Watercraft with wings

Abstract

Watercraft (1) with a keel-shaped hydrofoil (25) arranged on a keel (20) and a rudder-shaped hydrofoil (35) arranged on a rudder (30), wherein the sword and / or the rudder wing (25, 35) are electrically adjustable, - with an electronic distance sensor (60) arranged on the bow or mast of the watercraft (1) for non-contact detection of a distance to a water surface, - with a control unit (70) for controlling an angle of attack of the sword and / or rudder wing (25, 35), wherein the control unit (70) is designed such that the angles of attack of the sword and / or rudder wings (25, 35) are controlled depending on the distance detected by the electronic distance sensor (60), characterized in that that the water level sensor (60) is arranged on the bow or mast in such a way that a distance to a water surface in front of the watercraft (1) is detected, and that the sword (20) has a capacitive water level sensor (80) for detecting the sword wing immersion depth (h) KT ) and / or distance (h R ) of the hull (10) to the water surface.

Description

[0001] The invention relates to a watercraft with hydrofoils according to the preamble of the dependent claim.

[0002] Such watercraft are particularly well-known from sailing regattas. A prime example is the 'moth class', which is represented by the 'International Moth Class Association' (IMCA).

[0003] US Patent 6,499,419 B1 illustrates a sailboat with a bow, keel, and stern foil structure. The lift generated by the foils is adjusted by changing their angles so that the hull, but not the keel, is lifted out of the water. A control unit is provided for the foils, which is connected to sensors for measuring parameters such as boat angle, speed, height above water, pressure, or other parameters.

[0004] US Patent 2,773,467 A also shows a sailboat with foils in the bow, keel, and stern areas, with the foil in the bow area designed as a control foil for monitoring the boat's attitude. In one embodiment, it is proposed to arrange a pressure sensor on this control foil and to control a foil mechanism based on this pressure.

[0005] Furthermore, US Patent 2013 / 0 228 111 A1 discloses a hydrofoil system for a watercraft, comprising a control device for adjusting the hydrofoil relative to the hull and a sensor for determining the relative height of the watercraft above the water surface, wherein the height of the watercraft above the water surface is adjusted via actuators depending on the sensor signals. The sensor is designed as a mechanical sensor arm.

[0006] US patent 2012 / 0 325 135 A1 depicts a catamaran with adjustable hydrofoils. The angle of attack of the hydrofoils is controlled by a sensor that is mechanically trailed on an arm at the underside of the catamaran's bow. The distance to the water's surface is determined by the mechanical deflection of this arm.

[0007] The purpose of the invention is to simplify the flight of such a watercraft.

[0008] The problem is solved by a watercraft according to the independent claim. Advantageous embodiments of the invention are specified in the dependent claims.

[0009] Advantageously, a watercraft is provided with a keel-mounted hydrofoil and a rudder-mounted hydrofoil. where the sword and / or the rudder wing are electrically adjustable, - with an electronic distance sensor arranged on the bow or mast of the watercraft for non-contact detection of the distance to a water surface in front of the watercraft, - with a control unit for controlling the angle of attack of the wing and / or rudder wing, wherein the control unit is designed in such a way that the angles of attack of the sword and / or rudder wing are controlled depending on the distance detected by the electronic distance sensor.

[0010] This design has the advantage that the transition from displacement mode to flight mode can be carried out in a controlled and safe manner, and that flight mode itself can be better controlled. Likewise, other maneuvers, especially tacking or gybing, can be performed safely during flight mode.

[0011] The control unit is particularly advantageous because it is designed to regulate the airfoils in such a way that, based on the measured distances to the water surface, the angles of attack of the wings are adjusted so that the wings always remain below the water surface.

[0012] This approach avoids a critical flow or buoyancy stall that can occur when a wing reaches the water surface.

[0013] It is therefore helpful that the control system is designed in such a way that the wingtip always dips deeper than a specified minimum wingtip immersion depth.

[0014] In a further embodiment, it is advantageous if the sword has a water level sensor to detect the sword wing immersion depth and / or the distance of the hull to the water surface.

[0015] This allows for an alternative or additional measurement of the immersion depth of the sword wing.

[0016] In another useful embodiment, it is planned to arrange several distance sensors on the bow or mast of the watercraft. This makes it particularly advantageous to detect the amplitude and shape of the incoming waves and to adjust the control of the hydrofoils accordingly.

[0017] The distance sensors are preferably designed as ultrasonic or radar sensors.

[0018] The invention will now be explained in more detail using exemplary embodiments and with reference to the drawings.

[0019] They show schematically: Fig. 1 a hydrofoil watercraft known from the prior art with sword-wing steering, Fig. 2 a watercraft according to the invention with non-contact distance measurement, Fig. 3. A design incorporating a water level measurement. Fig. 4 a watercraft with non-contact distance and water level measurement, Fig. 5 a watercraft with multiple distance sensors.

[0020] In the following description of preferred embodiments, identical reference numerals denote identical or comparable components.

[0021] Fig. Figure 1 schematically shows a watercraft 1 known from the prior art with hydrofoils 25, 35. A typical representative of these watercraft is, for example, the so-called 'moth class' (International Sailing Federation, UK).

[0022] A sword-shaped hydrofoil 25 is located at the lower end of the sword 20 and a rudder-shaped hydrofoil 35 at the lower end of the rudder 30. Propulsion is provided by a sail 40, whereby, at sufficient speed, the hydrofoils 25, 35 generate such a large hydrodynamic lift that the hull 10 of the watercraft 1 is lifted out of the water and the watercraft 1 glides or flies on the hydrofoils 25, 35.

[0023] However, providing stable flight requires a large number of control interventions, which must essentially be carried out manually by the pilot.

[0024] The transition from displacement to hydrofoil mode is fundamentally problematic. As the hull leaves the water, the boat's speed typically increases, causing the lift of the hydrofoils 25, 35 to also increase, lifting the boat further out of the water. If the speed becomes too high, the centerboard hydrofoil 25 can reach the water's surface, leading to an immediate collapse of lift and causing the hull 10 to uncontrollably submerge again. This process poses significant dangers.

[0025] To avoid such situations, it is known from the prior art to determine the height of the hull above water h R to scan with the aid of a sensor 50, a so-called 'wand'. The sensor 50 is mechanically connected to the sword wing 25 via pulleys 52 and a linkage 55 with levers, such that the lift forces of the sword wing 25 increase with increasing distance h from the water.R can be reduced. The angle of attack of the sword wing 25 can even be changed to such an extent that downforces are generated.

[0026] The position of the boat 1 relative to the waterline is adjusted via the angle of attack of the rudder wing 35. In the illustrated embodiment, the tiller 31 of the rudder 30 is connected to the rudder wing 35 in such a way that the angle of attack of the rudder wing 35 can be manually adjusted by the helmsman by axially rotating the tiller 31.

[0027] Furthermore, it may be possible to design the watercraft 1 in such a way that the length L K The position of the centerboard 20 below the hull 10 is adjustable. This adjustment allows further parameters of the sailing characteristics to be changed.

[0028] Fig. Figure 2 shows an arrangement according to the invention in which a sensor 50 is omitted and the water surface is detected contactlessly by means of an electronic distance sensor 60. The data from the distance sensor 60 are transmitted via a signal line 65 or wirelessly to a control unit 70, which is electrically connected via control lines 75 to an electrically adjustable wing 25 and / or rudder 35.

[0029] Based on the distance data recorded by the distance sensor 60, the wings 25, 35 are controlled via the control unit 70 in such a way that the flight is kept stable in position and distance to the water surface.

[0030] The arrangement according to the invention has the advantage over the arrangement known from the prior art that, due to the predictive detection of the water surface and the electrical control of the wings, the response time can be significantly reduced.

[0031] Due to the non-contact sensing, it is also possible to scan the water surface not just at a single point, but over a larger area. This allows individual, higher wave ripples to be electronically dampened and not cause control oscillations, as is the case with mechanical systems. Furthermore, non-contact measurement allows an area far in front of the boat to be scanned, which gives the system a longer reaction time because the distance between the keel and the scanned area is greater.

[0032] The regulation can therefore be based, for example, on an average water distance h. R_mittel To prevent flow separation on one of the wings 25, 35, it is advantageous if the control system is set to a minimum immersion depth h. KT_min the sword wing 25. This minimum immersion depth h KT_minThe minimum immersion depth can be predetermined, for example, based on the helmsman's sailing skills. A very large minimum immersion depth offers a high degree of safety with regard to stalls but reduces speed due to the water surface wetted by the daggerboard 20 and rudder 30. Conversely, a very shallow minimum immersion depth allows for high-speed cruising with the risk of stalls. However, the solution according to the invention, due to its rapid control, allows for very shallow minimum immersion depths that are difficult to manage using mechanical sensing and manual control.

[0033] In a further embodiment according to Fig. 3. It can be provided that, instead of a forward-looking distance sensor 60, the sword 30 is equipped with a water level sensor 80. The water level sensor 80 is designed such that an area immersed in the water or the depth h KTthe sword wing 35 underwater and / or the distance h R the hull 10 can be detected at the water surface.

[0034] In a further embodiment according to Fig. 4. It may be provided that the design is in accordance with Fig. 2 and Fig. 3 to combine and to provide a forward-looking distance sensor 60 in addition to the sword water level sensor 80.

[0035] This approach has the advantage that the distance h R of the hull to the water surface or immersion depth h KT The distance to the sword wing 25 can be detected via two independent systems. The predictive distance sensor 60 has the advantage that a potential need for control can be detected proactively and corresponding feedforward control can be initiated at an early stage.

[0036] As in Fig.As shown in Figure 5, it can also be advantageous to provide not just one distance sensor 60, but several distance sensors 60, which, for example, can cover a near and far range. By covering a larger spatial area, the amplitudes and shape of the incoming waves can be determined and the control of the angles of attack of the wings 25, 35 can be finer.

[0037] Ultrasonic and / or radar sensors are particularly suitable as distance sensors 60. Capacitive sensors are particularly suitable as water level sensors 80.

[0038] The distance sensor 60 or sensors 60 do not necessarily have to be mounted on the bow of the vessel. Any position where the water surface ahead of the vessel can be detected is suitable; in particular, mounting on a mast of the vessel is an option. Independent mounting brackets for the sensors can also be provided.

[0039] The arrangement according to the invention is particularly interesting for learning how to fly such boats. It is conceivable that, with increasing driving experience, the automatic interventions of the control system could be progressively reduced. For example, the control system could only manage the immersion depth of the keel wing 25, while the helmsman manually controls the attitude via the tiller 31 connected to the rudder wing 35.

[0040] Furthermore, it is conceivable that the control / regulation is only used to adjust the angle of attack and sword length L. K of the watercraft 1. For example, before a race, parameters for the prevailing wind and wave conditions could be determined using the control system according to the invention, with which the components can then be optimally adjusted.

[0041] Conventional power supplies are suitable for powering the control system and the electrical adjustment of wings 25 and 35. For example, the components can be powered by a battery, solar cells, impellers, or turbine wheels.

[0042] The aforementioned examples are of course limited to the sailboat shown as an example; the invention can be applied in a comparable manner to any type of watercraft, such as motorboats, surfboards, kites, etc. Reference symbol list 1 watercraft, 10 hull, 20 swords, 25 Sword wing, 30 oars, 35 Rudder wing, 40 sails 50 probes, 'wall' 52 pulley 55 cable pull, 60 Sensor, distance sensor, 65 Signal line, 70 Regulation, control unit, 75 control lines, 80 water level sensor, h R Hull height above water h KT Deep underwater wing, L K Sword length from underside of hull

Claims

[1] Watercraft (1) with a keel-shaped hydrofoil (25) arranged on a keel (20) and a rudder-shaped hydrofoil (35) arranged on a rudder (30), wherein the sword and / or the rudder wing (25, 35) are electrically adjustable, - with an electronic distance sensor (60) arranged on the bow or mast of the watercraft (1) for non-contact detection of a distance to a water surface, - with a control unit (70) for controlling an angle of attack of the sword and / or rudder wing (25, 35), wherein the control unit (70) is designed such that the angles of attack of the sword and / or rudder wings (25, 35) are controlled depending on the distance detected by the electronic distance sensor (60), characterized by , that the water level sensor (60) is arranged on the bow or mast in such a way that a distance to a water surface in front of the watercraft (1) is detected, and that the sword (20) has a capacitive water level sensor (80) for detecting the sword wing immersion depth (h) KT ) and / or distance (h R ) of the hull (10) to the water surface. [2] Watercraft (1) according to claim 1, wherein the control unit (70) is designed as a control such that, starting from the detected distances to the water surface, the angles of attack of the wings (25, 35) are adjusted such that the wings (25, 35) always remain below the water surface. [3] Watercraft (1) according to claim 2, wherein the control is designed such that the centerboard (25) is always deeper than a predetermined minimum centerboard immersion depth (h) KT_min ) dives in. [4] Watercraft (1) according to one of the preceding claims, wherein several distance sensors (60) are arranged on the bow or on a mast of the watercraft (1). [5] Watercraft (1) according to one of the preceding claims, wherein the distance sensor(s) (60) are designed as ultrasonic or radar sensors.

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