Electric hydrofoil with assistance system for enhanced control and stability

Abstract

The electric hydrofoil according to the invention comprises an assistance system to assist its control with a passive warning mode of operation and / or with an active corrective mode of operation. The system thus created is very useful for beginners in this sport and provides easier and safer operation of the electric hydrofoil.

Description

Technical field

[0001] The invention relates to an electric watercraft with hydrofoil, which is used in the field of water sports.Prior art

[0002] The electric hydrofoil is a complex mechanical product that combines several products in one. At its core, it is a surfboard, which is an above-water platform with a hydrofoil mounted under it, and the hydrofoil is connected to a power source and an electric motor connected to a controller. The power source is most often a rechargeable lithium-ion battery containing a battery control system, which takes care of the operation of the battery in safe conditions. The electric motor is most often brushless. The controller usually consists of a main system control unit connected to an electronic motor speed controller, a sensor unit, and a control module through which the surfer commands the motor power and adjusts its speed. The sensor unit usually comprises a height sensor, a gyroscope sensor for measuring the angular accelerations of the hydrofoil, a GPS module for measuring speed and geolocation, and an accelerometer for measuring the accelerations of the electric hydrofoil. The electronic speed controller of the electric motor ensures the conversion of direct current from the battery into alternating current flowing through the three phases of the electric motor.

[0003] The hydrofoil is a set of underwater wings located on an underwater arrow-shaped body, which is attached to the above-water platform by means of a mast with a streamlined profile between 60 and 100 cm long. The principle of operation of the wings is identical to that of airplanes. At high speed, the flow of fluid around the wings causes a pressure difference between their two half-surfaces, resulting in lift. It allows the above-water platform, together with the surfer on it, to be raised about 40 cm above the water. The advantage of the hydrofoil over the classic surfboard, which operates on the surface of the water, is the greatly reduced friction of the system. This results in much lower drag, lower energy consumption, as well as faster acceleration and faster reaching of higher speeds.

[0004] Unlike the sailing varieties of surfing, the electric hydrofoil is powered by electric motor mounted in the fuselage of the hydrofoil or attached to the mast. The power source is a battery that can be housed in or attached to the above-water platform or mast. The control of the power of the electric motor and respectively the speed of movement is usually achieved by a wired or wireless remote control through which the surfer issues commands.

[0005] In the prior art, the mechanical system of an electric hydrofoil is static. The only element of the movement that is electronically controlled by the surfer is the speed of the surf, by means of regulating the revolutions of the electric motor. Thus, achieving a balanced flight over the water requires very precise control of the surfer's body and careful weight shifting. The construction of the electric hydrofoil is designed in such a way that the device is highly sensitive and changes its direction of movement when the surfer's weight shifts. This allows the skilled surfer to make sharp turns as well as to quickly change the angle of attack of the above-water platform in order to maintain the height of the above-water platform above the water. This maneuverability allows the good surfer to ride the electric hydrofoil in a very sporty manner, but on the other hand, it makes learning the technique of riding an electric hydrofoil relatively difficult for a beginner.

[0006] The lift of hydrofoil's wings is proportional to the wing area and the angle of attack (directly proportional over most of the operating angular range of a wing) at which it meets the water flow, as well as proportional to the square of the speed. The surfer's main task is to extract the correct amount of lift produced by the front wing. At constant speed, this means placing the system and respectively the front wing at a precisely defined angle of attack, where the lift is equalized by the weight of the surfer and the above-water platform above the water. In parallel with this, with his correct positioning on the above-water platform, the surfer also balances the torques created by his own weight above the above-water platform, the lifting and stabilizing force of the two wings and the driving force of the electric motor. In other words, for stable flight, the surfer must bring the system to a net zero sum of all forces and a net zero sum of all torques acting on the electric hydrofoil.

[0007] In practice, lift adjustments are needed constantly. When interacting with waves, currents, wind and other external factors, the speed of the surf changes constantly, which changes the lift produced by the wing in a quadratic relationship. Fast, timely and precise angle of attack adjustments are required by the surfer to maintain a constant lift to support the weight of the system. Stability during turns also requires an active and constant correction of the angle of attack by the surfer.

[0008] The technique of controlling the electric hydrofoil implies a significantly well-developed motor culture and coordination of the surfer. The precise balance required to control the angle of attack of the wings and the height of the flight in a straight line, as well as in turns, is a major obstacle for many entrants to the sport. Since electric hydrofoil has no close analogue among commonly practiced sports, the learning process is relatively complex and dangerous. The first steps in learning the control are often associated with many falls on the part of the learner. This difficulty is a major factor blocking the mass spread of this ecologically clean and environmentally friendly sport. In addition, the difficulty also poses dangers to the health of the users. The beginners who suffer from frequent falls before mastering the control of the above-water platform are at risk of injury as the speed at which they fly is between 15 and 45 km / h and possible impact with the water at such speed is quite serious. In addition, there is the risk of contact with the electric hydrofoil's hard above-water platform and the sharp edges of the hydrofoil's mast and wings.

[0009] Electric hydrofoil with an assistance system to assist its control is known from the prior art, described in EP4077115A1, which comprises an above-water platform, a hydrofoil including fuselage with front wing and stabilizer, a mast connecting the above-water platform to the hydrofoil's fuselage, and underwater propulsion means for creating horizontal thrust having an electric motor that is connected to a source of electricity. The electric hydrofoil also comprises a main control unit connected to a rotatable rudder with the ability to transmit commands, which is configured to control the angle of deviation of said hydrofoil, sensors for determining 3D orientation, a lifting means (movable elevator flaps on the front wing) for controlling the incline angle of the hydrofoil, and a calculation means which, through the sensors for determining the 3D orientation, detects a deviation from the incline angle of the hydrofoil and, if necessary, activates, through actuators, the rotation of the lifting means, which compensates for the deviation. The described system is very complex to implement, contains many mechanical components, does not provide a sufficiently optimal solution for assistance when using an electric hydrofoil by users with different skill levels, and accordingly does not provide a sufficient degree of assistance for quick and easy learning of the control of the electric hydrofoil by the user.Summary of the invention

[0010] A task of the invention is to create electric hydrofoil that provides opportunity for easy and safe learning of its riding by beginner surfers, and for maximally safe sport riding by advanced surfers.

[0011] This task is achieved with the creation of an electric hydrofoil, which comprises an assistance system that assists its control and stability.

[0012] More specifically, the task is achieved by creating an electric hydrofoil with an assistance system for improved control and stability, comprising: an above-water platform, a hydrofoil comprising a fuselage with front wing and at least one stabilizer, a mast connecting directly or indirectly the above-water platform to the hydrofoil's fuselage, and an underwater propulsion means for creating horizontal thrust having at least one electric motor with a means of hydrodynamic propulsion, which electric motor is connected to a source of electricity through an electronic speed controller of the at least one electric motor, a main control unit connected to the electronic speed controller of the at least one electric motor with the ability to send commands to the at least one electric motor, an electronic control element connected by wire or wireless with the ability to send commands to and to receive information from the main control unit; a sensor unit comprising at least a height sensor mounted to the above-water platform or in the area of the upper part of the mast and / or a gyro sensor for measuring the angular accelerations of the hydrofoil, mounted to an electronic module of the hydrofoil, wherein each of the two sensors is connected with the ability to send information to the main control unit; an assistance system to assist the control of the electric hydrofoil, which comprises a logic unit of the assistance system configured for processing the information received from the sensors of the sensor unit to determine the spatial position of the device and to detect a deviation from preset parameters for the spatial position of the electric hydrofoil. The logic unit is connected to the main control unit, wherein the assistance system is designed with a passive warning mode of operation and / or with an active corrective mode of operation, and it is designed with the ability to switch between the two modes. In the passive warning mode, the logic unit of the assistance system is configured to provide control signals through the main control unit to a warning means for deviation from said preset electric hydrofoil parameters. In the active corrective mode, the logic unit of the assistance system is adapted to provide a signal to the electronic speed controller of the at least one electric motor to correct the deviation from said preset parameters of the electric hydrofoil, by decreasing or increasing or stopping the revolutions of the at least one electric motor by means of at least one PID controller.

[0013] In a preferred embodiment of the invention, the sensor unit additionally comprises at least one of: GPS module for measuring speed and geolocation, mounted to the electronic control element or to the above-water platform or to another element mounted to the above-water platform after the mast, such as an electronic module, and accelerometer for measuring the accelerations of the electric hydrofoil, mounted to the electronic module of the hydrofoil, each of these sensors is connected with the ability to provide information to the main control unit, wherein the logic unit of the assistance system is adapted to further process the information received from the sensors of the sensor unit to determine the speed and acceleration of the device and to compare it with said preset parameters for the spatial position of the electric hydrofoil.

[0014] In a preferred embodiment of the invention, the warning means for deviation from said preset parameters for the spatial position of the electric hydrofoil is at least one of: a speaker in the electronics of the above-water platform, in the electronic control element or external audio device; vibration means mounted in the electronic control element, in the above-water platform or external vibration device; a display for visualizing a signal located on the electronic control element, on the above-water platform or on an external device; light indication on the above-water platform or on a display of a device external to the hydrofoil; or a combination thereof.

[0015] In a preferred embodiment of the invention, the logic unit of the assistance system of the hydrofoil is further configured to prevent the execution of commands to change the revolutions of the at least one electric motor, sent by the electronic control element, in case of a detected deviation from the preset parameters for the spatial position of the electric hydrofoil, until reaching the preset parameters for the spatial position of the electric hydrofoil.

[0016] In a preferred embodiment of the invention, the logic unit of the assistance system of the hydrofoil also comprises a calculation means adapted to monitor current parameters of the spatial position of the electric hydrofoil and its speed, and to calculate an expected change in parameters of the spatial position of the electric hydrofoil, wherein the logic unit of the assistance system of the hydrofoil is configured to prevent the execution of commands to change the revolutions of the at least one electric motor sent by the electronic control element, upon detection by the calculation means of an expected deviation from the preset parameters for the spatial position of the electric hydrofoil.

[0017] A further task of the invention is to create a method of operating an electric hydrofoil that makes it easier for beginners in the sport to learn it.

[0018] This task is achieved by creating a method for assisting the control of an electric hydrofoil, comprising the steps of: detection of a deviation from preset parameters for the spatial position of the electric hydrofoil by a logic unit of an assistance system for assisting the control of the electric hydrofoil, installed on the hydrofoil, by processing and comparing for the presence of a deviation of data received at least from a height sensor mounted to the above-water platform of the electric hydrofoil or in the area of the upper part of the mast, and / or a gyro sensor for measuring the angular accelerations of the hydrofoil, mounted to an electronic module of the electric hydrofoil; in the passive warning mode of operation of the assistance system, sending a warning about a deviation from said preset parameters for the spatial position of the electric hydrofoil by a warning means about the detected deviation, and / or in the active corrective mode of operation of the assistance system, correction of a deviation from said preset parameters for the spatial position of the electric hydrofoil by controlling the revolutions and operation of at least one electric motor of the electric hydrofoil by means of at least one PID controller.

[0019] In a preferred embodiment of the method for assisting the control of an electric hydrofoil, the detection of a deviation from the preset parameters for the spatial position of the electric hydrofoil by the logic unit of the assistance system for assisting the control of the electric hydrofoil installed on the hydrofoil is additionally done by detecting the deviation during the processing of data from at least one of: a GPS module for measuring speed and geolocation and / or an accelerometer for measuring accelerations of the electric hydrofoil.

[0020] In a preferred embodiment of the method for assisting the control of an electric hydrofoil, the preset parameters for the spatial position of the electric hydrofoil are generated based on factory-entered data in the main control unit for prohibited angles of attack during acceleration in water and permitted angle accelerations of the electric hydrofoil, and based on user input data for model of the above-water platform, user weight, model of the electric hydrofoil's wing and length of the mast, through a data input means connected to the main control unit.

[0021] In a preferred embodiment of the method for assisting the control of an electric hydrofoil, after the logic unit of the assistance system of the hydrofoil detects a deviation from the preset parameters for the spatial position of the electric hydrofoil, in active corrective mode of the assistance system, the logic unit of the assistance system sends a command to perform deviation correction by decreasing or increasing the revolutions, or stopping the at least one electric motor of the electric hydrofoil until the preset parameters for the spatial position of the electric hydrofoil are reached.

[0022] In a preferred embodiment of the method for assisting the control of an electric hydrofoil, upon detection by the logic unit of the assistance system of the hydrofoil of a deviation from the preset parameters for the spatial position of the electric hydrofoil, the logic unit of the assistance system prevents the execution of commands to change revolutions of the at least one electric motor, sent by the electronic control element, until reaching the preset parameters for the spatial position of the electric hydrofoil.

[0023] In a preferred embodiment of the method for assisting the control of an electric hydrofoil, the logic unit of the assistance system of the hydrofoil also comprises a calculation means that monitors current parameters of the spatial position of the electric hydrofoil and its speed, and calculates expected change in parameters of the spatial position of the electric hydrofoil, and upon detection by the calculation means of an expected deviation from the preset parameters for the spatial position of the electric hydrofoil, the logic unit of the assistance system of the hydrofoil prevents the execution of commands to change the revolutions of the at least one electric motor sent by the electronic control element, until the calculation means calculates parameters for the spatial position of the electric hydrofoil that are within the limits of the preset parameters for the spatial position of the electric hydrofoil.

[0024] The electric hydrofoil according to the invention is easier for beginning surfers to learn, safer to ride for both beginners and advanced surfers, preventing many of the dangerous situations associated with loss of balance, control and falling into the water. The electric hydrofoil also allows this sport to become faster to learn, offering several assistance modes, depending on the needs and preferences of the surfer.Description of attached figures

[0025] The invention is explained in more detail through preferred embodiments, given as non-limiting the scope of the invention examples, with reference to the attached figures, wherein: Figure 1 is a schematic view of an electric hydrofoil with its main components.EXEMPLARY EMBODIMENT OF THE INVENTION

[0026] The electric hydrofoil, according to a preferred embodiment of the invention, comprises: an above-water platform 1, a hydrofoil comprising fuselage 5 with front wing 7 and stabilizer 8, a mast 2 connecting directly or indirectly, for example via a connecting box for electronic components, the above-water platform 1 to the hydrofoil's fuselage 5, and an underwater propulsion means 6 for creating horizontal thrust having electric motor 16 with means for hydrodynamic propulsion, which electric motor 16 is connected to a source of electricity 3 through an electronic speed controller 13 of the electric motor 16, a main control unit 14 connected to the electronic speed controller 13 of the electric motor 16 so as to issue commands to the electric motor 16, an electronic control element 15 connected by wire or wireless to the main control unit 14 so as to issue commands to and receive information from it, a sensor unit with sensors that feed information to the main control unit 14, an assistance system to assist its control, which comprises logic unit 9 of the assistance system, connected to the main control unit 14, which logic unit 9 processes the information received from the sensors of the sensor unit to determine the spatial position of the device and to establish a deviation from the preset parameters for the spatial position of the electric hydrofoil. The sensor unit comprises: Height sensor 4 mounted to the above-water platform 1 or, alternatively, in the area of the upper part of the mast 2, respectively to the mast 2 or to an electronic component box mounted above the mast 2. This sensor determines what is the height above the water of the above-water platform 1 and how high above the water the wings, propeller or electric motor 16 of the hydrofoil would rise.

[0027] Gyro sensor 12 for measuring the angular accelerations of the hydrofoil. The angle of attack relative to the water surface of the above-water platform 1 is determined through this sensor.

[0028] Optionally, the sensor unit can also comprise: GPS module 11 for measuring speed and geolocation, mounted to the electronic control element 15 or alternatively in or to the above-water platform 1 or another element mounted to the above-water platform 1 after the mast 2, such as the main controller, the battery or the electronic speed controller 13. The speed of the electric hydrofoil is measured through this sensor and it can be calculated whether a deviation correction is needed by changing the speed.

[0029] Accelerometer 10 for measuring the accelerations of the electric hydrofoil, mounted to the electronic module 17 of the hydrofoil or to the battery. The acceleration of the electric hydrofoil is measured through this sensor and it can be calculated whether a deviation correction is needed by changing the acceleration.

[0030] The circuit boards of the GPS module 11 and accelerometer 10 can be embedded in the above-water platform 1, or in the upper part of the mast 2, so that the structure above it does not shield the signals exchanged with the used satellites in orbit. Other suitable locations for mounting the relevant sensors are also possible.

[0031] It is possible that the gyro sensor 12 and accelerometer 10 are mounted on an IMU (inertial measurement unit) microchip in the electronic module 17 of the hydrofoil, which microchip measures both angular and linear accelerations. In order to obtain an accurate calculation of the real angle at which a body is inclined in space, the data from the 3 axes of the one and the other sensor are entered into an algorithm that calculates the angle.

[0032] Any of the accelerometer 10, the assistance system's logic unit 9, the GPS module 11, the gyro sensor 12, the electronic speed controller 13 and the main control unit 14 can be mounted to the electronic module 17 of the hydrofoil, as shown in Figure 1.

[0033] The logic unit 9 of the assistance system processes the information received from the sensors of the sensor unit for determining the speed of the device and compares it with said preset parameters for the spatial position of the electric hydrofoil. For example, the logic unit 9 of the assistance system performs an accurate calculation of the real angle at which the above-water platform 1 is inclined in space, calculating through algorithm the data obtained from the three axes of the gyro sensor 12 and the accelerometer 10.

[0034] As a result of the comparison, and if a correction is necessary, the assistance system is activated to assist the control of the electric hydrofoil.

[0035] The assistance system is designed with two main modes of operation: passive warning mode of operation and active corrective mode of operation, and it is designed with the ability to switch between the two modes. In the passive warning mode, the logic unit 9 of the assistance system is set only to warn the user of the presence of a deviation by providing control signals through the main control unit 14 to a warning means for deviation from said preset parameters of the electric hydrofoil. The active corrective mode has two submodes - only reducing the speed of the electric motor 16, or reducing and increasing the speed and stopping the electric motor 16. In each of the submodes, the logic unit 9 of the assistance system sends a signal to the electronic speed controller 13 of the electric motor 16 for correction of a deviation from said preset parameters of the electric hydrofoil, by reducing, increasing or stopping the revolutions of the electric motor 16 by means of a PID controller. The PID controller (proportional-integral-derivative controller) is a feedback system that receives data from the sensors in the sensor unit, performs a regulating action to eliminate the deviation, and measures the output from the sensors again. The goal is to achieve a stable position of the electric hydrofoil. The function of the PID controller is based on a high-frequency cycle of measuring the change in the position of the electric hydrofoil in space and performing a reaction when it deviates from the "straight path" - previously established parameters of movement. This controller responses according to the changes in each previous step. The PID response is calculated based on its three components, respectively: proportional - according to the displacement from the desired position of the hydrofoil; derivative - according to the rate of change from the desired position of the hydrofoil; integral - according to the length of time the hydrofoil is out of this position. The hydrofoil is stabilized (in the case of the final level of stabilization) based on them.

[0036] The user of the system can select and switch between any of the relevant main modes and submodes when using the electric hydrofoil.

[0037] The logic unit 9 of the assistance system, upon detection of a deviation from the preset parameters for the spatial position of the electric hydrofoil, can additionally prevent the execution of commands to change the revolutions of the electric motor 16, which the user sends through the electronic control element 15, until reaching the preset parameters for the spatial position of the electric hydrofoil.

[0038] In a preferred embodiment, the logic unit 9 of the assistance system of the hydrofoil can also comprise a calculation means by which it monitors current parameters for the spatial position of the electric hydrofoil and its speed, and calculates an expected change in parameters for the spatial position of the electric hydrofoil. If the calculation means detects an expected deviation from the preset parameters for the spatial position of the electric hydrofoil, when issuing a given command to change the revolutions of the electric motor 16, the logic unit 9 of the assistance system of the hydrofoil prevents the execution of the command to change the revolutions of the electric motor 16, issued by the user via the electronic control element 15.

[0039] The preset parameters for the spatial position of the electric hydrofoil are basic hydrofoil motion limits, and they are generated based on user input, which can be some or all of the above-water platform model 1, user weight, and wing model 7 of the electric hydrofoil, through data input device connected to the main control unit 14, parameters related to the flying height (defined during the manufacture of the hydrofoil relative to the length of the mast 2), allowed angles of attack during water speed gain (0-15 degrees for example), allowed angular accelerations where a person is not expected to be able to react quickly enough to return the above-water platform 1 to a safe position before falling off it. These parameters are calculated on the basis of the optimal behavior of the electric hydrofoil in water, since, for example, when accelerating the above-water platform 1 to take-off speed (speed between 1 and 15 km / h), only a small range of the angle of attack of the above-water platform 1 and respectively the wing 7 and the stabilizer 8 permits to achieve a successful take-off - for example 0-15 degrees. If the angle is negative, then the nose of the above-water platform 1 will dive under water resulting in a fall. If the angle is greater than 15 degrees, then a large part of the rear of the above-water platform 1 will be under water resulting in " draging water". The above-water platform 1 will not be able to gain speed to take off due to the many times increased drag in this case. Another example is the angle of attack at which the wing stalls and stops producing lift - for example 30 degrees. When this angle is reached, the lifting force disappears and the above-water platform 1 falls on the water. Another example is defining the maximum height for flying. During flight when approaching this parameter (strictly determined by the length of the mast 2), the electric motor 16 can reduce the revolutions to prevent the wings 7 and the electric motor 16 from piercing the water, which could result in sudden loss of lift force and falling of the surfer. The warning means for deviation from said preset parameters for the spatial position of the electric hydrofoil can be selected from: a speaker in the electronics of the above-water platform 1, in the electronic control element 15 or an external audio device; vibration means installed in the electronic control element 15, in the above-water platform 1 or an external vibration device; display for visualizing a signal located on the electronic control element 15, on the above-water platform 1 or on external device; light indication on the above-water platform 1 or on a display of a device external to the hydrofoil; or their combination.

[0040] Hydrodynamic propulsion means is a device that uses the movement of water to create thrust and can be a water propeller or a jet-type impeller, also called a turbine-driven impeller.

[0041] The electronic control element 15 can be a remote device, or alternatively a built-in button / slider in the above-water platform 1, through which the user can wirelessly or via wire issue a command to control the electric motor 16 of the electric hydrofoil.

[0042] The electric hydrofoil, according to the invention, provides an opportunity to deal with most of the mistakes that beginning surfers make in this sport, thanks to the assistance system of the hydrofoil.

[0043] Usually, the problems experienced by beginning users of electric hydrofoil are related to a lack of feel and control over the angle of attack of the hydrofoil. The most common errors are described below: The surfer does not accelerate enough and tries to fly. Without enough speed of the above-water platform 1, the beginners try to raise the nose of the above-water platform 1 and take off (pop up on the wings). Despite the greater angle of attack of the wing, the speed is not sufficient to lift the surfer into the air. Accordingly, the flight is not possible and usually the surfer loses balance and falls. To prevent this, it is necessary to move the weight of the surfer's towards the front foot (towards the nose of the above-water platform 1), leveling the above-water platform 1 and accelerating until a sufficient take-off speed is reached; An attempt to accelerate the above-water platform 1 in the water, at a very high initial angle of attack is doomed to failure. Even if all the power is supplied to the electric motor 16, the position of the above-water platform 1 at a high angle of attack does not allow acceleration. In this position, the nose of the above-water platform 1 protrudes above the water, while its rear is deeply submerged under water. In this position, it acts as a brake that displaces a lot of water when moving and does not allow acceleration. Riding the electric hydrofoil in such a condition leads to easy loss of balance and fall. Thus, it is necessary to lower the angle of attack in order to prevent this; Another common mistake of beginners is the lack of control and quick reaction to the angle of attack of the electric hydrofoil. Ideally, the surfer maintains the level of flight at about 50% of the height of the mast 2. This allows him to make adjustments to the angle of attack of the electric hydrofoil, the lift and accordingly the height of the flight, both downwards without hitting the surface of the water during flight, and upwards, without raising the wings above the water. The latter leads to a certain fall from the above-water platform 1, since the exit of the wings above the water instantly leads to a complete loss of lift force, which keeps the surfer foiling (in flight). Even if only the electric motor 16 and the propeller (without the wings) are raised above the water, this also results in an instant stopping of the propulsive force, a change in the balance of the electric hydrofoil and a sharp shift of the nose of the above-water platform 1 straight towards the water - most often leading to hitting it in the water and falling in front of the above-water platform 1. On the other hand, a sudden hit of the above-water platform 1 into the water during flight can severely shake the surfer and cause him to fall. Thus, it is necessary to adjust the flight level to about 50% of the height of the mast 2 in order to prevent this; The beginning surfer often fails to react to changes in the movement parameters of the electric hydrofoil caused by waves, currents, turbulent flows in the water, wind or a change in the revolutions of the electric motor 16. This leads to either rise of the wings of the electric hydrofoil above the water or the above-water platform 1 hits the water. Both are prerequisites for the surfer to fall. A correction in the speed of the electric motor 16 can compensate for this or at least it can lead to a safer fall; Due to his lack of experience, the beginning surfer often makes wrong corrective maneuvers unprovoked by the environment, which can again lead to the above-described dangerous situations. A swaying of the surfer's body leading to a rapid shift in the center of gravity is a sure cause of loss of control over the electric foil. A correction in the speed of the electric motor 16 can compensate for this or at least it can lead to a safer fall; Also, the lack of awareness of the movement of the above-water platform 1 above the water leads to dangerous situations. In their first lessons, surfers often do not notice the slow rise or lowering of the above-water platform 1 and accordingly do not take corrective action against the wings coming out of the water or the above-water platform 1 hitting the water. Maintaining a very high foiling height is another mistake and a prerequisite for a fall. This can be prevented by timely correction of the height of the above-water platform above the water; Changing the speed of the surf by changing the revolutions of the electric motor 16 requires a momentary correction of the angle of attack of the wings so as to maintain a balanced flight. The beginner rarely manages to make this correction in time, and the result is a loss of control and a fall. This can be prevented by timely correction of the revolutions of the electric motor 16.

[0044] All these problems for beginners make the sport difficult and dangerous, and hinder its development, as well as they create risks for the users and businesses that offer training or hire of electric hydrofoils.

[0045] In order to deal with common errors among beginners, the invention provides a system to prevent them by signaling a necessary correction of the revolutions of the electric motor 16, and / or a necessary correction of the angle of attack of the above-water platform 1 and / or, respectively, the position of the surfer on the above-water platform 1; or by direct adjustment of the revolutions of the electric motor 16, which leads to a change in the speed, acceleration, angle of attack, and height of the hydrofoil.

[0046] The proposed assistance system works at several levels of user intervention. It allows full assistance to the user, suitable in his first hours of training on the electric hydrofoil, as well as a gradual reduction of the intervention in the process of training, until the intervention is stopped and only warning messages in dangerous situations are issued, which is suitable for advanced surfers. This type of assistance system allows the safest possible introduction of beginners to the sport of electric hydrofoils, preventing a large number of dangerous situations related to loss of balance, control and falling into the water.

[0047] In more detail, the different types of assistance are: Level 1 - passive warning mode of operation: By determining the spatial position of the electric hydrofoil, the angle of attack and the flight height, the system recognizes user errors, dangerous situations and conditions for falling. If there are any, the system sends a message to the user. It can be, for example: an audio message from speaker in the electronics of the above-water platform 1, remote control or external audio device (such as a telephone, speaker or headphones); vibration (haptic) message - associated with a vibration signal from the remote control, above-water platform 1 or external to the system device; visual message - on the display of the remote control, on the display or light indication on the above-water platform 1, or on the display of a device external to the system - for example a telephone. The messages that are sent can be, for example: notification when the take-off speed is reached after measuring the current speed, or a prompt to supply more power to the electric motor 16 if the surfer does not accelerate; notification for a change in the angle of attack, after determining by means of a gyroscope 12 located in the above-water platform 1, of the position of the above-water platform 1 and, respectively, the angle of the front wing 7 relative to the sea surface. If the angle is greater or less than the necessary for flying at a given speed, the surfer is notified to incline the above-water platform 1 up or down by shifting their weight more to the back or front leg; notification for a change in the angle of attack, after measuring the height of the flight by means of a height sensor 4, which can be, for example, ultrasonic, microwave, laser or camera. When the flight height increases close to the maximum possible height during flight, the surfer is notified to incline the surf down by shifting their weight onto their front leg. In addition to the absolute value of the height, a correction notification can also be given in the case of an excessively high rate of ascent of the above-water platform 1 calculated by the main controller in the above-water platform 1. Level 2 - low level of active corrective mode of operation, by reducing the revolutions of the electric motor 16 in dangerous situations: Keeping the above-water platform 1 at correct angles of attack relative to the speed - as mentioned above, if at a given speed the angle of attack of the wing is increased too much, it will cause a sharp increase in lift and a rapid increase in height, which will inevitably lead to the wings of the foil being raised above the water and the surfer falling from the above-water platform 1. To prevent this, the level 2 assistance comprises a dynamic limitation of the power of the electric motor 16 (respectively revolutions). During flight, sensors calculate flight characteristics (angle of attack, speed, flight height, side incline). When these parameters go beyond the allowed preset limits - which is a prerequisite for loss of control and falling, the system reduces the revolutions of the electric motor 16 to prevent a dangerous situation. For each speed, the wing has a certain angle of attack that allows flight. Accordingly, at any speed in the allowable range, the surfer can move with a precise angle of attack to balance the forces. It is not possible to fly with different angles of attack in a straight direction at the same speed. These angles of attack depend on many factors of the wing: mostly its profile, but also its extension, its contour, its area. For the system to work, it is possible to set very precise parameters of each wing used, or alternatively frame parameters to ensure the system works at a good enough (acceptable) level. If the surfer makes a mistake and shifts their weight to the back leg without changing their speed, they will sharply increase the angle of attack of the above-water platform 1, sharply increase the lift of the wing, which will cause it to take off from the water. At the moment of changing the angle of attack, the logic unit 9 of the assistance system through the data from the gyroscope 12 will detect this and it will immediately reduce the power of the electric motor 16. This will lead to a decrease in the speed of the above-water platform 1 and a decrease in the lift force. As a consequence, the above-water platform 1 will remain in a balanced flight position until the surfer corrects their error and returns their center of gravity back to the correct position. If they does not change their position, they will be forced by the assistance system to land smoothly on the water, as a result of the reduced revolutions of the electric motor 16, speed and lift force. On the other hand, during initial acceleration, the system monitors the angle of attack, the speed and the power of the electric motor 16. If a surfer has made the mistake of leaving too much of his weight on the back leg, this will lead to the immersion of the rear of the above-water platform 1 under water and raising the nose of the above-water platform 1 above the water. Take off is not possible from this position. As explained above, even if the power of the electric motor 16 is increased, the only way for the above-water platform 1 to accelerate is to make it horizontal, by shifting the weight to the front leg. This will allow it to slide much easier on the water, gain speed and the wing to generate enough lift force. In such situations, where the surfer holds the above-water platform 1 at too high angle of attack, and its rear is submerged under water, additional power from the electric motor 16 results in an even greater displacement of the nose of the above-water platform 1 in upward direction and it is highly likely that the surfer will fall from the above-water platform 1. The active assistance system will prohibit the increase in the power of the electric motor 16 until the angle of attack of the wing is returned to the allowed limits. When the surfer gives a command to increase revolutions, it will not be executed until the surfer has brought the electric hydrofoil into the allowed angles of attack. Level 3 - high level of active corrective mode of operation, representing full active assistance by increasing and decreasing the speed of the electric motor 16. While Level 2 of the system only reduces the speed of the electric motor 16 in situations outside the normal flight parameters that are a prerequisite for falling, in the next third level of assistance, the system also allows the increase of revolutions to prevent landing of the above-water platform 1 on the water. When activated during flight, the system will make the same Level 2 corrections when the angle of attack is outside the normal, but it will also work in the opposite direction. When the angle of attack of the electric hydrofoil lowers sharply, for example when the surfer staggers forward towards the nose of the above-water platform 1, the nose of the above-water 1 will go down into the water. Failure to make an immediate correction by the surfer will result in the above-water platform 1 hitting the water and possibly a fall of the surfer. At such time, the Level 3 assistance system will increase the speed of the electric motor 16, increasing the speed of the above-water platform 1 and the lift force of the front wing 7. This will cause the nose of the above-water platform 1 to lift and it will keep the electric hydrofoil in flight above the water. After a correction by the surfer when they returns the center of gravity to the correct for the flight position, the system will reduce the revolutions to their initial value, before its intervention. Level 4 - combined level of passive warning mode and active corrective mode of operation. This option allows the user to correct their error by moving their body along the above-water platform 1, while at the same time the system actively prevents him / her from a dangerous situation or a fall. Because it is possible for the surfer to continue their mistake so far as to approach the end of the range of the active corrective assistance mode, for example, if they shifts their weight further and further back on the above-water platform 1, the electric motor 16 will decrease the speed further, and at certain point the electric motor 16 will have to stop completely. While this process is underway, the passive warning mode may invite the user to shift their weight forward to return to the operating range of the electric foil and to the active corrective mode of operation. It will be clear for the skilled in the art that various modifications of the electric hydrofoil with an assistance system to assist its control are possible, which also are within the scope of the invention defined in the appended claims. All parts of the electric hydrofoil can be replaced with technically equivalent elements. The reference numbers of the technical features are included in the claims solely for the purpose of increasing the comprehensibility of the claims and, therefore, these reference numbers do not have any limiting effect on the interpretation of the elements indicated by these reference numbers.

Claims

1. Electric hydrofoil with an assistance system for improved control and stability, comprising: - an above-water platform (1), - a hydrofoil comprising a fuselage (5) with front wing (7) and at least one stabilizer (8), - a mast (2) connecting directly or indirectly the above-water platform (1) to the fuselage (5) of the hydrofoil, and - an underwater propulsion means (6) for creating horizontal thrust having at least one electric motor (16) with hydrodynamic propulsion means, which electric motor (16) is connected to a source of electricity (3) through an electronic speed controller (13) of the at least one electric motor (16), - a main control unit (14) connected to the electronic speed controller (13) of the at least one electric motor (16) with the ability to send commands to the at least one electric motor (16), - an electronic control element (15) connected by wire or wireless with the ability to send commands to and to receive information from the main control unit (14); - a sensor unit comprising at least a height sensor (4) mounted to the above-water platform (1) or in the area of the upper part of the mast (2) and / or a gyro sensor (12) for measuring the angular accelerations of the hydrofoil, mounted to an electronic module (17) of the hydrofoil, wherein each of the two sensors is connected with the ability to send information to the main control unit (14), characterized in that it also comprises an assistance system to assist its control, which comprises a logic unit (9) of the assistance system, configured for processing the information received from the sensors (4, 12) of the sensor unit to determine the spatial position of the device and to detect a deviation from preset parameters for the spatial position of the electric hydrofoil, which logic unit (9) is connected to the main control unit (14), wherein the assistance system is designed with a passive warning mode of operation and / or with an active corrective mode of operation, and it is designed with the ability to switch between the two modes, wherein in the passive warning mode, the logic unit (9) of the assistance system is configured to provide control signals through the main control unit (14) to a warning means for deviation from said preset parameters of the electric hydrofoil, and in the active corrective mode, the logic unit (9) of the assistance system is adapted to provide a signal to the electronic speed controller (13) of the at least one electric motor (16) to correct the deviation from said preset parameters of the electric hydrofoil, by decreasing or increasing or stopping the revolutions of the at least one electric motor (16) by means of at least one PID controller.

2. Electric hydrofoil with an assistance system for improved control and stability according to claim 1, characterized in that the sensor unit additionally comprises at least one of: - GPS module (11) for measuring speed and geolocation, mounted to the electronic control element (15) or to the above-water platform (1), or to another element mounted to the above-water platform (1) after the mast (2), and - accelerometer (10) for measuring the accelerations of the electric hydrofoil, mounted to the electronic module (17) of the hydrofoil, each of these sensors (10, 11) is connected with the ability to provide information to the main control unit (14), wherein the logic unit (9) of the assistance system is adapted to further process the information received from the sensors (10, 11) of the sensor unit to determine the speed and acceleration of the device and to compare it with said preset parameters for the spatial position of the electric hydrofoil.

3. Electric hydrofoil with an assistance system for improved control and stability according to claims 1 or 2, characterized in that the warning means for deviation from said preset parameters for the spatial position of the electric hydrofoil is at least one of: a speaker in the electronics of the above-water platform (1), in the electronic control element (15) or external audio device; vibration means mounted in the electronic control element (15), in the above-water platform (1) or external vibration device; a display for visualizing a signal located on the electronic control element (15), on the above-water platform (1) or on an external device; light indication on the above-water platform (1) or on a display of a device external to the hydrofoil; or a combination thereof.

4. Electric hydrofoil with an assistance system for improved control and stability according to any of the preceding claims, characterized in that the logic unit (9) of the assistance system of the hydrofoil is further configured to prevent the execution of commands to change the revolutions of the at least one electric motor (16), sent by the electronic control element (15), when a deviation from the preset parameters for the spatial position of the electric hydrofoil is detected, until reaching the preset parameters for the spatial position of the electric hydrofoil.

5. Electric hydrofoil with an assistance system for improved control and stability according to any of the preceding claims, characterized in that the logic unit (9) of the assistance system of the hydrofoil also comprises a calculation means adapted to monitor current parameters of the spatial position of the electric hydrofoil and its speed, and to calculate an expected change in parameters of the spatial position of the electric hydrofoil, wherein the logic unit (9) of the assistance system of the hydrofoil is configured to prevent the execution of commands to change the revolutions of the at least one electric motor (16), sent by the electronic control element (15), when the calculation means detects an expected deviation from the preset parameters for the spatial position of the electric hydrofoil.

6. Method for assisting the control of an electric hydrofoil, comprising the steps of: - detection of a deviation from preset parameters for the spatial position of the electric hydrofoil by a logic unit (9) of an assistance system for assisting the control of the electric hydrofoil, installed on the hydrofoil, by processing and comparing data for the presence of a deviation, received at least from a height sensor (4) mounted to the above-water platform (1) of the electric hydrofoil or in the area of the upper part of the mast (2), and / or a gyro sensor (12) for measuring the angular accelerations of the hydrofoil mounted to an electronic module (17) of the electric hydrofoil; - in the passive warning mode of operation of the assistance system, sending a warning about a deviation from said preset parameters for the spatial position of the electric hydrofoil by a warning means about the detected deviation, and / or - in the active corrective mode of operation of the assistance system, correction of a deviation from said preset parameters for the spatial position of the electric hydrofoil by controlling the revolutions and operation of at least one electric motor (16) of the electric hydrofoil by means of at least one PID controller.

7. Method for assisting the control of an electric hydrofoil according to claim 6, wherein the detection of a deviation from the preset parameters for the spatial position of the electric hydrofoil by the logic unit (9) of assistance system for assisting the control of the electric hydrofoil is additionally done by detecting the deviation during the processing of data from at least one of: GPS module (11) for measuring speed and geolocation and / or accelerometer (10) for measuring accelerations of the electric hydrofoil.

8. Method for assisting the control of an electric hydrofoil according to claims 6-7, wherein, after the logic unit (9) of the assistance system of the hydrofoil detects a deviation from the preset parameters for the spatial position of the electric hydrofoil, in active corrective mode of the assistance system, the logic unit (9) of the assistance system sends a command to perform deviation correction by decreaing or increasing the revolutions of, or stopping the at least one electric motor (16) of the electric hydrofoil until the preset parameters for the spatial position of the electric hydrofoil are reached.

9. Method for assisting the control of an electric hydrofoil according to claims 6-8, wherein after the logic unit (9) of the assistance system of the hydrofoil detects a deviation from the preset parameters for the spatial position of the electric hydrofoil, the logic unit (9) of the assistance system prevents the execution of commands to change the revolutions of the at least one electric motor (16), sent by the electronic control element (15), until reaching the preset parameters for the spatial position of the electric hydrofoil.

10. Method for assisting the control of an electric hydrofoil according to claims 6-8, wherein the logic unit (9) of the assistance system of the hydrofoil also comprises a calculation means that monitors current parameters of the spatial position of the electric hydrofoil and its speed, and calculates expected change in parameters of the spatial position of the electric hydrofoil, and when the calculation means detects an expected deviation from the preset parameters for the spatial position of the electric hydrofoil, the logic unit (9) of the assistance system of the hydrofoil prevents the execution of commands to change the revolutions of the at least one electric motor (16) sent by the electronic control element (15) until the calculation means calculates parameters for the spatial position of the electric hydrofoil that are within the limits of the preset parameters for the spatial position of the electric hydrofoil.

11. Method for assisting the control of an electric hydrofoil according to claims 6-10, wherein the preset parameters for the spatial position of the electric hydrofoil are generated based on factory-entered data in the main control unit (14) for prohibited angles of attack during speed gain in water and allowable angular accelerations of the electric hydrofoil, and based on user input data for: model of the above-water platform 1, user weight, model of the electric hydrofoil's wings 7, length of the mast 2, through a data input means connected with the main control unit (14).

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