Hydrofoil-based transport system

Abstract

Disclosed is a marine transport system comprising a first hydrofoil (P), referred to as the lead hydrofoil, and at least a second hydrofoil (S), referred to as the follower hydrofoil, communication means (TCP, TCS) allowing an exchange of information between the lead hydrofoil (P) and the follower hydrofoil (S), the lead hydrofoil (P) comprising a cockpit, a control unit (UC1) and geolocation means (GP), the follower hydrofoil (S) comprising a control unit (UC2) and geolocation means (GS), said transport system being configured to operate at least in an imitation mode, in which the lead hydrofoil (P) is controlled by a crew member and the follower hydrofoil (S) reproduces the motional behaviour of the lead hydrofoil, and in a differential mode in which the motional behaviour of the follower hydrofoil (S) is controlled by the lead hydrofoil (P).

Description

[0001] Description

[0002] Title: Hydrofoil Transport System

[0003] TECHNICAL FIELD AND PRIOR ART

[0004] The present invention relates to a hydrofoil transport system, comprising at least two hydrofoils.

[0005] A hydrofoil is a boat with a hull equipped with foils. The boat's speed creates hydrodynamic lift on the foil(s) capable of lifting the boat's hull partially or completely out of the water, which reduces hull drag and reduces the power required for cruising speed.

[0006] This reduction in the power required therefore reduces the energy required to move the boat.

[0007] In view of the ecological challenges facing the world, the hydrofoil appears to be a very interesting alternative in maritime transport.

[0008] Electrically powered hydrofoils have been developed and contribute to the transition towards reducing the use of fossil fuels. Such hydrofoils also generate very little noise pollution compared to conventional boats. Hydrofoils therefore offer a remarkable transport experience for passengers.

[0009] This type of hydrofoil is therefore particularly suitable for transporting a small group of people, for example, to leisure facilities such as hotel complexes located on the seafront, on an island or on the sea with bungalows built on stilts. In the latter case, guests are brought by boat to their bungalow with their luggage.

[0010] Luggage can be loaded onto the same boat as passengers; however, to enhance the passenger experience and comfort while traveling on a hydrofoil, it is preferable that luggage be transported by another means. It is possible to use another boat to transport luggage. However, this requires a second driver, which increases operating costs for the resort.

[0011] Hydrofoils can also be used to allow tourists to take organized tours of marine areas with remarkable comfort. In order to avoid too many passengers per hydrofoil, several hydrofoils are used. Several drivers are then also required. DISCLOSURE OF THE INVENTION

[0012] It is therefore an aim of the present application to provide a system which does not have the above disadvantages.

[0013] The above stated purpose is achieved by a transport system comprising at least two hydrofoils, a first hydrofoil being a pilot or master hydrofoil and the other hydrofoils being follower or slave hydrofoils. Thus the follower hydrofoil(s) follow the pilot hydrofoil, it is no longer required to have a person to pilot each hydrofoil. Furthermore the master and slave hydrofoils are such that the driver of the master hydrofoil can at any time take control of the slave hydrofoil and pilot it independently of the master hydrofoil. For example, when docking while the master hydrofoil is at the quay the pilot remotely directs the slave hydrofoil to dock.

[0014] In a particularly advantageous embodiment in which the foils are retractable, for example in the event of a strong swell, it can be envisaged that the master hydrofoil continues to move on the foil(s) while the slave hydrofoil does not deploy its foil(s) and rests on its hull.

[0015] Thus, in the case of passenger and luggage transport, the master hydrofoil can transport the passengers and the slave hydrofoil can transport the luggage, the latter directly following the passengers. They therefore do not have to wait for their luggage and the risk of loss is reduced.

[0016] In the case of transporting tourists as part of a visit, a convoy of hydrofoils can be considered, the lead hydrofoil being the master hydrofoil and the others being the slaves.

[0017] An object of the present invention is then a marine transport system comprising a first hydrofoil, called a pilot hydrofoil, and at least one second hydrofoil, called a follower hydrofoil, communication means allowing an exchange of information between the pilot hydrofoil and the follower hydrofoil, the pilot hydrofoil comprising a cockpit, a control unit and geolocation means, the follower hydrofoil comprising a control unit and geolocation means, said transport system being configured to operate at least in an imitation mode in which the pilot hydrofoil is controlled by a driver and the follower hydrofoil reproduces the movement behavior of the pilot hydrofoil, and in a differentiated mode in which the movement behavior of the follower hydrofoil is controlled by the pilot hydrofoil.Advantageously, in the differentiated mode the movement behavior of the following hydrofoil is controlled directly by the driver.

[0018] Preferably, the pilot hydrofoil is configured to send to the control unit of the follower hydrofoil at least the positioning, direction and speed of the pilot hydrofoil and the control unit of the follower hydrofoil is configured to calculate the trajectory of the follower hydrofoil based on the direction and speed of the pilot hydrofoil.

[0019] For example, communication means are dedicated short-range communication means configured to provide direct information exchange between the pilot hydrofoil and the follower hydrofoil.

[0020] In an advantageous example, wherein the pilot hydrofoil comprises at least one retractable hydrofoil and the follower hydrofoil comprises at least one retractable hydrofoil.

[0021] According to an additional feature, the transport system is configured to operate in another mode, called partial imitation mode, in which the follower hydrofoil reproduces only part of the movement behavior of the pilot hydrofoil. In partial imitation mode, the control unit of the follower hydrofoil may be configured to maintain the hydrofoil of the follower hydrofoil in the retracted position, while the control unit of the pilot hydrofoil may have deployed the hydrofoil of the pilot hydrofoil.

[0022] Advantageously, the cockpit is a specific man-machine interface and allows the follower hydrofoil to be controlled in differentiated mode.

[0023] For example, the pilot hydrofoil is configured for transporting people and the follower hydrofoil is configured for transporting objects, for example luggage.

[0024] Another object of the present invention is a method of operating a transport system according to the invention, comprising: in an imitation mode,

[0025] - Sending information by the pilot hydrofoil to the follower hydrofoil by means of communication, this information being for example the direction and speed of the pilot hydrofoil,

[0026] - Sending an acknowledgment of receipt of this information from the follower hydrofoil to the pilot hydrofoil,

[0027] - Taking into account said information by the control unit of the follower hydrofoil to calculate the trajectory and navigation conditions of the follower hydrofoil, in a differentiated mode, - Sending control instructions by the pilot hydrofoil to the follower hydrofoil, for example by the driver of the pilot hydrofoil,

[0028] - Execution of control instructions by the follower hydrofoil.

[0029] BRIEF DESCRIPTION OF THE DRAWINGS

[0030] This application will be better understood with the help of the following description and the attached drawings in which:

[0031] - Figure 1 is a schematic representation of an example of a system according to the invention comprising two hydrofoils,

[0032] - Figure 2A is a side view of an example of a pilot hydrofoil that can be implemented in the system according to the invention in a high-speed navigation configuration,

[0033] Figure 2B is a side view of the pilot hydrofoil of Figure 2A in a low speed configuration.

[0034] - Figure 3 is a side view of an example of a tracking hydrofoil that can be implemented in a transportation system of Figure 1,

[0035] - Figure 4 is a schematic representation seen from above of a movement of the transport system in imitation or clone mode,

[0036] - Figure 5 is a schematic representation seen from above of the transport system in a differentiated mode, also referred to as drone mode,

[0037] - Figure 6 is a side view of another example of a transport system according to the invention.

[0038] DETAILED DESCRIPTION OF EMBODIMENTS

[0039] In this application, the terms “master” and “pilot” are considered synonyms, and the terms “slave” and “follower” are also considered synonyms; the terms “boat” and “hydrofoil” are used interchangeably.

[0040] In Figure 1, a schematic representation of an example of a maritime transport system according to the invention can be seen.

[0041] In this example, the maritime transport system comprises two hydrofoils, a pilot hydrofoil P and a follower hydrofoil S.

[0042] In Figures 2A and 2B, we can see in detail the pilot hydrofoil P comprising a hull 2, a pilot station 4, seats 6 for the passengers, a hydrofoil 8 fixed to the end of an underwater mast 9, a rudder 10 and propulsion means 12, 14. Alternatively, the pilot boat can comprise one or more propulsion means.

[0043] W denotes the water surface.

[0044] In the example shown, the propulsion means 12, 14 comprise an electric motor and propellers or turbines. In this example, propulsion means 12 are provided at the hydrofoil and propulsion means 14 are provided at the rudder.

[0045] Very advantageously, the underwater mast equipped with the hydrofoil is retractable as is the rudder, facilitating movement in shallow water and parking in marinas. An arrangement 16 is provided on the floor of the boat to the right of the underwater mast, and receives the underwater mast in the retracted position.

[0046] In a deployed configuration, when the underwater mast 9 is submerged, the hydrofoil 8 extends orthogonally to the longitudinal direction of the hull 2. Very advantageously, in a retracted configuration when the underwater mast 9 is housed in the arrangement 16, the hydrofoil 8 extends in the longitudinal direction of the hull.

[0047] As the hydrofoil rises, it pivots around the axis of the underwater mast to align with the longitudinal direction of the hull.

[0048] Preferably, the bottom of the hull is shaped to accommodate the hydrofoil when in the retracted position.

[0049] The follower hydrofoil S, visible in Figure 3, has a structure relatively close to that of the pilot hydrofoil P. It comprises a hull 102, a hydrofoil 108 fixed to the end of an underwater mast 109, a rudder 110 and propulsion means 112, 114. Alternatively, the follower boat may comprise one or more propulsion means.

[0050] In the example shown, the propulsion means 112, 114 comprise an electric motor and propellers. In this example, propulsion means 112 are provided at the hydrofoil and propulsion means 114 are provided at the rudder.

[0051] Very advantageously, the underwater mast 109 equipped with the hydrofoil 108 is retractable as is the rudder 110, facilitating movement in shallow water and parking in marinas. An arrangement 116 is provided on the floor of the boat in line with the underwater mast, and receives the underwater mast in the retracted position.

[0052] In this example, the S-tracking hydrofoil does not have a cockpit or passenger seat. In fact, it is intended for the transport of luggage and has the shape of a barge. It has a flat floor to allow luggage to be stored; luggage securing means are advantageously provided.

[0053] The pilot hydrofoil P comprises an electronic control unit UC1 or central computer, at least one underwater mast position sensor and one rudder position sensor. The pilot hydrofoil P also comprises all the measuring elements normally fitted to a boat to ensure safe and regulated navigation. The control unit UC1 is connected to the means of propulsion and the control station. A driver's manoeuvre via the steering station is transmitted to the means of propulsion and the various equipment of the pilot boat by the control unit UC1.

[0054] The cockpit can be a conventional cockpit with a steering wheel. Preferably, the cockpit includes a human-machine interface such as a screen or touch pad TT connected to the control unit UC1, through which the driver gives his driving instructions and selects his modes.

[0055] The tracking hydrofoil includes a UC2 control unit and the measuring elements usually fitted to a boat to ensure safe navigation.

[0056] The pilot hydrofoil P and the tracking hydrofoil S also include satellite geolocation means GP, GS respectively allowing location of a few meters, for example of the order of 3 meters.

[0057] The pilot hydrofoil and the follower hydrofoil comprise means of communication between them TCP, TCS. Preferably, these means are short-range communication means implementing a technology called “dedicated short-range communication” or DSRC (Dedicated short-range communication). These communication means are particularly suitable for direct vehicle-to-vehicle or V-to-V communication (around ten meters). An example of such communication means is described in the document “Vehicle to vehicle data transfer and communication using LI-FI technology”, Anbalagan et al. in materialstoday: PROCEEDINGS, vol. 45, Part7, 2021, pages 5925-5933.

[0058] These means are radio communication means that allow very localized communication. In addition, they do not disrupt other communication systems.

[0059] The TCP communication means of the pilot hydrofoil P comprise a pilot transmitter and a pilot receiver and the TCS communication means of the follower hydrofoil S comprise a follower transmitter and follower receiver which communicate by remote transmission.

[0060] The pilot transmitter is configured to send information and instructions to the control unit UC2 of the follower hydrofoil via the follower receiver, and the follower transmitter is configured to send information to the control unit UC1 of the pilot hydrofoil via the pilot receiver.

[0061] According to the invention, the transport system is configured so that in a first operating mode, called imitation or clone mode, the follower hydrofoil S reproduces the movement behavior of the pilot hydrofoil P, and in a second operating mode, called differentiated mode or drone mode, the follower hydrofoil S follows the instructions coming from the cockpit and has a movement behavior different from that of the pilot hydrofoil P.

[0062] In the imitation mode, the control unit UC1 sends the trajectory of the pilot hydrofoil to the control unit UC2 via the pilot transmitter and the follower receiver, which processes this information and calculates the trajectory of the follower hydrofoil. Preferably, the transmission is done directly between the pilot transmitter and the follower receiver, i.e. in V to V, which allows for a shortened exchange time, increased responsiveness and increased transmission security. Alternatively, the transmission can be done via a third-party device, for example via a local server or a remote cloud. This variant is conceivable in areas with good internet coverage. In addition, the use of the cloud can be provided for the processing of all or part of certain tasks provided that the communication time is acceptable and communication security is ensured.

[0063] This trajectory is obtained, for example, by satellite geolocation means. The UC2 control unit controls all the means involved in the movement of the follower hydrofoil, such as the propulsion means, the rudder and the hydrofoil, so that they reproduce the trajectory of the pilot hydrofoil while maintaining a distance between the pilot hydrofoil and the follower hydrofoil. The distance is chosen to ensure the safety of the boats and according to the maximum communication distance between the boats.

[0064] Furthermore, this distance may vary depending on weather conditions. In the event of strong swells, it may be necessary to increase this distance.

[0065] The accuracy of satellite geolocation is sufficient to manage the distance between boats. Indeed, it is not required to strictly maintain this distance; it can vary by a few meters. A safety margin is then provided to avoid any risk of collision.

[0066] Using satellite geolocation to maintain distance between boats eliminates the need to implement sensors between boats, which is especially advantageous as such sensors are very difficult to implement in a marine environment.

[0067] Communication between the pilot boat and the follower boat is carried out, for example, in the following manner.

[0068] The pilot transmitter sends a frame of information to the follower receiver at a certain frequency, for example one to several dozen times per second.

[0069] The information contained in the frame is for example at least the direction of the pilot boat, the speed of the pilot boat, and possibly the location of the pilot boat. Advantageously the state of the hydrofoil is also transmitted, i.e. a deployed state or a retracted state.

[0070] Preferably, information on speed and direction is obtained, for example, by geolocation means. Alternatively, this information is obtained by means on board the pilot boat.

[0071] When the follower receiver receives this information, the follower transmitter sends an acknowledgment confirming receipt and acceptance of this information.

[0072] The control unit UC2 uses this information as well as the geolocation data of the follower boat and deduces the movement characteristics of the follower boat, so that it reproduces the same trajectory while maintaining a certain distance. It should be noted that the instructions sent to the propulsion means 112 and to the rudder 110 of the follower boat S take into account the mass of the follower boat and other characteristics of the follower boat which affect the movement of the follower boat.

[0073] This loop communication continues throughout the entire movement in imitation mode.

[0074] The information frame also allows information to be transferred from the follower boat to the pilot boat, such as damage or information on navigation conditions, for example, an increase in swell. This means that the UC1 control unit knows the status and navigation conditions of the follower boat at all times. Other information can be sent to the follower boat, for example, the switching on of the running lights or the deployment of a removable roof in case of rain. This information is then processed by the UC2 control unit as it needs to be reproduced.

[0075] It should be noted that, preferably, the stability of the follower boat is managed automatically by the equipment on board the follower boat, so the driver of the pilot boat does not have to manage it, especially since he is at a distance from the pilot boat.

[0076] This mode of direct communication between the two boats offers robust and secure operation.

[0077] However, preferably, IT security means, also called cybersecurity means, may be provided to increase the operational security of the transport system by securing communications between the two boats and preventing any intrusion by a third party into their on-board electronic architectures.

[0078] Imitation can be partial. In some situations, it is desired that the behavior of the pilot boat is not reproduced identically. For example, the driver decides that the follow boat should not or cannot imitate the pilot boat, for example he considers that his load is too heavy and that he cannot deploy his hydrofoil, in this case he sends an instruction to the UC2 control unit not to deploy the hydrofoil. Thus when the pilot boat moves at a speed sufficient to move on the hydrofoil, the follow boat reproduces the trajectory of the pilot boat and possibly other behaviors of the pilot boat but moves on its hull. In this configuration, the follow boat sends a signal to the pilot boat as soon as the distance between the two boats exceeds a limit value, the pilot boat then reduces its speed to reduce the distance.

[0079] The differentiated mode will now be described.

[0080] According to the invention, the follower boat can be controlled directly by the pilot boat, for example by the driver of the pilot boat so that the follower boat has a movement distinct from that of the pilot boat, for example when docking.

[0081] Indeed, when the pilot boat docks at a quay, it stops, the follow boat then stops behind the pilot boat at a certain determined distance. In order to also be able to dock the follow boat, it can be commanded to carry out a docking maneuver while the pilot boat is immobilized. In addition, the docking will take place at a location separate from that of the pilot boat. To do this, the driver, via the human-machine interface, "takes control" and directly sends specific instructions to the UC2 control unit of the follow boat so that the follow boat carries out particular maneuvers. In other words, the follow boat is then remotely controlled by the driver. These commands can be transmitted via short-range communication means.

[0082] This instruction to the following boat can be sent manually by the driver or automatically by the UC1 control unit, for example if it receives information from the UC2 control unit about the mass of the luggage and decides that the hydrofoil of the following boat should not be deployed.

[0083] Alternatively, a message is sent to the driver via the human-machine interface which decides whether or not to order the UC2 control unit to prohibit the deployment of the hydrofoil.

[0084] This type of instruction can take into account several parameters, the mass of the luggage, weather conditions such as wind speed, wave height, etc.

[0085] Advantageously, in the imitation mode it is provided that the follow boat cannot overtake the pilot boat. Thus, means are implemented so that the follow boat is permanently kept behind the pilot boat unless a maneuver at the quay requires it.

[0086] Preferably all information relating to the navigation of the follower boat is displayed or at least accessible on the human-machine interface of the pilot boat so that the driver has complete knowledge of the situation of the follower boat. For example, provision may be made to display the relative arrangement of the two boats, for example a representation of a top view showing the follower boat and the pilot boat or any other visualization that could be obtained with or without the aid of vision by cameras on board the follower boat.

[0087] An example of transport system movement will now be described.

[0088] The transport system is used, for example, by a hotel that has bungalows spread over the water in a bay, and which wishes to transport its guests to their bungalows as well as their luggage.

[0089] The pilot boat and the follower boat are docked on the shore. The hydrofoils are in the raised position, as are the rudders.

[0090] Customers board the pilot boat and the luggage is loaded onto the follow boat. The weight of the luggage is checked. Other conditions are checked, and it is assumed that these are such that the follow boat's hydrofoil can be deployed. The location of the follow boat for loading luggage may be far from that of the pilot boat. Positioning at this location may have been controlled by the pilot boat operator in differentiated mode.

[0091] The transport system is ready to move to the bungalow.

[0092] The imitation mode is activated either by the driver or automatically. If the following boat is far from the pilot boat, it can be arranged for the pilot boat to automatically join the pilot boat.

[0093] The driver starts the propulsion of the pilot boat, which begins to move forward. The control unit then activates the propulsion and begins to move. The following boat may start moving after the pilot boat has started moving in order to maintain the required safety distance.

[0094] When the bottom depth is sufficient, the driver deploys the pilot boat's hydrofoil. The information is sent to the UC2 control unit of the follower boat, which, by imitation, orders the deployment of the follower boat's hydrofoil.

[0095] When the pilot boat's speed is sufficient, the hull lifts and the pilot boat enters "flight mode". The follower boat imitates the same behavior. Each boat manages its stability autonomously. Figure 4 shows a schematic representation of a movement of the transport system, with the pilot boat having trajectory T and the follower boat imitating trajectory T.

[0096] The two boats move in convoy and the follower boat follows the path of the pilot boat. At any time, the driver manually, possibly following a warning sent to the UC1 control unit, or the UC1 control unit automatically, can send an instruction to the follower boat so that it modifies its behavior according to external events. The cases of automatic interventions by the UC1 control unit are pre-recorded in the memory of the UC1 control unit.

[0097] When the convoy reaches bungalow B, the pilot boat P positions itself parallel to the bungalow and stops, and the following boat also stops. The driver then switches to differentiated mode and takes control of the following boat. The driver, for example using the human-machine interface, controls the movement of the following boat, for example so that it docks so that its stern is towards the bungalow and facilitates the unloading of luggage (Figure 5). Alternatively, the following boat can be parked very close to the pilot boat without taking into account the distance set during movements. When moving in differentiated mode, the driver has a visual view of the following boat.

[0098] It should be noted that communication between the follower boat and the pilot boat is permanent, i.e. even when both boats are stationary, and at least as long as the boats are electrically powered.

[0099] A transport system comprising more than one follower boat does not depart from the scope of the present invention. In this case, the human-machine interface is configured to allow the selection of the follower boat(s) to which the differentiated mode is to be applied.

[0100] In Figure 6, another example of a transport system according to the invention can be seen in which the follower boat S' is a passenger transport boat. The operation is similar to that described above.

[0101] Each boat can be expected to carry passengers and their luggage.

[0102] It will be understood that the term baggage can also mean goods and the follower boat could be used for example for supplies.

[0103] Furthermore, it will be understood that a pilot boat which does not carry any person other than the driver does not fall outside the scope of the present invention.

[0104] A transport system in which the luggage would be transported by the pilot boat and the passengers by the follower boat does not depart from the scope of the present invention.

[0105] Furthermore, it will be understood that the transport system according to the invention can implement any type of hydrofoil, equipped with retractable hydrofoils or not, and having different shapes. Furthermore, the transport system can comprise hydrofoils of different models.

[0106] Furthermore, a transport system in which the follower boat is not a hydrofoil but a conventional boat does not fall outside the scope of the present invention.

[0107] Thanks to the invention, it is possible to produce modular maritime transport systems whose capacity and destination can be very easily adapted according to needs. Indeed, they can be adapted to the transport of passengers only, passengers and luggage / goods or luggage / goods only, and this by adapting the following boats.

[0108] Furthermore, it only requires one driver in the case of a convoy of passenger boats; it may be considered that one person is provided in each follower boat to ensure the safety of passengers only.

Claims

Claims 1. Marine transport system comprising a first hydrofoil (P), called the pilot hydrofoil, and at least one second hydrofoil (S), called the follower hydrofoil, communication means (TCP, TCS) allowing an exchange of information between the pilot hydrofoil (P) and the follower hydrofoil (S), the pilot hydrofoil (P) comprising a pilot station, a control unit (UC1) and geolocation means (GP), the follower hydrofoil (S) comprising a control unit (UC2) and geolocation means (GS), said transport system being configured to operate at least in an imitation mode in which the pilot hydrofoil (P) is controlled by a driver and the follower hydrofoil (S) reproduces the movement behavior of the pilot hydrofoil, and in a differentiated mode in which the movement behavior of the follower hydrofoil (S) is controlled by the pilot hydrofoil (P).

2. Marine transport system according to claim 1, wherein in the differentiated mode the movement behavior of the following hydrofoil is controlled directly by the driver.

3. The marine transportation system of claim 1 or 2, wherein the pilot hydrofoil is configured to send to the control unit of the follower hydrofoil at least the positioning, direction and speed of the pilot hydrofoil and the control unit of the follower hydrofoil is configured to calculate the trajectory of the follower hydrofoil based on the direction and speed of the pilot hydrofoil.

4. Transport system according to one of claims 1 to 3, wherein the communication means are dedicated short-range communication means configured to ensure a direct exchange of information between the pilot hydrofoil and the follower hydrofoil.

5. Transport system according to one of the preceding claims, in which the pilot hydrofoil comprises at least one retractable hydrofoil and the follower hydrofoil comprises at least one retractable hydrofoil.

6. Transport system according to one of the preceding claims, configured to operate in another mode, called partial imitation mode, in which the follower hydrofoil reproduces only part of the movement behavior of the pilot hydrofoil.

7. A transport system according to claims 5 and 6, wherein in partial imitation mode, the control unit of the follower hydrofoil is configured to maintain the hydrofoil of the follower hydrofoil in the retracted position, while the control unit of the pilot hydrofoil has deployed the hydrofoil of the pilot hydrofoil.

8. Transport system according to one of the preceding claims, in which the cockpit is a specific man-machine interface and makes it possible to control the follower hydrofoil in differentiated mode.

9. Transport system according to one of the preceding claims, in which the pilot hydrofoil is configured for the transport of people and the follower hydrofoil is configured for the transport of objects, for example luggage.

10. Method of operating a transport system according to one of the preceding claims comprising: in an imitation mode, Sending information by the pilot hydrofoil to the follower hydrofoil by means of communication, this information being for example the direction and speed of the pilot hydrofoil, Sending an acknowledgment of receipt of this information from the follower hydrofoil to the pilot hydrofoil, Taking into account said information by the control unit of the following hydrofoil to calculate the trajectory and navigation conditions of the following hydrofoil, in a differentiated mode, Sending control instructions from the pilot hydrofoil to the follower hydrofoil, for example by the driver of the pilot hydrofoil, Execution of control instructions by the follower hydrofoil.

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