Boat wing mechanism and method of installation thereof

Abstract

A hydrofoil mechanism (100) for a boat (10) comprising: a fastening device (101) fastened to the outside of the hull (11) below the waterline (14) of a stationary boat (10); a first rigid member (110) having a first end (111) and a second end (112), the first end (111) being rotatably connected to a turning point (113), thereby configuring the first rigid member (110) to engage with and disengage from the hull (11) in a first turning plane, the turning being vertical and parallel to the forward direction; first A second rigid member (120) having an end (121) and a second end (122), the first end (121) of the second rigid member (120) being connected to the second end (112) of the first rigid member (110), the second rigid member (120) extending at an angle (127) to the first rigid member (110), thereby placing the second end (122) of the second rigid member (120) at a vertical distance from the hull (11); and a main hydrofoil (130) fastened to the second end (122) of the second rigid member (120). The first rigid member (110) is rotatable downward and aft, and then upward and further aft, until its second end (112) is positioned on the stern side of the hull (11). The present invention also relates to a method.

Description

Technical Field

[0001] The present invention relates to a wing mechanism for boats, particularly motorboats. It also relates to an installation method for the boat, such as retrofitting a wing mechanism to an existing boat hull.

Background Art

[0002] When a boat is propelled, it is accompanied by water friction and generates a resistance force that must be overcome by a propulsion force such as a propeller motor. The hydrodynamic pressure and wave generation around the moving boat hull also contribute to this resistance force. This naturally applies to both planing and non-planing vessels.

[0003] To reduce this resistance force, the use of underwater wings is known. See, for example, U.S. Patent No. 955,343. Furthermore, various control mechanisms for such underwater wings are disclosed in U.S. Patent Nos. 2,890,671, 2,709,979, French Patent No. 3101323, U.S. Patent No. 3,092,062, and U.S. Patent No. 3,146,457. Various wing cross-sectional shapes are disclosed in U.S. Patent Nos. 2,890,672 and U.S. Patent No. 8,863,681.

[0004] A boat equipped with an underwater wing has reduced resistance in shallow waters, and the underwater part of the underwater wing is prone to adhesion of deposits. Also, the underwater wing poses a problem when transporting the boat by trailer over land. Deposits on the underwater wing significantly reduce buoyancy and increase resistance in water. Various solutions to these problems (generally based on the concept of folding the underwater wing from the water) are disclosed in U.S. Patent No. 4,056,074, European Patent Application Publication No. 4046900 Al, PCT International Publication No. WO2021 / 115570 Al, PCT International Publication No. WO2021 / 032277 Al, RU 2685489 C2, and PCT International Publication No. WO2020 / 056530 A2.

Disclosure of the Invention

Problems to be Solved by the Invention

[0005] Operating a boat in wing-equipped mode carries the risk of grounding, which can result in damage to the hydrofoils.

[0006] A common issue with these prior art solutions is that they require extensive structural modifications to the boat hull for installation. This is not only costly and complex, but also necessitates designing the boat hull in a specific way to make it possible to install and effectively utilize hydrofoils.

[0007] Therefore, there is a need for hydrofoil solutions that can be installed on a wide variety of hulls with minimal structural modifications to the hull itself. In particular, there is a need for hydrofoil solutions that can be retrofitted to existing hulls of various types of boats. For example, it may be desirable to install hydrofoil solutions on various motorboats equipped with outboard or inboard engines, such as those with inboard / outboard engines (sterndrive).

[0008] The present invention solves at least some of the above problems.

[0009] Therefore, the present invention relates to a hydrofoil mechanism for a boat having a hull. [Means for solving the problem]

[0010] In some embodiments, the hydrofoil mechanism includes fastening devices that are positioned to be fastened to the outside of the hull below the waterline when the hull is not moving in the water.

[0011] In some embodiments, the hydrofoil mechanism comprises a first rigid member having an elongated shape and having a first end and a second end. The first rigid member is further arranged to be rotatably connected at the first end to a pivot point located at the stern of the hull, thereby allowing the first rigid member to pivot within a first pivot plane between a first pivot position where it is fastened to the hull by a fastening device and a second pivot position where it is not fastened to the hull by a fastening device. The first pivot plane is substantially vertical and substantially parallel to the forward direction of the boat.

[0012] In some embodiments, the hydrofoil mechanism comprises a second rigid member that is elongated and has a first end and a second end. The first end of the second rigid member is connected to the second end of the first rigid member, and when the first rigid member is fastened to a fastening device, the second rigid member is positioned to extend at an angle to the first rigid member, thereby placing the second end of the second rigid member at a distance perpendicular to the hull.

[0013] In some embodiments, the hydrofoil mechanism comprises a main hydrofoil fastened to a second end of a second rigid member.

[0014] In some embodiments, the first rigid member is rotatable from a first position, with its second end moving downward and rearward, and then upward and further rearward, to a third position where its second end is positioned towards the stern of the hull.

[0015] In some embodiments, the length between the first end and the second end of the first rigid member is longer than the length between the first end and the second end of the second rigid member.

[0016] In some embodiments, when the first rigid member is fastened to the fastening device, the second rigid member is connected to the first rigid member at a point coinciding with or in front of the center of mass of the boat.

[0017] In some embodiments, the first rigid member is rotatably connected to the second rigid member.

[0018] In some embodiments, the hydrofoil mechanism further includes a stern hydrofoil positioned to be fastened to the stern of the hull, the stern hydrofoil being preferably smaller than the main hydrofoil.

[0019] In some embodiments, the stern hydrofoil is arranged to be attached to a stern drive, outboard motor, or motor mounting fixture of the boat, and is further arranged to be moved by the boat's power tilt actuator.

[0020] In some embodiments, the stern hydrofoil is arranged to tilt together with the stern drive or outboard motor under the influence of a power tilt actuator.

[0021] In some embodiments, the hydrofoil mechanism does not have hydrofoils other than the main hydrofoil and the stern hydrofoil.

[0022] In some embodiments, the hydrofoil mechanism further includes an angle-of-attack actuator arranged to adjust the angle of attack of the main hydrofoil. The angle-of-attack actuator is arranged to transmit a first force along a first rigid member to a second force along a second rigid member, and the second force causes the main hydrofoil to pivot to set its angle of attack. The angle-of-attack actuator includes a force transmission member arranged at the connection between the first rigid member and the second rigid member, and the force transmission member is arranged to apply the second force as a reaction to the first force.

[0023] In some embodiments, the angle-of-attack actuator is configured to adjust the angle of attack over an angular interval of at least 30°.

[0024] In some embodiments, the main hydrofoil includes a left side and a right side, the left side and the right side are individually pivotable, and the left side and the right side can individually set the angle of attack.

[0025] In some embodiments, the left side and the right side are interconnected by a flexible portion, allowing the main hydrofoil to twist under torsional forces.

[0026] In some embodiments, the flexible portion is made of spring steel or a fiber composite material, which may include carbon fibers, glass fibers or polymer fibers, and is designed such that the main hydrofoil can twist relatively easily about its longitudinal axis.

[0027] [[ID=2⑨]] In some embodiments, the left side and the right side are interconnected by a rotational connection, enabling the left side and the right side to rotate relative to each other about a common axis that is the main extension axis of the main hydrofoil.

[0028] In some embodiments, the angle of attack of the left side and the angle of attack of the right side can be individually set using their respective angle of attack actuators.

[0029] In some embodiments, the lateral length of the main hydrofoil has a length within ±50% identical to the lateral width of the hull.

[0030] In some embodiments, the main hydrofoil has a width in a direction parallel to the moving direction of the boat, the width being between 8 cm and 50 cm, for example between 15 cm and 30 cm, and / or the relationship between the width and the lateral length of the main hydrofoil is between 1:4 and 1:20, for example between 1:8 and 1:17, for example between 1:10 and 1:15.

[0031] In some embodiments, the hydrofoil mechanism includes two first rigid members, and the two first rigid members are arranged to be pivotable rearwardly on either side of the propeller shaft of the boat.

[0032] In some embodiments, the hydrofoil mechanism includes two second rigid members, and the two second rigid members are connected to the main hydrofoil at different points along the main hydrofoil relative to each other in the lateral direction of the hull, one connection point being arranged on the left side of the hull and the other connection point being arranged on the right side of the hull.

[0033] In some embodiments, the two second rigid members are arranged to extend laterally and branch relative to each other in the vertical direction, and the half angle of the branch is between 5° and 20°.

[0034] In some embodiments, the two second rigid members are arranged to extend at an angle in the vertical lateral plane, and the angle is perpendicular ±20° to the tangent line to the hull 5 at the first end of the second rigid member.

[0035] In some embodiments, the hydrofoil mechanism includes a first locking mechanism arranged to detachably lock a second end of a first rigid member to a fastening device.

[0036] In some embodiments, the hydrofoil mechanism includes a second locking mechanism positioned to detachably lock the first end of a second rigid member with respect to a fastening device and / or the first rigid member in a predetermined angular direction.

[0037] In some embodiments, the second locking mechanism is configured to be sufficiently weaker than the first locking mechanism, so that when a sufficiently large stern-direction impact is applied to the second rigid member, the second rigid member is released from the angular direction instead of the first locking mechanism releasing the first rigid member from the fastening device.

[0038] In some embodiments, the first rigid member is rotatable from a third position, with its second end moving upward and forward to a fourth position, where its second end is positioned above the boat's propeller shaft.

[0039] In some embodiments, the hydrofoil mechanism includes a propulsion position setting device, which is positioned to set the vertical height of the boat's propeller shaft, such as a stern drive or outboard motor.

[0040] In some embodiments, the hydrofoil mechanism includes a water surface sensor positioned to measure the distance to the water surface from above the water surface.

[0041] In some embodiments, the hydrofoil mechanism is fastened to a surface of the hull facing the stern, such as the transom.

[0042] In some embodiments, the fastening device is positioned to be fastened to the bottom of the hull using adhesive without penetrating the hull.

[0043] In some embodiments, the second rigid member has a rectangular profile except for a curved portion, such as a semicircle, that faces the bow side of the hull when the second rigid member is in the vertical direction.

[0044] In some embodiments, the second rigid member is connected to the main hydrofoil via a wing connecting member whose horizontal cross-section is teardrop-shaped when the second rigid member is in the vertical direction.

[0045] In some embodiments, the second rigid member penetrates the wing connecting member.

[0046] In some embodiments, the first rigid member can be driven to pivot by rotation of the horizontal axis at the pivot point.

[0047] The present invention also relates to a method for installing a hydrofoil mechanism as described in any of the preceding paragraphs, the method comprising providing a boat having a hull, and fastening the turning point of the hydrofoil mechanism to the stern of the hull and fastening the fastening device to the bottom of the hull.

[0048] In some embodiments, the method further includes fastening the outboard motor to a propulsion position setting device of a hydrofoil mechanism, and enabling the outboard motor to be raised and lowered by the propulsion position setting device.

[0049] In some embodiments, the method further includes fastening the stern drive to a propulsion position setting device of a hydrofoil mechanism, making the stern drive movable up and down by the propulsion position setting device, and connecting the stern drive to the drive shaft of the boat via a universal joint.

[0050] In some embodiments, the boat is an existing boat, and the installation of the hydrofoil mechanism is a modification of the hydrofoil mechanism.

[0051] The present invention will be described in detail below with reference to embodiments and accompanying drawings. [Brief explanation of the drawing]

[0052] [Figure 1] Figure 1 shows perspective views of the first hydrofoil mechanism mounted on the boat. [Figure 2] Figure 2 shows perspective views of the first hydrofoil mechanism mounted on the boat. [Figure 3] Figure 3 is a side view of the first hydrofoil mechanism mounted on the boat. [Figure 4] Figure 4 is a rear view of the first hydrofoil mechanism mounted on the boat. [Figure 5] Figure 5 is a perspective view of the first hydrofoil mechanism, excluding the boat. [Figure 6] Figure 6 is a detailed perspective view of the stern mounting device for the first hydrofoil mechanism. [Figure 7] Figure 7 is a detailed perspective view of the stern mounting device for the first hydrofoil mechanism. [Figure 8] Figure 8 is a detailed perspective view of the stern wing of the first hydrofoil mechanism. [Figure 9] Figure 9 is a detailed perspective view of the stern wing of the first hydrofoil mechanism. [Figure 10] Figure 10 is a side perspective view of the first hydrofoil mechanism with the protective cover removed to reveal the inside of the fastening device. [Figure 11] Figure 11 is a detailed rear perspective view of the first hydrofoil mechanism, showing the fastening device of the first hydrofoil mechanism. [Figure 12] Figure 12 is a detailed top perspective view of the fastening device of the first hydrofoil mechanism. [Figure 13] Figure 13 is a detailed perspective view of the fastening device in the first hydrofoil mechanism. [Figure 14] Figure 14 is similar to Figure 13, but the protective cover has been removed to reveal the inside of the fastening device. [Figure 15] Figure 15 is similar to Figure 14, but is a cross-sectional view with a portion cut away to reveal the inside of the fastening device. [Figure 16] Figure 16 is a detailed top perspective view of the main hydrofoil of the second hydrofoil mechanism, with a portion of it removed. [Figure 17]Figure 17 is a detailed top perspective view of the main hydrofoil of the second hydrofoil mechanism, with a portion of it removed. [Figure 18] Figure 18 is a detailed top view of the main hydrofoil in the second hydrofoil mechanism. [Figure 19] Figure 19 is a detailed perspective view of the flexible portion of the main hydrofoil of the second hydrofoil mechanism. [Figure 20] Figure 20 is a detailed perspective view of the rotating connection of the third hydrofoil mechanism. [Figure 21] Figure 21 corresponds to Figure 3, but shows the first hydrofoil mechanism in a partially retracted state. [Figure 22] Figure 22 corresponds to Figure 3, but shows the first hydrofoil mechanism in a more contracted state. [Figure 23] Figure 23 is a detailed perspective view of the connection between the main hydrofoil and the second rigid member of the first hydrofoil mechanism, with a portion of the connection area cut out to show the inside. [Figure 24] Figure 24 is a control chart showing the operation of the control device for the hydrofoil mechanism. [Figure 25] Figure 25 is a flowchart showing the method. [Figure 26] Figure 26 is a detailed perspective view of the stern mounting device for the first hydrofoil mechanism. [Modes for carrying out the invention]

[0053] Throughout the drawing, the same reference numeral is used for identical or corresponding parts.

[0054] Figures 1 to 5 schematically show a hydrofoil mechanism 100 for a boat 10. The boat 10 comprises a hull 11 having a bottom 13, a stern 15, and a bow 16. The bow 16 may have a transom 17. The boat 10 may further have an outboard motor 18, which has a propeller shaft 19. As will become clear later, the present invention also envisions the boat 10 having an inboard motor instead, which may be combined with either a stern drive or direct propeller drive from the inboard motor.

[0055] Furthermore, the boat 10 may have a power tilt system equipped with a power tilt actuator 20.

[0056] Boat 10 is any boat capable of foiling (hydrofoil propulsion) when propelled forward by an electric engine and / or an internal combustion engine. In some embodiments, the boat is a recreational boat, a transport boat, or a commuter boat. In some embodiments, the length of boat 10 is up to 15 meters.

[0057] When boat 10 is stationary in the water, it is associated with the waterline 14. The waterline 14 can be measured in terms of the load capacity of boat 10 (including cargo and passengers) in the normal use case or the maximum use case.

[0058] The hydrofoil mechanism 100 includes fastening devices 101 positioned to be fastened to the outside of the hull 11, below the waterline 14. When the boat 10 is foiling and driven forward by the motor, and the main hydrofoil 130 (described later) is held below the hull 11, the fastening devices 101 can be positioned above the waterline 14.

[0059] In this specification, the terms “foiling” and “hydrofoil” are used to describe how, when the boat 10 is propelled by a motor, the hydrofoil provides sufficient lift to raise the hull 11 completely out of the water, so that the entire hull 11 is above the water surface.

[0060] The hydrofoil mechanism 100 further comprises one or at least two first rigid members 110. Each first rigid member 110 is elongated and has a first end 111 and a second end 112 on the opposite side. The first rigid members 110 can be manufactured from a suitable rigid material, such as a metal. Specifically, aluminum, steel, composite materials, etc., can be considered as materials.

[0061] The first rigid member 110 is further positioned such that its first end 111 is rotatably connected to a pivot point 113 located at the stern 15 of the hull 11, thereby allowing the first rigid member 110 to pivot in a first pivot plane to a first pivot position to which it is fastened to the hull 11 by a fastening device 101. This pivot position is shown in Figure 3, and as can be seen from Figure 3, the first member 110 can then be positioned substantially horizontally and / or to extend along the contour of the bottom 13 of the hull 11 between the pivot point 113 and the fastening device 101.

[0062] The pivot point 113 can be fixed in place by permanently fastening it to the hull 11. For example, the pivot point 113 is fixedly positioned relative to the stern fastener 160 (described later), and this stern fastener 160 is positioned to be permanently and securely attached to the hull 11.

[0063] The first rigid member 110 is further configured to rotate to a second rotational position via a pivot point 113, where it is not fixed to the hull 11 by the fastening device 101. An example of the second rotational position is shown in Figure 21. In the figure, the first rigid member 110 is rotated 180° aft around the pivot point 113. Another example of the second rotational position is shown in Figure 22. In the figure, the first rigid member 110 is rotated 250° aft around the pivot point 113. In the state of system 100 shown in Figure 22, it is also possible to raise the motor 18 or hold the motor 18 in the raised position, thereby positioning the propeller shaft 19 at a water depth suitable for conventional non-foiling drive, such as when the boat 10 is planing or not planing.

[0064] The first turning plane may be substantially or perfectly perpendicular. It may also be substantially or perfectly parallel to the forward direction of the boat 10.

[0065] The hydrofoil mechanism 100 illustrated in Figures 1 to 5 and Figures 21 to 22 comprises two first rigid members 110, which are interconnected by a main hydrofoil 130, and are understood to move in conjunction while always maintaining parallelism. However, the hydrofoil mechanism 100 may also be composed of only one first rigid member 110 (for example, located in the lateral center of the boat 10), or of three or more parallel first rigid members 110.

[0066] The hydrofoil configuration 100 further comprises one or at least two second rigid members 120. Each second rigid member 120 is elongated and comprises a first end 121 and an opposing second end 122. The second rigid members 120 can also be manufactured from suitable rigid materials of the general types described above with respect to the first rigid member 110, such as metallic materials or composite materials.

[0067] The first end 121 of each second rigid member 120 is connected to the second end 112 of the corresponding first rigid member 110 via a common or individually provided fastening device 101. Thus, it is understood that each second rigid member 120 can be connected directly or indirectly to the corresponding first rigid member 110. Furthermore, each first rigid member 110 can be connected to one or more second rigid members 120, and each second rigid member 120 can be connected to one or more first rigid members 110. The key point is that the first end of each second rigid member 120 is connected directly or indirectly to the second end of the corresponding first rigid member 110, thereby causing the entire second rigid member 120 to move as a result of the corresponding first rigid member pivoting around the pivot point 113, except when the second rigid member 120 is simultaneously moving relative to the pivoting first rigid member 110.

[0068] The connection between each second rigid member 120 and the corresponding first rigid member 110 can be a pivot connection such that the second rigid member 120 can pivot relative to the first rigid member 110 about the pivot point of the connection.

[0069] In this embodiment and other embodiments, when the first rigid member 110 is fastened to the fastening device 101, the second rigid member 120 is positioned at an angle 127 (see Figure 3) with respect to the first rigid member 110. This angle 127 is adjustable or fixed and is measured as the angular difference between the main longitudinal direction of the first rigid member 110 (e.g., the direction extending between the pivot point 113 and the pivot point between rigid members 110 and 120) and the corresponding main longitudinal extension direction of the second rigid member 120 (e.g., the direction extending between the pivot point between rigid members 110 and 120 and the connection point between the second rigid member 120 and the main hydrofoil 130).

[0070] More specifically, the second rigid member 120 is positioned to extend at the angle 127, thereby causing the second end 122 of the second rigid member 120 to be vertically separated from the hull 11. In the operating direction shown in Figure 3, if the main hydrofoil 130 is positioned at the maximum distance from the hull 11 by the corresponding selection of angle 127, the vertical distance between the main hydrofoil 130 and the hull 11 can be at least 1 m. In this operating direction, the angle 127 can be approximately 90°, for example, from 75° to 105°, and / or the main hydrofoil 130 can be positioned vertically below the fastening device 101. For example, a vertical line originating from the pivot point of the connection between the first rigid member 110 and the corresponding second rigid member 120 can be positioned to pass through the main hydrofoil 130.

[0071] The main hydrofoil 130 is fastened to the second end 122 of the second rigid member 120.

[0072] The first rigid member 110 can rotate around the turning point 113 from a first position (Figure 3) to a third position (Figure 21), with its second end 112 moving downward and backward, and then upward and further backward. In this third position, its second end 112 is positioned towards the stern of the hull 11. As described above, the first rigid member 110 can then be further rotated upward and forward around the turning point 113 to a more folded position as shown in Figure 22. In this position, the entire second rigid member 120 is positioned above the waterline 14. In the position shown in Figure 22, the second end 112 of each first rigid member 110 can be positioned above the propeller shaft 19 of the boat 10.

[0073] This allows the hydrofoil mechanism 100 to be folded above the water surface from below the boat 10 when not in use, to the position shown in Figure 21 or Figure 22, or even further. For example, this allows the boat 10 to be used normally without using the main hydrofoil 100, such as when navigating in shallow water. Even in this state, the boat 10 can be used for normal planing without foiling. It is also possible to fold the hydrofoil mechanism 100 to prevent the main hydrofoil 130 from becoming contaminated when the boat 10 is not in use.

[0074] The two first rigid members 110 of the hydrofoil mechanism 130 can be positioned to pivot backward on the opposite side of the propeller shaft 10 of the boat 10 when pivoting backward from the operating direction shown in Figure 3 to the direction shown in Figure 21 or 22. Preferably, the two first rigid members 110 are spaced far enough apart to allow passage on both sides of the outboard motor 18 or sterndrive used in the hull 110. On the other hand, in some embodiments, none of the first rigid members 110 used in the hydrofoil mechanism 100 are positioned laterally outside the hull 11 at any given time, but instead are positioned and move always (preferably completely) below, aft (stern side), and possibly above the hull 11. Correspondingly, each second rigid member 120 can be positioned so as not to be located laterally outside the hull 11 during foiling and folding operations of the hydrofoil mechanism 100.

[0075] The longitudinal length between the first end 111 and the second end 112 of the first rigid member 110 can be longer than the length between the first end 121 and the second end 122 of the corresponding second rigid member 120. This allows the entire wing support section of the hydrofoil mechanism 100 to be folded more completely (Figure 22), occupying minimal space when not in use.

[0076] To achieve this, as described above, the first rigid member 110 may be rotatably connected to the second rigid member 120 on or via the fastening device 101 when the first rigid member 110 is fastened to the fastening device 101. However, the rotatable connection between the first rigid member 110 and the second rigid member 120 is preferably made via an independent pivot joint that interconnects the two rigid members 110 and 120 using bolts or other suitable pivot axes.

[0077] The second rigid member 120 may be connected to the first rigid member 110 at a point that coincides with (aligns with) the vertical projection line of the center of mass of the boat 10 when the first rigid member 110 is fastened to the fastening device 101, or slightly in front of that point (for example, within 0.5 meters).

[0078] Referring to Figures 8 and 9, the hydrofoil mechanism 100 may further include a stern hydrofoil 150 positioned to be fastened to the stern 15 of the hull 11. The stern hydrofoil 150 can be smaller than the main hydrofoil 130 in terms of weight-bearing area and / or associated lift when foiling as the boat 10 moves forward through the water at a set speed of the boat 10.

[0079] Generally, the stern hydrofoil 150 may be mounted on or near the power source of the boat 10, such as the outboard motor 18 or inboard motor sterndrive, or the motor mounting fixture of the boat 10. This means that, as shown in the figure, the stern hydrofoil 150 may be positioned to move (particularly tilt) together with the outboard motor 18 or sterndrive as a result of the operation of, for example, the power tilt actuator 20. This makes it possible to adjust the angle of attack of the stern hydrofoil 150 with the power tilt actuator 20.

[0080] In the illustrated example, the stern hydrofoil 150 is not directly connected to the rest of the hydrofoil mechanism 100. Alternatively, the stern hydrofoil 150 may be directly mounted and connected to the rest of the hydrofoil mechanism 100 (e.g., on or to the stern fixing device 160). In either case, the hydrofoil mechanism 100 may be equipped with a separate starter or angle of attack adjustment device for adjusting the angle of attack of the stern hydrofoil 150 independently of the power tilt actuator 20.

[0081] The stern hydrofoil 150 may include a teardrop-shaped portion 151 and fastening means 152. The teardrop-shaped portion 151 may constitute a connection between the stern hydrofoil 150 and the motor 18. The fastening means 152 may include a socket for mounting the stern hydrofoil 150 to the fin of the outboard motor 18 or sterndrive. In this case, the fin is inserted into the socket, and the stern hydrofoil 150 is fastened to the outboard motor 18 or sterndrive using bolts or the like.

[0082] The inventors have concluded that the main hydrofoil 130, when used in combination with a stern hydrofoil 150 in some cases, is sufficient for reliable and dependable foiling of the boat 10. Therefore, in some embodiments, the hydrofoil mechanism 100 has no hydrofoils other than a single main hydrofoil 130 and a stern hydrofoil 150, if used. In such embodiments, the single main hydrofoil 130 may have a greater lift area and / or lift (as described above) than the combined lift area and / or lift of one or more stern hydrofoils 150 used.

[0083] As best shown in Figures 10 to 15 and Figure 23, the hydrofoil mechanism 100 may further include an angle of attack actuator 140 positioned to adjust the angle of attack of the main hydrofoil 130 when the main hydrofoil 130 is used in the direction of operation for foiling, in which the boat 10 moves forward against the water.

[0084] In this case, the angle of attack actuator 140 is positioned to transmit a first force 145 acting along the first rigid member 110 to a second force 146 acting along the second rigid member 120. The second force 146 causes the main hydrofoil 130 to orbit, for example, in a plane perpendicular to the lateral direction of the boat 10, thereby setting its angle of attack. As shown in Figure 3, when the hydrofoil mechanism 100 is in the fully deployed operating direction, the first force 145 is mainly horizontal and the second force 146 is mainly vertical.

[0085] The angle of attack actuator 140 may further include a force transmission member 143, such as a rocker, at the connection between the second end 112 of the first rigid member 110 and the first end 121 of the second rigid member 120. This force transmission member 143 is configured to apply a second force 146 as a reaction to the first force 145.

[0086] In the illustrated embodiment, the first force 145 is realized by a linear actuator 141, such as an electric or hydraulic actuator, which is connected to or part of the fastening device 101. In such an embodiment, the actuator 141 can directly apply the first force 145 to the force transmission member 143. In other embodiments, the first force 145 is realized by a rotary actuator, such as an electric motor with a cam mechanism, or is transmitted to the force transmission member 143 via a push rod or the like from a force application actuator provided on the stern fastener 160.

[0087] According to the illustrated embodiment, the actuator applies a first force 145 to a rocker-shaped force transmission member 143, and the force transmission member 143 pivots in response to the applied first force 145. This pivoting motion applies a second force 146 to a rigid push rod 144 that extends along a second rigid member 120 and is axially movable relative to the second rigid member 120. As shown in Figure 23, the push rod 144 pushes down the main hydrofoil 130 at the connection point between the push rod 144 and the main hydrofoil 130, resulting in a change in the angle of attack of the main hydrofoil 130. If the actuator 141 moves in the opposite direction, a corresponding reverse motion pattern occurs. To achieve this, the actuator 141 can be rigidly connected to the force transmission member 143 in both tensile and compressive operations. The force transmission member 143 is spring-loaded in the direction toward the actuator 141; and / or, the underwater movement of the main hydrofoil 130 forces the main hydrofoil 130 into a rotational direction, as a result pushing the force transmission member 143 toward the actuator 141.

[0088] For example, as shown in Figure 14, the angle of attack actuator 140 may further include a position sensor 142 positioned to measure the currently set angle of attack of the main hydrofoil 130, for example, by indirectly measuring the currently set positions of the actuator 141, the force transmission member 143, and / or the push rod 144. In the illustrated example, the position sensor 142 reads the current rotation angle of the force transmission member 143, which, by known relationship, corresponds to the set angle of attack of the main hydrofoil 130.

[0089] The angle of attack of the main hydrofoil 130 can be configured to be adjustable within an angular range of at least 30°. For example, the angle of attack can be controlled within a range of up to 10° (at least 5°) upward from the horizontal and / or within a range of up to 20° (at least 15°) downward.

[0090] Each second rigid member 120, or at least two different second rigid members 120, is associated with a corresponding independent angle of attack actuator 140, which may be configured to operate in coordination or independently of each other. In the illustrated embodiment, there are two such angle of attack actuators 140, each with a pushrod 144 that extends along and is connected to its own second rigid member 120.

[0091] For example, as shown in Figure 16, the main hydrofoil 130 may comprise a port side section 131 and a starboard side section 132. In some embodiments, the port side section 131 and the starboard side section 132 can be rotated independently, and the angles of attack of the port side section 131 and the starboard side section 132 can be set individually. This can be used, for example, for steering / roll control of the foiling boat 10 or for adjusting to various operating conditions during foiling.

[0092] Controlling these two different angles of attack individually can be achieved by operating each angle of attack actuator 140 independently. Each angle of attack actuator 140 is connected to either the port side 131 or the starboard side 132 and acts independently.

[0093] To achieve this, the main hydrofoil 130 can be manufactured to have torsional rigidity that allows it to deform (become twisted) as a result of different angles of attack being applied to the port side 131 and the starboard side 132 by the control described above. An example of this is shown in Figure 23, in which mainly one or more (longitudinal) central parts of the main hydrofoil 130, or the entire main hydrofoil 130, may be twisted along its longitudinal length by torsional forces acting between different second rigid members 120.

[0094] In other cases, as shown in Figures 16, 17, and 19, the port and starboard sections 131 and 132 are interconnected by a flexible section 133, allowing the main hydrofoil 130 to twist primarily locally under torsional forces. In some embodiments, such flexible sections 133, or even portions of the main hydrofoil 130 extending between different second rigid members 120 and the main hydrofoil 130, can be manufactured from spring steel, allowing repeated twisting and reversing of the main hydrofoil 130 without breakage. Alternatively, fiber composite materials including carbon fibers, glass fibers, or polymer fibers can be used, designed to relatively easily tolerate twisting around the longitudinal axis of the main hydrofoil 130 while being relatively rigid against bending.

[0095] As shown in the figure, the flexible portion 133 is associated with localized material weakening areas (e.g., sockets and recesses) within the main hydrofoil 130, allowing the amount of torsion at the point of the flexible portion 133 to be relatively larger compared to the amount of torsion at points away from the flexible portion 133 under the torsional force applied to the main hydrofoil 130.

[0096] In another embodiment illustrated in Figure 20, the port side 131 and the starboard side 132 are interconnected by a rotational connection 134, such as a bearing-supported coupling having a shaft 137, thereby allowing the port side 131 and the starboard side 132 to rotate relative to each other around a common axis formed by the main longitudinal axis (extension axis) of the main hydrofoil 130.

[0097] In an alternative embodiment, the main hydrofoil 130 may be divided into one or more parallel sections. These sections are aligned in a vertical plane parallel to the forward direction of the boat 10, and the sections together form the main hydrofoil 130, but are not connected to one another. In other words, in such a case, the main hydrofoil 130 consists of two, three, or more main hydrofoil sections arranged parallel to one another at predetermined intervals in the lateral direction of the boat 10. Each section may be connected to its own second rigid member 120. Furthermore, each section, or at least two sections, may be individually tiltable via their respective angle of attack actuators 140, thereby allowing adjustment of their respective angles of attack.

[0098] As shown in Figure 4, the lateral length 135 of the main hydrofoil 130 may be within ±50% or ±30% of the maximum lateral width 12 of the hull 11. In certain embodiments, the lateral length 135 roughly or substantially corresponds to the width 12. This may mean that the positions where any of the second rigid members 120 are connected to the main hydrofoil 130 are located at a certain distance from each longitudinal endpoint of the main hydrofoil 130.

[0099] In the terminology used herein, the length 135 of the main hydrofoil 130 refers to the total lateral length of the main hydrofoil 130 if the main hydrofoil is connected, or the total lateral length of all sections of the main hydrofoil 130 if the main hydrofoil 130 is divided into five sections as described above.

[0100] In some embodiments, the length 135 may be at least 1 m, for example, at least 2 m. Furthermore, in some embodiments, the length 135 may be up to 5 m, for example, up to 4 m.

[0101] Furthermore, the main hydrofoil 130 may have a width 136 in a direction parallel to the direction of movement of the boat 10 and perpendicular to the longitudinal direction of the main hydrofoil 130, and this width may be in the range of 10 cm to 100 cm.

[0102] As shown in Figure 11, the two second rigid members 120 may be arranged to extend laterally in a direction perpendicular to each other when the hydrofoil mechanism 100 is fully deployed as shown in Figure 3. In particular, the half-angle 123 of the branching between the two second rigid members 120 may be between 5° and 20°. In other words, if the two second rigid members 120 are symmetrical with respect to their respective approximate longitudinal extensions, each second rigid member 120 may extend at an angle of 2.5° to 10° with respect to the vertical. The extension direction here refers to the main longitudinal direction of the second rigid member 120 and is understood to have the same meaning as described above.

[0103] In some embodiments, each second rigid member 120, or at least two second rigid members 120, may be positioned to extend perpendicularly outward from each connection point to the hull 11 (such as each corresponding fastening device 101). More specifically, each of the two second rigid members 120 may be positioned to extend at a predetermined angle in the vertical transverse plane. This angle is within ±20° perpendicular to the tangent to the hull 11 at the first end 121 of the second rigid member 120. An example of this is again shown in Figure 11.

[0104] Returning to Figures 14 and 15, the hydrofoil mechanism 100 may include a first locking mechanism 102, one for each first rigid member 110. This first locking mechanism 102 is arranged to detachably lock the second end 112 of the first rigid member 110 to the fastening device 101, preventing the locked first rigid member 110 from rotating around the pivot point 113. More specifically, when locked by the first locking mechanism 102, the first rigid member 110 can be completely fixed and immobile relative to the hull 11. The first locking mechanism 102 may include an actuator 107, which is arranged to impart an actuated / deactuated pivoting motion to a pivoting member 104. The pivoting member 104, in turn, engages with or disengages from a hole, recess, or edge 103 of the fastening device 101, locking / unlocking the first rigid member 110. The holes, recesses, or edges 103 may be formed in the fastening plate 105 (described later). For example, they may be formed within or through the fastening ridge 106 of the fastening plate 105.

[0105] In some embodiments, the hydrofoil mechanism 100 includes two first locking mechanisms 102 that lock two different first rigid members 110 to the hull 11 at positions where the lateral distance between these two positions is at least 1 meter. This allows the hydrofoil mechanism 100 to more easily absorb the lateral forces generated during the foiling motion of the boat 10 as it moves forward. Preferably, the two first rigid members 110 are fixed to the hull at symmetrical positions with respect to a vertical plane of symmetry that divides the hull 11 into two equal lateral portions.

[0106] The hydrofoil mechanism 100 may also include a second locking mechanism 114, for example, one second locking mechanism 114 for each second rigid member 120. Each second locking mechanism 114 preferably operates independently of all instances of the first locking mechanism 102. Such a second locking mechanism 114 can be configured to detachably lock the first end 121 of the second rigid member 120 to the fastening device 101 and / or the first rigid member 110 at a predetermined angle / rotational direction. The second locking mechanism 114 includes an actuator 117 positioned to give an actuated / deactuated translational motion to a locking member having the form of a slider 116, the slider 116 correspondingly engaging with or disengaging from a hole, recess, or edge 115 of the fastening device 101 to lock or unlock the second rigid member 120. The hole, recess, or edge 115 may be formed in the second rigid member 120.

[0107] In some embodiments, the second locking mechanism 114 is configured to be sufficiently weak relative to the strength of the first locking mechanism 102 for each pair of the first rigid member 110 and the second rigid member 120, so that when a sufficiently large impact is applied to the second rigid member 120 in the stern direction, the second rigid member 120 is released from the locked state to the unlocked state instead of the first locking mechanism 102 releasing the first rigid member 110 from the locked state to the unlocked state. Such an impact may occur as a result of the main hydrofoil 130 colliding with an underwater obstacle during foiling while the boat 10 is moving forward. The second locking mechanism 114 is designed to break first in this manner, so that as a result of the impact, the second rigid member 120, and consequently the main hydrofoil 130, will fold rearward and upward instead of the first rigid member 110 disengaging from the fastening device 101. This limits damage to the hydrofoil mechanism 100 and the hull 10 under such circumstances.

[0108] Referring to Figures 6 and 7, the hydrofoil mechanism 100 may include a stern fixture 160 that can be rigidly fixed to the stern 15 of the boat 10, for example, the transom 17. The stern fixture 160 may include a propulsion position setting device 161, which is positioned to set the vertical height of the propeller shaft 19 of the boat 10, for example, the propeller shaft 19 of a sterndrive or outboard motor 18. As shown in Figures 6 and 7, the propulsion position setting device 161 includes an actuator 162, such as a hydraulic piston, which is positioned to control the height of the propeller shaft 19 via a link arm 167 connected to the fixed end 165 of the stern fixture 160, thereby connecting the fixed end 165 of the stern fixture 160, which is fixedly connected to the boat 10, with the movable end 166 of the stern fixture 160, which is connected to the propeller shaft 19, thereby defining the height of the propeller shaft 19. For example, an outboard motor 18 or sterndrive is mounted on the movable end 166 of the stern fixture 160 and can move together with the stern fixture 160. Fixture components 168 made of elastic material such as rubber, plastic, wood, or other vibration damping material can be provided to connect the motor 118 to the rest of the stern fixture 160. A conventional universal joint can be used to connect the propeller shaft coming out of the inboard motor of the boat 10 to the movable end 166. In the case of an outboard motor 18, such a connection is not necessary. The stern fixture 160 may also be equipped with a drive height sensor 169 that reads the current vertical position of the propeller shaft 19.

[0109] As described above, the hydrofoil mechanism 100, such as the stern fixing device 160, can be fixed to a surface of the hull 11 facing the stern, for example, the transom 17.

[0110] For example, as shown in Figures 6 and 7, one or more first rigid members 110 can be positioned to pivot about a pivot point 113 using a hydrofoil engagement and pivot actuator 163, such as a hydraulic mechanism or an electric motor. This actuator is configured to rotate a horizontal axis 164, which is connected to at least one of the one or more first rigid members 110 (e.g., each) to transmit pivot motion. Thus, the actuator 163 controls the pivot motion of the first rigid members 110 between the attitudes shown in Figures 3 and 21, and between the attitudes shown in Figure 22. The axis 164 (which is understood to define the pivot point 113) and / or the actuator 163 can be rigidly fastened to a stern fixture 160 (e.g., incorporated into the stern fixture 160).

[0111] Referring to Figures 5, 11, and 12, the fastening device 101 may include a plate 105, such as a metal plate. The plate 105 is positioned to be fastened to the outside of the hull 11 using a suitable adhesive. To distribute the generated forces, the plate 105 may extend over an area of ​​at least 0.5 m x 0.5 m on the surface of the hull 11, but holes or sockets may be provided where there is no adhesive. The plate 105 may include one or more ridges 106 extending in the forward direction of the boat 10, so that each first rigid member 110 is fastened to the corresponding ridge 106 (for example, via the first locking mechanism 102 described above). For example, each ridge 106 has a corresponding through hole 103, which is positioned to receive and engage the locking portion (such as the actuator 104) of the first rigid member 110. This results in a simple yet robust structure.

[0112] Generally, the fastening device 101 can be positioned to be fastened to the bottom 13 of the hull 11 using an appropriate adhesive without penetrating the hull 11.

[0113] Furthermore, in some embodiments, the entire hydrofoil mechanism 100 is fastened to the boat 10 only by fastening devices 101 (preferably only via a single plate 105) and a stern fastener 160. The stern fastener 160 can also be fixed to the hull 11 using adhesive, but it is preferable to mount the stern fastener 160 by conventional bolting or similar methods located above the waterline 14. This allows the hydrofoil mechanism 100 to be mounted to the boat 10 with minimal work without drilling into the hull 11 below the waterline 14. The resulting structure is simple yet robust and functional.

[0114] As shown in Figures 16 to 18, the second rigid member 120 can have a rounded front and a sharp rectangular back in its horizontal cross-section. As shown in Figure 3, when the hydrofoil mechanism 100 is fully deployed and the boat 10 is foiling with the hull 11 above the water surface, a portion of the second rigid member 120 comes into contact with the air above the water surface. This air contact creates an ejector effect, drawing air downward along the back of the second rigid member 120 and into the water along it. This reduces water resistance compared to a situation where there is no downward airflow. Alternatively, the second rigid member 120 could be manufactured with a teardrop-shaped profile, but this is more complex.

[0115] Generally, the second rigid member 120 may have a rectangular profile 124, except for a curved portion 125, such as a semicircle, that extends toward the bow 16 of the hull 11 when the second rigid member 120 is in the vertical direction.

[0116] On the other hand, the second rigid member 120 can be connected to the main hydrofoil 130 via corresponding wing connecting members 126. These wing connecting members 126 may have a teardrop shape in a horizontal cross-section when the second rigid member 120 is in a vertical direction. Such teardrop-shaped connecting members 126 prevent air mixing from occurring near the main hydrofoil 130, thereby preventing a decrease in lift in the water.

[0117] As shown in Figures 16 to 18, the second rigid member 120 can pass through the through-hole of the wing connecting member 126. In this case and other cases, the wing connecting member 126 can directly contact the main hydrofoil 130.

[0118] Referring to Figure 1, the hydrofoil mechanism 100 may further include a water surface sensor 170, which is positioned to measure the distance to the water surface from above the water surface. The sensor 170 may include a LIDAR, radar, sonar distance sensor, stereo camera pair, or other suitable sensor positioned to measure the current distance, such as the vertical distance from a measurement point on the hull 10 to the water surface, and / or a sensor positioned to measure the shape of the water surface, such as wave height, wave wavelength, or direction of wave propagation on the water surface.

[0119] The hydrofoil mechanism 100 may further include a control device 180, such as a conventional general-purpose computer device, on which computer software configured to control the operation of the hydrofoil mechanism 100 is installed. The control device 180 is connected to any or all of the available sensors, including the sensors described herein, such as the position sensor 142 and the water surface sensor 170, and is configured to accept data input from them. The control device 180 may further be connected to additional internal or external sensors, such as a flow velocity sensor (e.g., a GPS sensor or conventional log), an accelerometer, and / or a tilt sensor such as a gyroscope configured to measure the current yaw, roll, and / or pitch of the vessel 10, and is configured to receive data input from them. The control device 180 is further connected to all actuators, including one or more actuators such as the power tilt actuator, actuator 107, actuator 117, actuator 141, actuator 162, actuator 162, and actuator 162, and is configured to control them. Such control is performed according to control logic generated by the software based on the sensor inputs. The control device 180 can constitute a hydraulic system that controls an actuator via hydraulic pressure, or it can be connected to and control such a system.

[0120] Therefore, the control device 180 can pivot the hydrofoil mechanism 100 downward in water, for example, from the position shown in Figure 21 or Figure 22 to the position shown in Figure 3, by controlling the actuators, and lock it in that position by activating the first locking mechanism 102 and the second locking mechanism 114. The first locking mechanism 114 may also be configured to automatically activate and lock when the first rigid member 110 is pressed upward against the fastening device 101 as a result of the downward pivot. The second locking mechanism 114 may be configured to automatically activate and lock when the second rigid member 120 is pivoted relative to the corresponding first rigid member 110 in its operating pivot direction. This operation may be performed manually on the surface.

[0121] Subsequently, while the boat 10 is moving forward, the propulsion position setting device 161 can be controlled to a desired height using the control device 180, and the angle of attack of the main hydrofoil 130 and the stern foil 150 can be controlled to achieve efficient and comfortable propulsion of the boat 10. It is understood that such operation of the boat 10 usually involves the boat 10 being in a foiling state, that is, when the boat 10 moves forward, the hull 11 is lifted by the foils 130 and 150 and is completely above the water surface. In order to move the boat 10 forward, the propulsion position setting device 161 needs to lower the propeller shaft 19 accordingly, so that the propeller drives the boat 10 underwater. This height control of the propeller shaft 19 can also be automatically controlled by the control device 180 as described herein.

[0122] When the boat 10 stops or ceases foiling, the control device 180 may be configured to fold the hydrofoil mechanism 100 by stopping actuator 107, activating actuator 163 to rotate the first rigid member 110 backward, and stopping actuator 117 as needed. The control device 180 can also raise the propulsion system 18 to a height more suitable for non-foiling operation of the boat 10.

[0123] The pivot connection between the second rigid member 120 and the first rigid member 110 can also be configured with a controllable actuator. This allows the control device 180 to control the folding and unfolding of the second rigid member 120 relative to the first rigid member 110, for example, when moving between the directions shown in Figures 21 and 22.

[0124] The control device 180 may have or be configured to communicate with a user interface, such as an interactive and / or graphical user interface. Such an interface may be configured to allow the user to input control information and / or view current operating status information. The user interface may consist of a conventional physical interface, such as a touchscreen, or it may be embodied in the form of an application installed on a general-purpose mobile device, such as a conventional smartphone, that communicates wirelessly digitally with the control device 180. The control device 180 may also be configured to connect to a peripheral system, such as the drive control system of the boat 10, so that the control device 180 can read current operating status information (such as speed, heading, and fuel resources) from the drive control system and / or the control device 180 can control the drive control system (such as increasing or decreasing the throttle).

[0125] Figure 24 is a control chart showing possible ways for the control device 180 to control the operation of the boat 10 during foiling and at the start of the foiling mode.

[0126] Boxes 1.1 to 1.6 constitute a closed-loop cascade regulator that controls the angle of attack of the main hydrofoil 130 and / or the stern hydrofoil 150. The internal regulator loop controls the lift requirement of each hydrofoil 130, 150 in question, which is measured as the flight altitude (distance from the water surface) of the boat 10. The external control loop controls the angle of attack as a function of the speed of the boat 10 corresponding to the available lift.

[0127] In box 1.1, altitude sensor data is read, and the readings are band-pass filtered for signal shaping.

[0128] In box 1.2, the altitude sensor value is analyzed, and a rationality check determines whether the measured altitude value is reliable or should be ignored as an outlier or misreading.

[0129] In box 1.3, the read altitude values ​​are evaluated and processed to determine the desired flight altitude for boat 10.

[0130] In Box 1.4, the desired total lift is calculated from the total load capacity of Boat 10 and the determination of the flight altitude (decision to maintain, decrease, or increase the flight altitude).

[0131] Box 1.5 is a PID regulator and is configured to determine the desired total lift of boat 10.

[0132] In box 1.6, the total lift is divided into individual wing lift surfaces, such as the port side 131, the starboard side 132, and the stern hydrofoil 150, where the total lift is available and controllable. For each individually controlled wing surface, a PID regulator is used to calculate the corresponding desired wing angle as a function of the current speed of the boat 10, and the desired lift is calculated. The PID regulator controls each angle of attack in a closed loop.

[0133] Boxes 2.1 through 2.3 constitute the load estimator for the current boat 10.

[0134] Box 2.1 is entered with the most recent, or precisely known, current load capacity (weight) of boat 10. This may be, for example, a value saved by the control unit 180 during the last operation of boat 180 when load capacity adaptation was performed.

[0135] Box 2.2 performs adaptive processing at the start of flight and / or continuous updates: the lift generated from the available hydrofoils as a function of velocity and angle of attack is known. However, the starting weight of boat 10 is usually unknown. By setting each hydrofoil to a known angle of attack, and then increasing the velocity of boat 10 (detected by the information in Box 3.2) until the hull 11 (detected by the information in Box 1.1) rises above the water surface, the total lift generated by the hydrofoils becomes known, which can then be converted to the current total weight of boat 10. This force and / or weight is stored and used as the payload input. The payload value is used for accuracy improvement and as a feedforward value to the PID regulator. In case of sensor errors during flight, it is necessary to know the total weight of hull 10 in open-loop control to enhance safety.

[0136] Box 2.3 diagnoses the calculated weight of boat 10, allowing outliers and misreadings to be ignored or handled appropriately. The weight of boat 10 is then fed into box 1.4.

[0137] Boxes 3.1 to 3.3 relate to the speed processing of the detected boat 10.

[0138] Box 3.1 measures the speed of boat 10 through GPS sensors and pressure sensors (submerged pressure), etc. The speed of boat 10 can also be automatically received via the CAN bus from the engine or other onboard equipment.

[0139] In box 3.2, the speed values ​​are diagnosed and checked for outliers or illogical readings. The verified values ​​are fed into box 2.2 and used to calculate the current load / weight of boat 10.

[0140] In box 3.3, the available lift is determined as a function of the speed of boat 10 and the angle of attack relative to the wing surface. This box may also include a slow adaptation for wing degradation, which is determined and stored over time. The results are fed back to box 2.2 and then fed forward to box 1.5, where they are used as inputs to the PID regulator in box 1.5.

[0141] Boxes 4.1 and 4.2 relate to steering angle.

[0142] Therefore, Box 4.1 reads the current steering angle from sensors on the engine or steering column, or from the Boat 10 control system, etc.

[0143] In box 4.2, the read sensor values ​​are diagnosed in the same way as in boxes 1.2, 2.3, and 3.2. The output is fed forward to boxes 5.3 and 1.6 and used as input to their respective PID regulators.

[0144] Boxes 5.1 to 5.3 concern the angles of hull 11.

[0145] In box 5.1, the angles of the hull 11, such as the angle of longitude and the angle of transverse, are measured by corresponding sensors such as the gyroscopes mentioned above.

[0146] In box 5.2, sensor value diagnostics are performed as described above.

[0147] In box 5.3, PID control is performed based on the input longitudinal and transverse angles of boat 10, as well as the current steering signal. Here, the desired transverse angle is associated with the steering angle input. The longitudinal angle is kept horizontal when boat 10 is in flight.

[0148] Boxes 6.1 and 6.2 relate to wing angles.

[0149] In box 6.1, the current wing angle of attack is measured using sensors such as sensor 142, as described above. The sensors can be integrated with or separate from the wing actuator.

[0150] In box 6.2, the detected foil angle of attack value is diagnosed as described above. At startup, the last known previous value can be used as the starting value. This value is fed forward to box 3.3 and used as the input to the PID regulator in that box.

[0151] Figure 25 shows a method for installing the hydrofoil mechanism 100 of the type described in this application.

[0152] The first step initiates this method.

[0153] In the next step, a boat 10 having a hull 11 is provided.

[0154] In the next step, the pivot point 113 is fastened to the stern 15 of the hull 11, for example, to the transom 17. This fastening may be indirect, as the pivot point 113 is connected to or forms part of the stern fastener 160 by fastening the stern fastener 160 to the hull 11 as described above. This fastening can be carried out above the waterline 14 using bolts or the like.

[0155] Furthermore, in this step, the fastening device 101 is fastened to the bottom 13 of the hull 11 as described above. This may include fastening the plate 105 to the surface of the hull 11 using an appropriate adhesive. It is preferable to carry out this step without drilling holes in the hull 11 below the waterline 14. It is also preferable not to provide any additional fastening points to the hull 11 for the hydrofoil mechanism 100 other than the fastening device 101 and the stern fastener 160.

[0156] This method may include the step of fastening the outboard motor 18 to the propulsion position setting device 161 of the hydrofoil mechanism 100. This allows the outboard motor 18 to be raised and lowered by the propulsion position setting device 161. As described above, this may include fastening the outboard motor 18 to the fixing portion 168 of the movable end 166 of the stern fixing device 160. The outboard motor 18 itself can also be connected to the boat 10's control system, fuel supply system, and similar systems using conventional wiring and piping.

[0157] Alternatively, this method may also include fastening the stern drive to the propulsion position setting device 161 and raising or lowering the stern drive using the propulsion position setting device 161. In this case, the stern drive is also connected to the drive shaft of the boat 10 via the universal joint or the like described above. Naturally, the associated cables and / or piping may also be connected to the control system of the boat 10.

[0158] As described above, the boat 10 may be equipped with a propeller shaft 19 extending directly from the inboard engine. In this case, the method may include connecting this shaft 19 to the propeller shaft 20 of the stern fastener 160, for example by using a conventional universal joint, and fixing the propeller to the shaft of the stern fastener 160.

[0159] The method may include the step of connecting the control device 180 to the control system and / or battery of the boat 10 for power supply and / or communication, using conventional appropriate cables.

[0160] After that, this method will be terminated.

[0161] As described above, the present invention is particularly useful for modifying (but not limited to) existing boats 10. Therefore, in some embodiments, the boat 10 is an existing boat 10, and the installation of the hydrofoil mechanism 100 is a modification of the hydrofoil mechanism 100 onto the boat 10.

[0162] Preferred embodiments have been described above. However, it will be apparent to those skilled in the art that many modifications can be made to the disclosed embodiments without departing from the basic concept of the invention.

[0163] For example, in addition to the configurations described herein, additional functions can be added to the hydrofoil mechanism 100, and it can be designed in various ways as long as the principles described herein are used.

[0164] Generally, some or all of the structurally load-bearing components of the hydrofoil mechanism 100 can be manufactured from relatively simple metal parts such as aluminum profiles or stainless steel. Alternatively, components can be manufactured using composite materials such as carbon fiber or glass fiber.

[0165] The descriptions of hydrofoil mechanisms in this specification also apply to methods, and vice versa.

[0166] Therefore, the present invention is not limited to the embodiments described and can be modified within the scope of the appended claims.

Claims

1. A hydrofoil mechanism (100) for a boat (10) having a hull (11), wherein the hydrofoil mechanism (100) comprises the following: A fastening device (101) is positioned to be fastened to the outside of the hull (11) at a position below the waterline (14) of the hull (11) when the hull (11) is not moving in the water; A turning point (113) located at the stern (15) of the hull (11); A first rigid member (110), the first rigid member (110) being elongated and having a first end (111) and a second end (112), the first rigid member (110) being further arranged to be rotatably connected at the first end (111) to the pivot point (113), thereby enabling the first rigid member (110) to pivot to a first pivot position in a first pivot plane to be fastened to the hull (11) by the fastening device (101) and to a second pivot position not fastened to the hull (11) by the fastening device (101), the first pivot plane being substantially vertical and substantially parallel to the forward direction of the boat (10); A second rigid member (120), the second rigid member (120) being elongated and having a first end (121) and a second end (122), wherein the first end (121) of the second rigid member (120) is connected to the second end (112) of the first rigid member (110), and the second rigid member (120) is positioned at an angle (127) with respect to the first rigid member (110) when the first rigid member (110) is fastened to the fastening device (101), so that the second end (122) of the second rigid member (120) is at a distance perpendicular to the hull (11); and, The main hydrofoil (130) is fastened to the second end (122) of the second rigid member (120), Here, the first rigid member (110) is rotatable from the first position, thereby allowing its second end (112) to move downward and rearward, and then upward and further rearward, so that its second end (112) is rotatable to a third position where it is positioned on the stern side of the hull (11). Hydrofoil mechanism.

2. In the hydrofoil mechanism (100) according to claim 1, The length between the first end (111) and the second end (112) of the first rigid member (110) is longer than the length between the first end (121) and the second end (122) of the second rigid member (120). Hydrofoil mechanism.

3. In the hydrofoil mechanism (100) according to claim 1 or 2, When the first rigid member (110) is fastened to the fastening device (101), the second rigid member (120) is connected to the first rigid member (110) at a point that coincides with the center of mass of the boat (10), or in front of it. Hydrofoil mechanism.

4. In the hydrofoil mechanism (100) according to any one of claims 1 to 3, The first rigid member (110) is rotatably connected to the second rigid member (120). Hydrofoil mechanism.

5. A hydrofoil mechanism (100) according to any one of claims 1 to 4, further comprising: A stern hydrofoil (150) is arranged to be fastened to the stern (15) of the hull (11), wherein the stern hydrofoil (150) is preferably smaller than the main hydrofoil (130). Hydrofoil mechanism.

6. In the hydrofoil mechanism (100) according to claim 5, The stern hydrofoil (150) is positioned to be mounted on a stern drive, an outboard motor (18), or a motor mounting fixture of the boat (10), and is further positioned to be moved by a power tilt actuator (20) of the boat (10). Hydrofoil mechanism.

7. In the hydrofoil mechanism (100) according to claim 6, The stern hydrofoil (150) is configured to tilt together with the stern drive or outboard motor (18) under the influence of the power tilt actuator (20). Hydrofoil mechanism.

8. In the hydrofoil mechanism (100) according to any one of claims 5 to 7, The hydrofoil mechanism (100) does not have any hydrofoils other than the main hydrofoil (130) and the stern hydrofoil (150). Hydrofoil mechanism.

9. A hydrofoil mechanism (100) according to any one of claims 1 to 8, wherein the hydrofoil mechanism (100) further comprises: An angle of attack actuator (140) is arranged to adjust the angle of attack of the main hydrofoil (130), wherein the angle of attack actuator (140) is arranged to transmit a first force (145) along the first rigid member (110) to a second force (146) along the second rigid member (120), and the second force (146) rotates the main hydrofoil (130) to set its angle of attack, and the angle of attack actuator (140) includes a force transmission member (143) provided at the connection between the first rigid member (110) and the second rigid member (120), and the force transmission member (143) is arranged to apply the second force (146) as a reaction to the first force (145). Hydrofoil mechanism.

10. In the hydrofoil mechanism (100) according to claim 9, The angle of attack actuator (140) is arranged to adjust the angle of attack over an angular interval of at least 30°. Hydrofoil mechanism.

11. In the hydrofoil configuration (100) according to any one of claims 1 to 10, The main hydrofoil (130) includes a port side section (131) and a starboard side section (132), and the port side section (131) and the starboard side section (132) are each rotatable independently so that the angles of attack of the port side section (131) and the starboard side section (132) can be set individually. Hydrofoil mechanism.

12. In the hydrofoil configuration (100) described in claim 11, The port side section (131) and the starboard side section (132) are connected to each other by a flexible section (133), allowing the main hydrofoil (130) to twist under torsional forces. Hydrofoil mechanism.

13. In the hydrofoil mechanism (100) according to claim 12, The flexible portion (133) is manufactured from spring steel or a fiber composite material, and the fiber composite material is designed to allow the main hydrofoil (130) to twist about its longitudinal axis. Hydrofoil mechanism.

14. In the hydrofoil mechanism (100) according to claim 11, The port side section (131) and the starboard side section (132) are connected to each other by a rotating connection section (134), allowing the port side section (131) and the starboard side section (132) to rotate relative to each other around a common axis which is the main extension axis of the main hydrofoil (130). Hydrofoil mechanism.

15. In the hydrofoil mechanism (100) according to any one of claims 11 to 14, The angle of attack of the port side (131) and the angle of attack of the starboard side (132) can be set individually using the corresponding angle of attack actuators (140). Hydrofoil mechanism.

16. In the hydrofoil mechanism (100) according to any one of claims 1 to 15, The lateral length (135) of the main hydrofoil (130) is the same as the lateral width (12) of the hull (11) within ±50%. Hydrofoil mechanism.

17. In the hydrofoil mechanism (100) according to any one of claims 1 to 16, The main hydrofoil (130) has a width (136) in a direction parallel to the direction of movement of the boat (10), the width (136) being 8 to 50 cm, for example 15 to 30 cm, and / or the relationship between the width (136) and the lateral length (135) of the main hydrofoil is between 1:4 and 1:20, for example 1:8 to 1:17, for example 1:10 to 1:

15. Hydrofoil mechanism.

18. A hydrofoil mechanism (100) according to any one of claims 1 to 17, It comprises two first rigid members (110), the two first rigid members (110) being arranged to pivot rearward on either side of the propeller shaft (19) of the boat (10), Hydrofoil mechanism.

19. A hydrofoil mechanism (100) according to any one of claims 1 to 18, The vessel comprises two second rigid members (120), the two second rigid members (120) being connected to the main hydrofoil (130) at different points along the main hydrofoil (130) relative to each other in the lateral direction of the hull (11), one connection point being located on the port side of the hull (11) and the other connection point being located on the starboard side of the hull (11). Hydrofoil mechanism.

20. In the hydrofoil mechanism (100) according to claim 19, The two second rigid members (120) are arranged to branch and extend laterally from each other in the vertical direction, and the half-angle of the branch (123) is between 5° and 20°. Hydrofoil mechanism.

21. In the hydrofoil mechanism (100) according to claim 20, Each of the two second rigid members (120) is arranged to extend at an angle in the vertical transverse plane, and the angle is within ±20° perpendicular to the tangent to the hull (11) at the first end (121) of the second rigid member (120). Hydrofoil mechanism.

22. A hydrofoil mechanism (100) according to any one of claims 1 to 21, comprising: A first locking mechanism (102) is provided to detachably lock the second end (112) of the first rigid member (110) to the fastening device (101); and A second locking mechanism (114) is provided to lock the first end (121) of the second rigid member (120) in a detachable manner with respect to the fastening device (101) and / or the first rigid member (110) in a set angular direction. Hydrofoil mechanism.

23. In the hydrofoil mechanism (100) according to claim 22, The second locking mechanism (114) is configured to be sufficiently weaker than the first locking mechanism (102), so that when the second rigid member (120) is subjected to an impact of sufficient magnitude in the stern direction, the second rigid member (120) is released from the angular direction instead of the first locking mechanism (102) which releases the first rigid member (110) from the fastening device (101). Hydrofoil mechanism.

24. In the hydrofoil mechanism (100) according to any one of claims 1 to 23, The first rigid member (110) is rotatable from the third position, with its second end (112) moving upward and forward to a fourth position, where the second end (112) is positioned above the propeller shaft (19) of the boat (10). Hydrofoil mechanism.

25. A hydrofoil mechanism (100) according to any one of claims 1 to 24, For example, the boat (10) is equipped with a propulsion position setting device (161) that is positioned to set the vertical height of the propeller shaft (19) of the boat (10), such as the stern drive or outboard motor (18). Hydrofoil mechanism.

26. A hydrofoil mechanism (100) according to any one of claims 1 to 25, The system includes a water surface sensor (170) positioned to measure the distance to the water surface from above the water surface. Hydrofoil mechanism.

27. In the hydrofoil mechanism (100) according to any one of claims 1 to 26, The hydrofoil mechanism (100) is fastened to a surface of the hull (11) facing the stern, for example, the transom (17). Hydrofoil mechanism.

28. In the hydrofoil mechanism (100) according to any one of claims 1 to 27, The fastening device (101) is positioned to be fastened to the bottom portion (13) of the hull (11) using adhesive without penetrating the hull (11). Hydrofoil mechanism.

29. In the hydrofoil mechanism (100) according to any one of claims 1 to 28, The second rigid member (120) has a rectangular profile (124) when the second rigid member (120) is in the vertical direction, except for a curved portion (125) such as a semicircle that faces the bow (16) of the hull (11). Hydrofoil mechanism.

30. In the hydrofoil mechanism (100) according to any one of claims 1 to 29, The second rigid member (120) is connected to the main hydrofoil (130) via a wing connecting member (126) whose horizontal cross-section is teardrop-shaped when the second rigid member (120) is in the vertical direction. The second rigid member (120) penetrates the wing connecting member (126), Hydrofoil mechanism.

31. In the hydrofoil mechanism (100) according to any one of claims 1 to 30, The first rigid member (110) is capable of rotational drive by the rotation of the horizontal axis (164) at the pivot point (113). Hydrofoil mechanism.

32. A method for installing a hydrofoil mechanism (100) according to any one of claims 1 to 31, the method comprising: To provide a boat (10) having a hull (11); and, The turning point (113) of the hydrofoil mechanism (100) is fastened to the stern (15) of the hull (11), and the fastening device (101) is fastened to the bottom (13) of the hull (11). method.

33. A method according to claim 32, further comprising: The outboard motor (18) is fastened to the propulsion position setting device (161) of the hydrofoil mechanism (100), so that the outboard motor (18) can be raised and lowered by the propulsion position setting device (161). method.

34. A method according to claim 32, further comprising: The stern drive is fastened to the propulsion position setting device (161) of the hydrofoil mechanism (100) so that the stern drive can be raised and lowered by the propulsion position setting device (161); and, Connecting the stern drive to the drive shaft of the boat (10) via a universal joint, method.

35. In the method according to any one of claims 32 to 34, The boat (10) is an existing boat (10), and the installation of the hydrofoil mechanism (100) is a modification of the hydrofoil mechanism (100). method.

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