All strain gauges 26a, 26b, 26c, 26e are connected via cables 34a, 34b to further electronic components of an electronic circuit.

(80) The circuit 44 is shown in detail by exemplary way only in FIG. 11. The electronic circuit may include one or more electronic elements 33a, 33b and/or one or more microprocessor (not shown).

(81) According to FIG. 11 there is a power supply/voltage source 51 provided and connected to all strain gauges 26a, 26b, 26c, 26d which are in the circuit diagram symbolized by resistances.

(82) The strain gauges 26a and 26b are arranged in parallel and the strain gauges 26b and 26d are arranged in parallel.

(83) Further resistances R1, R2, R3 and R4 are provided.

(84) The output voltage at the strain gauges 26a, 26c—which is an indication for the resistance of the strain gauges or for the change of resistance of the strain gauges—is connected to the input side of a first differential amplifier 46a.

(85) The output of this first differential amplifier 46a is providing the first output signal 48, which gives an x-direction signal.

(86) The strain gauges 26b and 26c are in their output connected to the input of a second differential amplifier 46b which's output corresponds to the output 49 (signal output) which is a output for the y-direction signal.

(87) The output of the first differential amplifier 46a and the output of the second differential amplifier 46b is connected to the input of a summing amplifier 47, the output thereof is the output signal 50 corresponding to the signal in z-direction.

(88) The circuit 44 as shown in FIG. 11 in total is a so called wheatstone bridge. This circuit provides a very advantageous way to measure changes in resistances in the strain gauges 26a, 26b, 26c, 26d to obtain information about the strength of the force F exerted onto the pin 17 and information about the direction of the force F exerted onto the pin 17.

(89) The measurement values obtained at the signal output 48, 49 and 50 of the three direction x, y and z can be processed using appropriate formulas and can be calculated into force information and directional information. From this information about the speed and the direction of speed of the object relative to the fluid can be calculated.

(90) Appropriate algorithms and formulas can be employed for performing this calculation and for employing the desired information.

(91) According to FIGS. 6-9 a further embodiment of the apparatus 63 is shown having blades 25a, 25b, 25c, 25d which are of different shape:

(92) FIG. 6 shows blades 25a, 25b, 25c, 25d which have at its inner end 28 a width W1 which is smaller than the width W2 of the blade 25 at its outer end 28.

(93) According to FIGS. 7-9 the apparatus 63 can comprise an installation housing 35 which permits pre-installation into the object 10, for example into the surf board 11. The installation housing 35 can comprise a compartment for receiving a sensor housing 69. The sensor housing 69 can also have a compartment 70 for receiving the ring member 22 including the spring member 62.

(94) A plate member 38b can close the sensor housing 39 and can constitute the cover member 23 or can be covered by a further cover member not shown in the drawings.

(95) There is a further plate member 38a shown for easy installation as well as fixing members 37a, 37b which facilitate mounting of the sensor.

(96) Screw receptacles 39a, 39b, 39c, 39d serve for receiving screws (not shown) for mounting of the apparatus.

(97) According to the embodiment of FIG. 12 there is 3-blade-sensor 54 shown. This sensor consists of three blades 25a, 25b, 25c, which are arranged under an angular distance of =120°.

(98) On the back side of the blades 25a, 25b, 25c (not shown in FIG. 12) there are in total three strain gauges arranged.

(99) FIG. 13 discloses another embodiment showing an apparatus 63 having a pin 78 which is elastical or pliable. In solid lines the target position of the pin 78 is shown and in a dashed line the bend position of the pin 78 is shown which is reached if a force F is exerted onto the free end 66 of the pin 78.

(100) Strain gauges 26e, 26f are indicated in FIG. 13 and provided on the outer sides 71 of the pin 78 which are capable of detecting a length change of the pin 78 due to a bending form change of the pin 78.

(101) As there are several strain gauges 26e, 26f arranged at the outer side 71 of the pin 78 the apparatus 63 of FIG. 13 can also not only measure the velocity but also the direction of the velocity.

(102) According to FIG. 1 and FIG. 14 there is also a system 72 provided which comprises not only of the apparatus 63 but also of a first communication unit 56. The first communication unit 56 can be an integral part of the apparatus 63 or can be a separate part arranged at the object 10 and being connected to the apparatus 63 either by cable or via wireless connection.

(103) The first communication unit 56 can interact via a signal path 59a in a wireless manner with a second communication unit 57 arranged at a distant place. The second communication unit 57 can be arranged on land, or alternatively on a platform on the sea or on another moving object.

(104) All measurement information obtained from the electronic circuit 44 can be transmitted via the first communication 56 to the second communication unit 57.

(105) According to a further embodiment of the invention it is also possible to include GPS data.

(106) FIG. 14 discloses a system 72 which may also comprise a satellite 58 which is via a signal path 59b—which can be uni-directional—capable of transmitting GPS data to the first communication unit 56. These GPS data can be used or employed or transmitted by the first communication unit 56 to the second communication unit 57.

(107) The second communication unit 57 can be connected to a calculating unit 60 which can calculate all data obtained. From the data received by the calculating unit 60 information about the relative movement of the object 10 relative to the fluid 12 in x-, y- and/or z-direction can be obtained.

(108) For purpose of clarification it shall be noted that the calculation unit 60 can also be installed at the object 10, and can also be integral part of the apparatus 63 or a separate part of the apparatus 63.

(109) While the previous embodiments employ—in part—a floating member 43, instead of such a floating member a membrane 61 can be used.

(110) The membrane 61 can be for example positioned at the free end 66 of the pin 17 (see FIG. 15) or can be positioned within the housing 69.

(111) The membrane 61 can be used to obtain buoyant information by sensing pressure or by sensing changes in pressure.

(112) Instead of a membrane 61 any other pressure sensitive sensor or detector can be employed which might generate for the system 72 information about a relative direction of the object 10 relative to the fluid 12 in z-direction.