Device for aligning a sonar transducer

Abstract

Device for aligning a sonar transducer for a watercraft, comprising - a transducer rod 18 rotatably mounted about an essentially vertical axis of rotation, at the lower end of which a sonar transducer 20 is arranged, - a motor drive for rotating the encoder rod 18 around the axis of rotation, - a foot pedal in the form of a rocker pedal that can pivot around an essentially horizontal pedal axis 26 and - an electronic control unit 24, characterized in that - the rocker pedal 26 has two mechanical operating modes, namely a spring mode in which a return spring 44 returns the rocker pedal 26 to a central position 46, and a locking mode in which a friction or disc brake 52 holds the rocker pedal 26 in an assumed position, and - the control unit 24 in spring mode in a speed mode converts a deviation of the rocker pedal 26 from the center position 46 into a rotational speed of the transmitter rod 18 and in fix mode in a position mode converts a position of the rocker pedal 26 into a target angle of the transmitter rod 18

Description

Brief description of the drawings

[0001] The invention is explained in more detail below with reference to exemplary embodiments and the drawings. The drawings schematically show: Fig. 1: a perspective view of a watercraft 12 with a device according to the invention for aligning a sonar transducer with a transducer rod 18, a sonar transducer 20, a motor and drive unit 22, a control unit 24, a rocker pedal 26, a smartphone 28, a wearable 30 and a radio link 32; Fig. 2: a schematic side view of a rocker pedal 26 in spring mode with a pedal body 40, a pedal plate 29, a pedal axle 42, a return spring 44, a center position 46 and end stops 48; Fig. 3: a schematic side view of the rocker pedal 26 in fixation mode with a pedal body 40, a pedal axle 42, a brake disc 52 and a pressure element 54; Fig. 4: a schematic representation of a encoder drive with a encoder rod 18, a geared motor 60 arranged essentially coaxially to the encoder rod 18 with a toothed belt drive 66 onto the encoder rod 18 and a bracket 78. Summary

[0002] The invention relates to a device for aligning a sonar transducer for a watercraft. The device comprises a transducer rod rotatably mounted about a substantially vertical axis of rotation, a motor drive for rotating the transducer rod, a foot pedal designed as a rocker pedal, and an electronic control unit. The rocker pedal has two mechanical operating modes: a spring mode with return to a neutral position and a locking mode with friction braking. In spring mode, the control unit converts a deviation of the rocker pedal from the neutral position into a rotational speed of the transducer rod (speed mode), and in locking mode, it converts the position of the rocker pedal into a target angle of the transducer rod (position mode).In heading mode, a target angle for the sonar transducer is specified in world coordinates, and a target angle for the transducer pole is calculated from the vessel's heading, ensuring the sonar transducer maintains its orientation relative to the surroundings. The foot pedal is designed as a battery-powered, wireless input device that preferably communicates with the control unit via a Bluetooth Low Energy protocol. In an advantageous embodiment, the motor and drive unit features an illuminated direction indicator that visually displays the current orientation of the sonar transducer, facilitating orientation, particularly during night fishing. Furthermore, a mobile application can be used to configure control parameters and switch between operating modes, especially speed mode, position mode, and heading mode.In another embodiment, a wireless input unit is provided which can be attached to a fishing rod or a handheld device operated by a user and which uses a motion sensor to detect movements or gestures from which the control unit derives a target angle for the transmitter rod. Description Technical area

[0003] The invention relates to a device for aligning a sonar transducer on a watercraft, in particular a sports or fishing boat. The device is particularly suitable for use with swiveling transducer poles that position and align a sonar transducer in the water column. State of the art

[0004] Various motorized mounts for sonar transducers are known from the prior art, in which a transducer pole is rotatably mounted about a vertical axis and can be rotated by means of an electric drive. These mounts are sometimes operated via foot switches, wired control panels, or radio remote controls. Furthermore, bow thrusters with integrated autopilot and heading-hold functions are known, in which the motor maintains the direction of the vessel relative to a compass or GPS heading.

[0005] However, known systems for motorized sonar transducers often offer only a single control mode, such as pure position control or pure speed control. The operating feel is either limited to instantaneous actuation with a return spring (similar to an accelerator pedal) or to a fixed position (similar to a trim potentiometer). A combination of different operating concepts with a common control element is not provided for. Likewise, direct guidance of the sonar transducer to an angle in world coordinates, for example, relative to north, in conjunction with such a transducer pole is not known. Furthermore, convenient configuration of control parameters and operating modes via a mobile application has not been described. Object of the invention

[0006] It is therefore an object of the present invention to provide a device for aligning a sonar transducer that enables a flexible and intuitive operating concept and allows both speed-based and position-based operation using a single foot pedal. Furthermore, it should be possible to align the sonar transducer in heading mode to an angle in world coordinates, so that the transducer maintains its orientation relative to the environment even when the vessel is rotating. Additionally, convenient configuration of control parameters and operating modes, in particular switching between speed mode, position mode, and heading mode, should be possible via a mobile application. The device should also provide good optical orientation at night or in poor lighting conditions. Summary of the invention

[0007] This problem is solved by a device having the features of independent claim 1. Advantageous embodiments of the invention are specified in the dependent claims.

[0008] The device according to the invention for aligning a sonar transducer for a watercraft comprises a transducer rod rotatably mounted about a substantially vertical axis of rotation, at the lower end of which a sonar transducer is arranged, a motor drive for rotating the transducer rod about the axis of rotation, a foot pedal in the form of a rocker pedal pivotable about a substantially horizontal pedal axis, and an electronic control unit. The rocker pedal has two mechanical operating modes: a spring mode, in which a return spring returns the rocker pedal to a central position, and a locking mode, in which a friction or disc brake holds the rocker pedal in a set position. In spring mode, the control unit converts a deviation of the rocker pedal from the central position into a rotational speed of the transducer rod (speed mode), and in locking mode, it converts a position of the rocker pedal into a target angle of the transducer rod (position mode).

[0009] In a preferred embodiment, the control unit further comprises a heading mode in which a target angle of the sonar transducer is specified in world coordinates. A heading source provides a heading of the vessel, and the control unit calculates a target angle for the transducer pole from the target angle in world coordinates and the heading of the vessel. In this way, the sonar transducer can maintain an orientation relative to the environment as the vessel rotates.

[0010] In further embodiments, the motor drive can comprise a geared motor arranged essentially coaxially with the axis of rotation of the transducer rod. The rotary motion of the geared motor can be transmitted to the transducer rod via a toothed belt drive. Furthermore, sensors can be provided to detect the current position of the transducer rod and evaluate it in a control system. In another embodiment, the motor and drive unit features an illuminated direction indicator, the light source of which is controlled depending on the position of the transducer rod to visually indicate the current orientation of the sonar transducer, particularly during night fishing.

[0011] The foot pedal can be designed as a self-contained, battery-powered radio module that communicates with the control unit via a Bluetooth Low Energy protocol. A mobile application on a smartphone or wearable device can be used to configure control parameters, select operating modes, and display diagnostic information from the control unit.

[0012] In a further embodiment, a wireless input unit is provided that can be attached to a handheld device operated by a user, in particular a fishing rod. The input unit comprises at least one motion sensor, for example an inertial sensor with accelerometer and gyroscope functions, and communicates with the control unit via a radio link. The control unit evaluates the motion or orientation data transmitted by the input unit and derives a target angle for the transducer rod from this, so that the rotational position of the transducer rod follows the orientation specified by the handheld device or the fishing rod.

[0013] In one embodiment, the control unit recognizes predefined movements or gestures of the fishing rod, for example a brief lifting, lowering or swiveling, and translates these into control commands to change the operating mode or to specify a new target angle for the transmitter rod. Detailed description of implementation examples

[0014] Fig. Figure 1 schematically shows a perspective view of a watercraft 12 with a device according to the invention for aligning a sonar transducer. A transducer pole 18 is arranged on the hull of the watercraft 12 and is rotatably mounted about a substantially vertical axis of rotation. A sonar transducer 20 is attached to the lower end of the transducer pole 18 and is immersed in the water column during operation. A motor and drive unit 22 is arranged at the upper end of the transducer pole 18, containing a motor drive that rotates the transducer pole 18 about the axis of rotation.

[0015] Inside the watercraft 12, a control unit 24 is arranged, which controls the motor drive and evaluates signals from a foot pedal. The foot pedal is designed as a rocker pedal 26, which is pivotably mounted about a substantially horizontal pedal axis. The rocker pedal 26 is designed as a wireless radio pedal that communicates with the control unit 24 via a radio link 32, preferably a Bluetooth Low Energy protocol. In one embodiment, a mobile application on a smartphone 28 or a wearable device 30 can additionally be provided, through which communication with the control unit 24 takes place in order to send control commands, configure control parameters, and visualize operating states.

[0016] The sonar transducer 20 can be connected to a sonar device via a cable. The cable can be routed inside the transducer pole 18 and exited through a cable gland in the area of ​​the axis of rotation to ensure protected routing and uninterrupted rotation of the transducer pole 18. The motor and drive unit 22 can be attached to the hull of the watercraft 12 via a bracket 78.

[0017] In one embodiment, the foot pedal is designed as an independent, battery-powered radio module. The radio module comprises an angle sensor and a radio transmitter and periodically transmits the pedal angle and status information to the control unit 24. The control unit 24 acts as a radio hub and only considers received data sets valid if they arrive within a predetermined time window and pass a plausibility check. If no valid data sets are received for a predetermined period, the control unit 24 automatically assumes an error or degradation state. The foot pedal 26 can have an energy-saving mode, into which it automatically enters after a waiting period without a radio connection and from which it can only be reactivated by pressing a control element.

[0018] Fig. Figure 2 schematically shows a side view of the rocker pedal 26 in spring mode. The pedal has a pedal body 40, which can be attached to the bottom of the watercraft 12, and a pedal plate 29, which is pivotally mounted about the pedal axis 42. A return spring 44 is arranged between the pedal body 40 and the pedal plate 29, which returns the pedal plate 29 to a neutral position 46. By actuating the rocker pedal 26 forward or backward, the spring 44 is deflected against its preload. End stops 48 can limit the maximum deflection.

[0019] In Fig. Figure 3 shows the rocker pedal 26 in locking mode. In this operating mode, a friction or disc brake 52 is active, engaging the pedal axle 42 and generating an adjustable holding torque. A brake disc 52 can be provided on the pedal axle 42, against which a pressure element 54 acts. By adjusting the pressure element 54, the frictional engagement between the brake disc 52 and a friction partner, and thus the holding torque, can be adjusted. In locking mode, the rocker pedal 26 remains in the set position without being returned to the center position 46 by a return spring 44.

[0020] The control unit 24 monitors the mechanical operating mode of the rocker pedal 26. This can be achieved, for example, by a switch or sensor that, depending on the position of an actuating element for the friction brake 52, provides a signal indicating whether the spring mode or the locking mode is active. In spring mode, the control unit 24 operates the motor drive in a speed mode, in which a deviation of the rocker pedal 26 from the center position 46 is converted into a rotational speed of the encoder rod 18. In locking mode, the control unit 24 operates the motor drive in a position mode, in which the current position of the rocker pedal 26 is assigned to a target angle of the encoder rod 18. Alternatively or additionally, the selection of the operating mode, in particular the switching between speed mode, position mode, and heading mode, can be triggered by a mobile application that transmits corresponding commands to the control unit 24.

[0021] Fig. Figure 4 schematically shows an embodiment of the motor drive. A geared motor 60 is arranged in a motor and drive unit 22 and is essentially coaxial with the axis of rotation of the encoder rod 18. The geared motor 60 drives the encoder rod 18 via a toothed belt drive 66, thus achieving a compact design. Overload protection can be provided, which limits or interrupts the control of the geared motor 60 if a predetermined torque or current is exceeded. The motor and drive unit 22 can be attached to a hull of the watercraft 12 by means of a bracket 78.

[0022] In a preferred embodiment, the overload protection is designed as a mechanical slip clutch in the drive train between the geared motor 60 and the encoder rod 18, which slips when a predetermined torque is exceeded. This allows the encoder rod 18 to be rotated manually even when the geared motor 60 is de-energized or blocked, thus enabling manual operation of the encoder rod 18.

[0023] The sonar transducer 20 can be connected to a sonar device via a cable. The cable can be routed inside the transducer pole 18 and exited through a cable gland in the area of ​​the axis of rotation to ensure protected routing and uninterrupted rotation of the transducer pole 18.

[0024] In one embodiment, an absolute angle sensor is provided on the encoder rod 18 and an incremental encoder is arranged on the motor drive. The control unit 24 can calculate a plausible encoder position and encoder speed from the signals of these two sensors and, in the event of deviations between the sensor signals, set an error state and, if necessary, switch to a degradation mode in which only one of the sensors is evaluated.

[0025] In one embodiment, an illuminated direction indicator is provided on the motor and drive unit 22. The direction indicator can, for example, comprise a plurality of light sources arranged around the axis of rotation, which are controlled depending on the current position of the transducer rod 18. In this way, the current orientation of the sonar transducer 20 can be indicated by a light segment or an illuminated arrow shape, so that the user can recognize the direction of the sonar transducer 20 even in poor lighting conditions or when night fishing.

[0026] In one embodiment, software-defined end stops are provided for the rotary movement of the encoder rod 18. The control unit 24 stores at least one minimum and one maximum target angle for the encoder rod 18 and limits the control of the motor drive such that the encoder rod 18 remains within this angular range. As the encoder rod 18 approaches one of the software-defined end stops, the control unit 24 can gradually reduce the rotational speed of the motor drive to implement a soft end stop. The mechanical slip clutch of the overload protection allows the encoder rod 18 to be manually rotated beyond the software-defined end stops if necessary, with the control unit 24 detecting the new position and adjusting the soft end stops accordingly.

[0027] In another embodiment, the control unit 24 monitors the current drawn by the motor drive and compares it with a predefined current limit. If the current limit is exceeded for a predetermined period of time, for example, if the sonar transducer 20 becomes blocked or a mechanical stop is reached, the control unit 24 reduces the drive current to the motor drive or switches the motor drive off. The current monitoring can be part of the overload protection and can be used in addition to or as an alternative to the mechanical slip clutch.

[0028] In further embodiments, diagnostic and monitoring functions can be provided in which the control unit records 24 operating states, fault events and statistical operating data and transmits them to a mobile application via a wireless interface, for example using a Bluetooth Low Energy protocol.

[0029] The described embodiments are exemplary. Features of the different embodiments can be combined, provided that this does not result in conflicting requirements. The scope of protection of the invention is defined by the claims.

Claims

[1] Device for aligning a sonar transducer for a watercraft, comprising - a transducer rod 18 rotatably mounted about an essentially vertical axis of rotation, at the lower end of which a sonar transducer 20 is arranged, - a motor drive for rotating the encoder rod 18 around the axis of rotation, - a foot pedal in the form of a rocker pedal that can pivot around an essentially horizontal pedal axis 26 and - an electronic control unit 24, characterized by , that - the rocker pedal 26 has two mechanical operating modes, namely a spring mode in which a return spring 44 returns the rocker pedal 26 to a central position 46, and a locking mode in which a friction or disc brake 52 holds the rocker pedal 26 in an assumed position, and - the control unit 24 in spring mode in a speed mode converts a deviation of the rocker pedal 26 from the center position 46 into a rotational speed of the encoder rod 18 and in fix mode in a position mode converts a position of the rocker pedal 26 into a target angle of the encoder rod 18 [2] Device according to claim 1, characterized by , that the return spring 44 is designed as a coil spring arranged between a pedal body 40 and the rocker pedal 26 and the friction or disc brake 52 has a brake disc 52 arranged on the pedal axle 42 and an adjustable pressure element 54 by which a holding torque of the rocker pedal 26 can be adjusted. [3] Device according to one of the preceding claims, characterized by, that the motor drive comprises a geared motor 60 which is arranged essentially coaxially to the axis of rotation of the encoder rod 18, wherein the rotary motion of the geared motor 60 is transmitted to the encoder rod 18 via a toothed belt drive 66. [4] Device according to any one of the preceding claims, characterized by , that the control unit 24 has a heading mode in which a target angle of the sonar transducer 20 is specified in world coordinates, a heading source provides a heading of the watercraft, and the control unit 24 calculates and controls a target angle for the transducer pole 18 from the target angle in world coordinates and the heading of the watercraft, so that the sonar transducer 20 maintains its orientation relative to the environment when the watercraft rotates. [5] Device according to claim 4, characterized by, that the heading source can optionally be a heading sensor connected via a bus system, a motion sensor integrated into a mobile device or a motion sensor integrated into a Wearable 30. [6] Device according to any one of the preceding claims, characterized by , that the transducer rod 18 has an internal cable channel through which a cable of the sonar transducer 20 is routed, and that an overload protection is provided which limits or interrupts the control of the motor drive when a limit value is exceeded. [7] Device according to any one of the preceding claims, characterized by that the foot pedal is designed as a battery-powered, wireless input device that communicates with the control unit 24 via a radio link 32, preferably a Bluetooth Low Energy protocol. [8] Device according to claim 7, characterized by, that the control unit only considers 24 input signals from the foot pedal as valid if successive data sets are received from the foot pedal within a specified time interval, and that if no valid data sets are received, an error or degradation state is automatically assumed. [9] Device according to one of claims 7 or 8, characterized by , that the foot pedal 26 has an energy-saving mode into which it automatically enters after a waiting period without a radio connection and from which it can only be woken up again by pressing a control element. [10] Device according to any one of the preceding claims, characterized by that the control unit stores 24 operating states, error events and statistical operating data and that these can be transferred to a mobile application via a wireless interface. [11] Device according to any one of the preceding claims, characterized by, that an absolute angle sensor is provided on the encoder rod 18 and an incremental encoder on the motor drive, and that the control unit 24 calculates a plausible encoder position and encoder speed from the signals of both sensors and sets an error condition in case of deviations between the sensor signals. [12] Device according to any one of the preceding claims, characterized by , that the motor and drive unit 22 includes an illuminated direction indicator, the light source of which is controlled depending on the current position of the transducer rod 18 in order to visually indicate an orientation of the sonar transducer 20, especially for use in night fishing. [13] Device according to any one of the preceding claims, characterized by, that the control unit 24 is configurable via a mobile application, whereby control parameters of the speed and position control and / or the selection of the currently active operating mode, in particular switching between speed mode, position mode and heading mode, can be made by means of the mobile application. [14] Device according to any one of the preceding claims, characterized by , that the control unit 24 is designed such that the currently active operating mode is selected either automatically depending on the mechanical operating mode of the rocker pedal 26 or manually by commands transmitted via a mobile application. [15] Device according to any one of the preceding claims, characterized by, that the overload protection is designed as a mechanical slip clutch in the drive train between the motor drive and the encoder rod 18 and slips when a predetermined torque is exceeded, so that the encoder rod 18 can also be manually rotated. [16] Device according to any one of the preceding claims, characterized by , that the control unit specifies 24 software-based end stops for a minimum and a maximum angle of the encoder rod 18 and limits the control of the motor drive so that the encoder rod 18 remains within this angular range, whereby the rotational speed of the motor drive is reduced when approaching the software-based end stops. [17] Device according to any one of the preceding claims, characterized by, that the overload protection includes overcurrent monitoring of the motor drive, in which a current drawn by the motor drive is compared with a current limit value and, if the current limit value is exceeded for a predetermined period of time, the control of the motor drive is limited or interrupted. [18] Device according to any one of the preceding claims, characterized by , that a wireless input unit with a motion sensor is provided, which can be attached to a fishing rod or a handheld device operated by a user, and whose orientation detected by the motion sensor is evaluated by the control unit 24 to determine a target angle of the transmitter rod 18. [19] Device according to claim 18, characterized by, that the control unit 24 recognizes predefined movements or gestures of the fishing rod and translates these gestures into control commands to change the operating mode or to specify a new target angle for the transmitter rod 18. [20] Foot pedal, in particular for controlling a motor drive of a transducer rod 18 rotatable about a substantially vertical axis of rotation for a sonar transducer 20 of a watercraft 12, comprising - a pedal body 40, - a rocker pedal 26 which can be pivoted about an essentially horizontal pedal axis 42 relative to the pedal body 40, and - an electronic unit arranged in the foot pedal with an angle sensor for detecting the position of the rocker pedal 26 and a radio transmitter unit for wirelessly transmitting a control signal generated by the electronic unit to an external control unit 24, characterized by , that - the rocker pedal 26 has two mechanical operating modes, namely a spring mode in which a return spring 44 arranged between the pedal body 40 and the rocker pedal 26 returns the rocker pedal 26 to a central position 46, and a locking mode in which a friction or disc brake 52 acting on the pedal axle 42 holds the rocker pedal 26 in a locked position, and - the electronic unit in spring mode generates a control signal representing a rotational speed depending on a deviation of the rocker pedal 26 from the center position 46 and in fix mode generates a control signal representing a target angle depending on the position of the rocker pedal 26. [21] Foot pedal according to claim 20, characterized by , that the foot pedal is designed as a battery-powered radio module that can communicate with the control unit 24 via a Bluetooth Low Energy protocol. [22] Foot pedal according to one of claims 20 or 21, characterized by , that the foot pedal 26 has an energy-saving mode into which it automatically enters after a waiting period without a radio connection and from which it is woken up again by pressing a control element.

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