Nozzle device for a jet propulsion module of a watercraft, modular watercraft, operating method for a watercraft, and computer program product for controlling a watercraft

Abstract

The invention relates, inter alia, to a nozzle device (40) for a jet propulsion module (26) of a watercraft (20), wherein the watercraft (20) has a longitudinal axis (L), which is oriented from the bow to the stern, and a transverse axis (Q), which is arranged perpendicularly to the longitudinal axis (L), wherein a vertical axis (H) extends perpendicularly to the longitudinal axis (L) and perpendicularly to the transverse axis (Q), wherein the nozzle device (40) comprises a nozzle (42), characterized in that the nozzle (42) is pivotable about the vertical axis (H) through a first pivot angle (81) and is pivotable about the transverse axis (Q) through a second pivot angle (82).

Description

[0001] Nozzle device for a jet propulsion module of a watercraft, modular watercraft, operating method for a watercraft, computer program product for controlling a watercraft

[0002] Description

[0003] The invention relates to a nozzle device for a jet propulsion module of a watercraft and to a modular watercraft. Furthermore, the invention relates to an operating method for a watercraft and a computer program product for controlling a watercraft.

[0004] From DE 10 2019 1 16 689 A1, the applicant discloses a watercraft with a jet propulsion module. The watercraft comprises interconnectable modules, including a stern module and a bow module that are detachably connectable by means of a first connecting mechanism, and a jet propulsion module and a power supply module that are detachably connectable to the stern module. The modular design of a watercraft makes it easy to operate a wide variety of watercraft with the same jet propulsion module and the same power supply module. For example, the stern module can be designed as the stern of a surfboard, a boogie board, or a canoe, and the bow module can be configured as the corresponding bow of the respective watercraft.

[0005] Typically, such a jet-driven watercraft is steered by shifting the user's weight to the left (port) or right (starboard) side of the watercraft in the direction of travel, in order to change the direction of travel of the watercraft to the left (port) or right (starboard). The problem here is that such a steering system sometimes offers only limited maneuvering options, especially considering the flexible combinations of different stern modules with jet propulsion modules and different bow modules.

[0006] It is an object of the present invention to make a watercraft with a jet propulsion module easier and safer to maneuver and control.

[0007] The problem is solved by a nozzle device for a jet propulsion module of a watercraft, wherein the watercraft has a longitudinal axis oriented from the bow to the stern and a transverse axis arranged perpendicular to the longitudinal axis, wherein a vertical axis runs perpendicular to the longitudinal axis and perpendicular to the transverse axis, wherein the nozzle device has a nozzle, wherein the nozzle device is developed such that the nozzle can be pivoted about the vertical axis by a first pivot angle and about the transverse axis by a second pivot angle. The basic idea of ​​the invention is that a nozzle device with a nozzle that can be pivoted about two axes is used to assist the maneuvering and steering of the watercraft. Pivoting about two axes enables steering to the left and right in the direction of travel by means of the first pivot angle and steering up or down in the direction of travel by means of the second pivot angle.The latter functionality is particularly important when the watercraft is used as a diving scooter. By combining the first and second swivel angles, the water outlet direction of the nozzle is not fixed on two spatial planes, but can be freely arranged on a section of a spherical surface. In particular, the outlet side of the nozzle is swiveled on a section of a spherical surface.

[0008] Preferably, a pivoting surface describes possible combinations of the first and second pivoting angles. The pivoting surface combines the water outlet directions of the nozzle for all possible combinations of the first and second pivoting angles. In particular, the pivoting surface is a circular surface perpendicular to the longitudinal axis of the watercraft. The pivoting surface is a square perpendicular to the longitudinal axis of the watercraft if the two first pivoting angles of greatest deflection correspond to the two second pivoting angles of greatest deflection. The first and second pivoting angles of greatest deflection define, for example, the circumference of a circular surface or the circumference of a rectangle.

[0009] In particular, the nozzle is pivotable within two pivot planes. The nozzle device is preferably suitable for a jet propulsion module of a watercraft according to DE 10 2019 1 16 689 A1.

[0010] According to the invention, the transverse axis of the watercraft runs perpendicular to the longitudinal axis. Preferably, the transverse axis is located in the center of the longitudinal extent of the watercraft. In another embodiment, the transverse axis runs through the jet propulsion module or through the nozzle.

[0011] In order to pivot the nozzle reliably and in a structurally simple manner, the nozzle can be pivoted by means of a nozzle pivoting device, whereby the nozzle can be pivoted by motor or electromagnetically.

[0012] A nozzle can be pivoted by a motor, for example, using a servo drive, particularly in conjunction with a rod assembly. Electromagnetic pivoting is achieved, for example, using electromagnets. In particular, several electromagnets are arranged along the circumference of the nozzle.

[0013] In particular, the nozzle is mounted on a ball bearing.

[0014] If the nozzle device has a secondary battery for supplying power to the nozzle device, in particular the nozzle pivoting device, a stable power supply to the nozzle device is ensured.

[0015] The secondary battery is a rechargeable battery, in particular an accumulator. A lithium-ion accumulator or a lithium-polymer accumulator is particularly preferred as the secondary battery.

[0016] Particularly convenient use is made possible by the fact that the secondary battery is inductively rechargeable and / or the secondary battery can be charged by means of a generator arranged in the nozzle device with a rotor positioned in a water stream of the nozzle. Furthermore, this enables a modular design that does not require connection to another module, such as a power supply module.

[0017] The nozzle device is preferably a hermetically sealed system. This is possible because no cable connections for power supply are required. The nozzle device is preferably waterproof. In particular, the nozzle device has no external electrical connections. In one embodiment, a nozzle pivoting device, for example, a servo motor, and all other components, such as sensors or microcontrollers, are integrated into the housing of the nozzle device.

[0018] In particular, the rotor arranged in the water flow of the nozzle is connected to a second rotor by means of a shaft, wherein the second rotor is designed in cooperation with a stator of the generator to generate electrical voltage.

[0019] The fact that the nozzle has a nozzle diameter on one outlet side, whereby the nozzle diameter is variable, further improves the maneuverability and controllability of the watercraft.

[0020] In a jet propulsion system with an electric motor, the water flow rate is generally constant at full motor power. An exception is low speeds. If the flow rate is constant, the smaller the nozzle diameter, the greater the thrust and thus the achieved speed. With a smaller nozzle diameter, the power of the jet propulsion acts on a smaller volume of water, accelerating it to a higher exit velocity.

[0021] Changing the nozzle diameter, for example, follows a similar technical principle to that of an aperture in optics. Specifically, the nozzle diameter is changed by spirally shifting nozzle aperture vanes or nozzle aperture blades, which limit the nozzle diameter.

[0022] For example, the nozzle diameter can be changed in a range from 50 millimeters to 80 millimeters, in particular between 60 millimeters and 70 millimeters, in particular between 62 millimeters and 68 millimeters, in particular between 64 millimeters and 66 millimeters.

[0023] In particular, the control of a watercraft is simplified if the nozzle device has a control unit for controlling the nozzle device, wherein travel parameters can be detected and processed by means of the control unit, wherein the control unit is designed to control the first and second pivot angle as a function of the travel parameters and / or to control the nozzle diameter, wherein in particular the travel parameters can be measured by means of an acceleration sensor and / or a gyro sensor.

[0024] Travel parameters include, in particular, location sensor data and / or motion sensor data and / or diving depth data. Diving depth data refers to information about the height of the water column above the sensor recording the diving depth data, the depth sensor, and includes, for example, pressure data. Furthermore, travel parameters include, for example, data on the tilt of the watercraft relative to its longitudinal axis or the tilt of the watercraft relative to its transverse axis. Furthermore, travel parameters also include the water flow through the water inlet of the nozzle device or the jet drive, or the speed of the nozzle device or the watercraft.

[0025] In particular, driving parameters can be measured using the control unit. In particular, the control unit comprises a microcontroller.

[0026] A gyro sensor is, in particular, a gyrometer, for example, a gyroscope. A gyro sensor is, in particular, a rotation rate sensor and is preferably designed to measure rotational speeds and / or angular accelerations.

[0027] Versatile application possibilities of a nozzle device arise if the control unit is designed to receive commands for selecting a driving mode and to adapt the control of the first and second swivel angles and / or the nozzle diameter to the driving mode.

[0028] A driving mode is, in particular, a vehicle mode. For example, a driving mode is provided for each possible bow module, so that the driving modes provided are “jetboard,” “bodyboard,” “canoe,” “tender boat,” and “rescue boat.” In some embodiments, “diving jet” is a driving mode for a submersible watercraft and / or “foil” is a driving mode for a watercraft with a hydrofoil device. Preferably, the control is adapted to driving mode parameters characteristic of the driving mode. For example, the control is adapted to a watercraft length associated with a driving mode. In one embodiment, a first target swivel angle is determined for a predetermined longitudinal tilt of the watercraft about the longitudinal axis; this first target swivel angle has a larger value for longer watercraft lengths. By swiveling to different degrees, maneuvering and steering are supported to different degrees depending on the driving mode.

[0029] In one embodiment, the control unit is designed as a control unit. In particular, the control unit is designed for control depending on driving parameters. For example, for a driving mode as a diving scooter, a target diving depth is stored, which is predetermined by a target pressure. The control unit designed as a control unit regulates the second swivel angle such that the watercraft steers towards the water surface if the diving depth is too great compared to the target diving depth, and towards the bottom if the diving depth is too shallow compared to the target diving depth. In another embodiment, only the nozzle diameter or also the nozzle diameter is adjusted depending on a control parameter.

[0030] Advantageously, the control unit comprises a communication device for receiving commands for selecting a driving mode. For example, the commands are transmitted via Bluetooth or another wireless electronic communication protocol.

[0031] A high degree of flexibility and simplified construction is achieved by the nozzle device being permanently connected to a jet propulsion module or by the nozzle device being designed as an adapter module for detachable connection to a jet propulsion module.

[0032] In particular, a nozzle device designed as an adapter module is provided with a locking mechanism for connecting to a jet propulsion module, wherein the locking mechanism is preferably a bayonet lock. The nozzle of a nozzle device designed as an adapter module is a pivotable nozzle, wherein the nozzle is designed to be arranged on an existing nozzle of the jet propulsion module. In this way, a continuous water flow through the jet propulsion module and the nozzle device, in particular through the existing nozzle of the jet propulsion module and the nozzle of the nozzle device, is ensured.

[0033] In another embodiment, the nozzle device is connected to a jet propulsion module in an integrated design. If the nozzle device is permanently connected to a jet propulsion module, the jet propulsion module preferably has exactly one nozzle, wherein the nozzle is part of the nozzle device and can be pivoted about a first pivot angle about the vertical axis and about a second pivot angle about a transverse axis. In such a nozzle device, the functions of a nozzle of a nozzle device designed as an adapter module and an existing nozzle of a jet propulsion module separate from the nozzle device are combined.

[0034] Preferably, the nozzle device comprises a housing with housing walls, and components of the nozzle device are arranged in the housing walls. For example, a secondary battery or a control unit, such as a microcontroller, is arranged in a housing wall. For this purpose, a housing wall thickness of at least 1 mm, in particular at least 2 mm, in particular at least 4 mm, or at least 10 mm can be provided.

[0035] For example, in a modular watercraft, such as a bodyboard, canoe, jetboard, or jetfoil, a nozzle device configured as an adapter module is provided. For watercraft assembled as a whole, such as a diving scooter, a permanent connection between the nozzle device and the jet propulsion module is preferably provided. Furthermore, the object is achieved by a modular watercraft having a bow module and a stern module, wherein the bow module and the stern module are detachably connectable by means of a connecting mechanism, wherein the stern module comprises a jet propulsion module, which is further developed in that the watercraft comprises a nozzle device as described above.

[0036] Furthermore, the object is achieved by a jet propulsion module which comprises a nozzle device as described above.

[0037] To avoid repetition, with regard to the modular watercraft and the jet propulsion module, reference is expressly made to the embodiments described above and the associated advantages.

[0038] In particular, a detachably connectable power supply module is provided in the rear module, wherein the power supply module provides the power supply for the jet propulsion module.

[0039] In addition, the object is achieved by an operating method for a watercraft, in particular a modular watercraft as described above, wherein the watercraft has a longitudinal axis oriented from the bow to the stern and a transverse axis arranged perpendicular to the longitudinal axis, wherein a vertical axis runs perpendicular to the longitudinal axis and perpendicular to the transverse axis, wherein the watercraft has a nozzle device with a nozzle, wherein the nozzle has a nozzle diameter on an outlet side, which is further developed in that the nozzle can be pivoted about the vertical axis by a first pivot angle and about the transverse axis by a second pivot angle, wherein the operating method has the following steps: - detecting and processing travel parameters, in particular by means of an acceleration sensor and / or a gyro sensor,

[0040] - Determining a first and a second target swivel angle and / or a target diameter depending on the travel parameters,

[0041] - Swiveling the nozzle according to the first and second target swivel angles and changing the nozzle diameter according to the target diameter.

[0042] The operating method also provides the advantages described for the nozzle device.

[0043] In particular, the travel parameters are measured using sensors. In another embodiment, travel parameters are provided by sensors, with the provided travel parameters being recorded in the method step. This is used, for example, when a sensor is located at a point on a watercraft remote from the jet propulsion module or in a remote control.

[0044] Preferably, in the third step, the first swivel angle is swiveled to the first target swivel angle and the second swivel angle is swiveled to the second target swivel angle.

[0045] A first and second target swivel angle are determined, for example, by means of a control unit, in particular a microcontroller. For example, the first target swivel angle is controlled to the left or right in the direction of travel depending on a longitudinal tilt of the watercraft about the longitudinal axis. Thus, in the event of a weight shift to the left or right and a resulting longitudinal tilt of the watercraft, the nozzle device supports the maneuvering and / or steering of the watercraft. Preferably, the greater the longitudinal tilt, the further the first swivel angle is from the longitudinal axis.

[0046] Preferably, a first or second target swivel angle and / or a target diameter are determined as a function of one or more current travel parameters. In another embodiment, the determination of the target swivel angle and / or the target diameter is based on a temporal sequence of one or more travel parameters. For example, the longitudinal tilt of the last few seconds or a diving depth of the last minute is used as the basis for the determination.

[0047] Furthermore, the object is achieved by an operating method for a watercraft, in particular a modular watercraft as described above, wherein the watercraft has a longitudinal axis oriented from the bow to the stern and a transverse axis arranged perpendicular to the longitudinal axis, wherein a vertical axis runs perpendicular to the longitudinal axis and perpendicular to the transverse axis, wherein the watercraft has a nozzle device with a nozzle, wherein the nozzle has a nozzle diameter on an outlet side, which is further developed in that the nozzle can be pivoted about the vertical axis by a first pivot angle and about the transverse axis by a second pivot angle, wherein the operating method has the following steps:

[0048] - Setting a driving mode, wherein a driving mode is linkable or linked to at least one control protocol, wherein a control protocol determines a first and / or a second target swivel angle for the nozzle depending on detected driving parameters and swivels the nozzle according to the first and / or the second target swivel angle and / or wherein a control protocol determines a target diameter depending on detected driving parameters and changes the nozzle diameter according to the target diameter,

[0049] - Executing at least one control protocol associated with the set driving mode.

[0050] Preferably, a driving mode includes information about the length of the watercraft to be operated. In particular, a driving mode includes several driving mode parameters, such as, for example, the length of the watercraft, the weight of the watercraft, the buoyancy of the watercraft, and / or the width of the watercraft. Furthermore, an estimated payload weight can be specified as a driving mode parameter.

[0051] Preferably, the driving mode parameters are provided to the at least one control protocol, wherein the control protocol determines a first target swivel angle and / or a second target swivel angle and / or a target diameter depending on the driving mode parameters. This allows, for example, the steering assistance for cornering to be adapted to the turning circle of the watercraft.

[0052] In particular, a control protocol determines a first and / or second target swivel angle and / or a target diameter depending on one or more travel parameters, wherein the travel parameters are currently recorded values ​​or a temporal sequence of several values.

[0053] Steering assistance is enabled by a first control protocol comprising the following steps:

[0054] - detecting a longitudinal tilt, in particular a longitudinal tilt angle, of the vessel around the longitudinal axis,

[0055] - Determining a first target swivel angle depending on the longitudinal tilt,

[0056] - Swivel the nozzle according to the first target swivel angle.

[0057] A first steering protocol is, in particular, steering assistance. This first steering protocol provides particularly good support for a canoe, bodyboard, tender boat, jetboard, or foil-equipped watercraft.

[0058] When using the watercraft, tipping can be achieved in particular by shifting the user's weight.

[0059] A particularly effective maneuvering support is achieved when the first target swivel angle is determined in the first control protocol depending on the tilt and the vessel length.

[0060] Stabilization of the ride is achieved by a second control protocol comprising the following steps:

[0061] - detecting a transverse tilt, in particular a transverse tilt angle, of the watercraft around the transverse axis and / or an acceleration of the watercraft, in particular along the longitudinal axis,

[0062] - Determination of a target diameter depending on the transverse tilt and / or acceleration,

[0063] - Changing the nozzle diameter according to the target diameter.

[0064] Preferably, the acceleration is measured using an acceleration sensor. The second control protocol detects any forward or backward tilting and adjusts it by changing the nozzle diameter, thus adjusting the thrust.

[0065] In particular, the second control protocol is designed such that the target diameter is additionally or alternatively determined depending on the speed of the watercraft or the nozzle device. In particular, a larger target diameter is provided for low speeds than for higher speeds.

[0066] In a further embodiment, a third control protocol comprises the following steps:

[0067] - detecting a transverse tilt, in particular a transverse tilt angle, of the watercraft around the transverse axis and / or an acceleration of the watercraft, in particular along the longitudinal axis,

[0068] - Determining a second target swivel angle depending on the lateral tilt and / or the acceleration,

[0069] - Swiveling the nozzle according to the second target swivel angle.

[0070] In the third control protocol, compared to the second control protocol, the second target swivel angle is adjusted depending on the transverse tilt or acceleration of the vessel instead of the thrust. In particular, by swiveling the nozzle according to the second target swivel angle, the direction of propulsion along the longitudinal axis of the vessel is varied.

[0071] Preferably, a fourth control protocol comprises the following steps:

[0072] - Determining a water distance between a reference point of the vessel and a water surface, determining a target diameter depending on the water distance,

[0073] Changing the nozzle diameter according to the target diameter.

[0074] The water clearance is, in particular, the distance between the underside of the watercraft's support surface and the water surface. In particular, changing the nozzle diameter when the water clearance is determined to be too large means increasing the nozzle diameter. This reduces thrust.

[0075] The fourth control protocol is particularly suitable for a watercraft equipped with a foil. This fourth control protocol prevents the watercraft from surfacing too far out of the water, which would interrupt the water flow by sucking in air instead of water. This allows the jet device to operate reliably with water.

[0076] A fifth control program is specifically designed for diving scooters or diving jets and their driving modes. Preferably, a fifth control program comprises the following steps:

[0077] - Setting a target diving depth,

[0078] - Recording a diving depth,

[0079] - Determining a second target swivel angle depending on the target diving depth and the diving depth,

[0080] - Swiveling the nozzle according to the second target swivel angle.

[0081] In this embodiment, the fifth control program maintains the watercraft at a constant depth below the water surface. This ensures, for example, that the user does not descend to an unsafe depth. In another embodiment, a sixth control program includes the following steps:

[0082] - Setting a target depth change,

[0083] - Recording a diving depth,

[0084] - Determining a second target swivel angle depending on the target depth change and the diving depth,

[0085] - Swiveling the nozzle according to the second target swivel angle.

[0086] The sixth control program is specifically an ascent or descent program. It is preferably intended for a watercraft designed as a diving scooter or diving jet.

[0087] Finally, the object is achieved by a computer program product for controlling a watercraft, which comprises instructions that, when executed by a computer or microcontroller, cause the computer or microcontroller to execute a previously described operating method. The computer program product has the same advantages as the operating method.

[0088] In a preferred embodiment, the computer program product is further developed in that a plurality of driving modes are provided, wherein at least one control protocol is or can be linked to each driving mode. Preferably, a driving mode has a moderation function, wherein the moderation function is designed to execute a plurality of control programs simultaneously, wherein at least two of the control programs specify a first swivel angle and / or a second swivel angle and / or a target diameter. The moderation function is designed to mediate between two specific variables and to grant priority to one of the control programs or to specify a first and / or second swivel angle and / or target diameter used for control from the first and / or second swivel angles and / or target diameters determined by the control programs.In this way, conflicts between target values ​​set by two competing control programs are avoided.

[0089] Further features of the invention will become apparent from the description of embodiments of the invention together with the claims and the accompanying drawings. Embodiments of the invention may incorporate individual features or a combination of several features.

[0090] Within the scope of the invention, features marked with “in particular” or “preferably” are to be understood as optional features.

[0091] The invention is described below, without limiting the general inventive concept, using exemplary embodiments with reference to the drawings, whereby express reference is made to the drawings for all details of the invention not explained in more detail in the text. They show:

[0092] Fig. 1 is a schematic, perspective exploded view of a first embodiment of a modular watercraft,

[0093] Fig. 2 is a schematic perspective view of the modular watercraft of the first embodiment,

[0094] Fig. 3 is a schematic side view of a second embodiment of a modular watercraft, Fig. 4 is a schematic side view of a third embodiment of a modular watercraft,

[0095] Fig. 5 is a schematic representation of a first embodiment of a nozzle device,

[0096] Fig. 6 is a schematic plan view of a first embodiment of a jet propulsion module with a nozzle device,

[0097] Fig. 7 is a schematic perspective view of a second embodiment of a jet propulsion module with a nozzle device,

[0098] Fig. 8a is a schematic rear view of a second embodiment of a nozzle device with variable nozzle diameter,

[0099] Fig. 8b is a schematic rear view of the second embodiment of a nozzle device with variable nozzle diameter,

[0100] Fig. 9 is a schematic side view of a watercraft equipped with a hydrofoil, and

[0101] Fig. 10 is a schematic representation of a nozzle swivel device.

[0102] In the drawings, identical or similar elements and / or parts are provided with the same reference numerals, so that a repeated presentation is omitted. Fig. 1 shows a schematic, perspective exploded view of a first embodiment of a modular watercraft 20. Such a watercraft 20 is known, for example, from DE 10 2019 116 689 A1. The watercraft 20 has a bow module 22 and a stern module 24 and resembles a surfboard. In this embodiment, these two modules are connected by means of a fixing rod 115 and an opening 118 as well as two connecting rods 116, 117. The stern module 24 is designed to accommodate a jet propulsion module 26 and a power supply module 28. The receiving body 120 and the recesses 121, 122 serve this purpose, among other things. The jet propulsion module 26 has a nozzle 42 and an electrical contact 29 for the power supply.

[0103] Fig. 2 shows the first embodiment of the modular watercraft 20 in assembled form. The bow module 22 is connected to the stern module 24 by means of the connecting mechanism, with the power supply module 28 and the jet propulsion module 26 embedded in the stern module 24. Only the nozzle 42 of the jet propulsion module 26 is visible in the figure, as the remaining portion is concealed by the stern module 24. The watercraft 20 has a discharge line 125 and several gaps 126 between the power supply module 28 and the stern module 24.

[0104] The axes of the watercraft 20 are shown as an example in Fig. 2. The longitudinal axis L of the watercraft 20 runs from the bow to the stern. The transverse axis Q runs perpendicular to this. The longitudinal axis L and transverse axis Q together span a plane approximately parallel to the water surface. Perpendicular to the longitudinal axis L and the transverse axis Q runs a vertical axis H, which is essentially perpendicular to a support surface of the watercraft 20. Fig. 3 shows a schematic side view of a second embodiment of a modular watercraft 20. For transporting a water sports enthusiast, the watercraft 20 has a surface 127 with a support surface and a handle 129. As a drive, the watercraft 20 has a jet propulsion module 26, which comprises a nozzle device 40 in an integrated design. The nozzle device 40 is non-detachably connected to the jet propulsion module 26.

[0105] Fig. 4 shows a third embodiment of a modular watercraft 20 in a schematic side view, wherein the watercraft 20 is essentially similar to the watercraft 20 of the second embodiment. The differences lie in the design of the nozzle device 40. In this embodiment, the nozzle device 40 is designed as an adapter module 38 for a jet propulsion module 26. The jet propulsion module 26 comprises a nozzle, which nozzle is not pivotable. The nozzle device 40 comprises a pivotable nozzle 42, which can be coupled to the nozzle of the jet propulsion module 26. By means of the adapter module 38, the watercraft 20 is further developed as a watercraft 20 with a jet propulsion with a pivotable nozzle 42.

[0106] Fig. 5 shows a schematic representation of a first embodiment of a nozzle device 40. The nozzle device 40 comprises a nozzle 42, which has a nozzle wall 43 and an outlet side 41. The nozzle 42 has a nozzle diameter d on the outlet side 41, which influences the drive power. The nozzle diameter d is limited by the nozzle inner wall 45. A nozzle pivoting device 44 is arranged around the nozzle 42. In this embodiment, the nozzle pivoting device 44 is electromagnetically controlled. In this embodiment, a control unit 50 and a secondary battery 46 for supplying power to the control unit 50 and the nozzle pivoting device 44 are arranged in the housing of the nozzle device 40. The secondary battery 46 is, for example, a Li-ion battery. The secondary battery 46 can be charged by means of a generator 47, which is also arranged in the nozzle device 40.The generator 47 is connected to a rotor 48 disposed within the nozzle 42. The rotor 48 is driven by the water flow flowing through the nozzle 42. Part of the energy of the water flow is used to charge the secondary battery 46.

[0107] Furthermore, components of the nozzle device 40 are arranged in the nozzle wall 43, which is designed with a thickness adapted to the integrated components. Here, an acceleration sensor 52 and a gyro sensor 54 are arranged in the nozzle wall 43.

[0108] Fig. 6 shows a schematic plan view of a first embodiment of a jet propulsion module 26 with a nozzle device 40. Furthermore, the longitudinal axis L of a watercraft 20 is shown, with the direction of travel of the watercraft 20 lying to the right in the plane of the drawing. The nozzle 42 of the nozzle device 40 is designed to be pivotable about two axes. The nozzle 42, represented by arrows, can be pivoted to the right 60 and to the left 62 with respect to the direction of travel. This corresponds to pivoting about the vertical axis H of the watercraft 20. This pivoting is described by means of a first pivot angle 81, which is shown in dashed lines in Fig. 6.

[0109] Furthermore, the nozzle 42 is pivotable about a second pivot angle 82, specifically about the transverse axis Q of the watercraft 20. The corresponding upward 64 and downward 66 pivoting movements of the nozzle 40 are indicated by symbols in Fig. 6. In particular, the nozzle 42 is pivotable simultaneously about a first and a second pivot angle 81, 82. By pivoting the nozzle 42, the watercraft 20 propelled by the jet propulsion module 26 is steered, for example, in a different direction.

[0110] Fig. 7 shows a schematic, perspective view of a second embodiment of a jet propulsion module 26 with a nozzle device 40. The jet propulsion module 26 has a nozzle 42 and electrical contacts 29. The longitudinal axis L and the transverse axis Q are shown, with the transverse axis Q here passing through the nozzle device 40.

[0111] The nozzle 42 is designed to pivot about two axes. The nozzle 42 can pivot about the vertical axis H to the right 60 or left 62. Furthermore, the nozzle 42 can pivot about the transverse axis Q upwards 64 or downwards 66 through a second pivot angle 82. The combination of the two pivot angles 81, 82 results in a pivot surface 68, which is shown in dashed lines in Fig. 7. All points of the circular pivot surface 68 can be assumed to be the pivot direction of the nozzle 42. In other embodiments, the pivot surface 68 is oval.

[0112] Fig. 8a and Fig. 8b show schematic rear views of a second embodiment of a nozzle device 40 with a variable nozzle diameter d. Fig. 8a shows a nozzle device 40 which has a nozzle 42. The nozzle 42 has a nozzle diameter d on the outlet side 41, which is delimited by the nozzle inner wall 45. The nozzle 42 can be pivoted about two axes, which is represented by the pivot surface 68 shown in dashed lines. The nozzle diameter d of this nozzle device 40 is variable. Fig. 8b shows the nozzle device 40 from Fig. 8a, wherein the nozzle diameter d has been reduced. For example, the nozzle diameter d in Fig. 8a is 68 millimeters and in Fig. 8b it is 64 millimeters. This increases the thrust. In this embodiment, changing the nozzle diameter d leaves the pivoting surface 68, and thus the maximum first and second pivoting angles 81, 82, unaffected.

[0113] Fig. 9 shows a schematic side view of a watercraft 20 equipped with a hydrofoil 90, or foil for short. The watercraft 20 has a jet propulsion module 26, a power supply module 28, and a nozzle device 40. The hydrofoil comprises a front wing 92 and a rear wing 93, which are connected by a connecting strut 98. The wings 92, 93 are connected to the jet propulsion module 26 by a support strut 94. Such a watercraft 20 equipped with a hydrofoil 90 is known, for example, from DE 10 2019 128 535 A1. At sufficient speed, it allows the user of the watercraft 20 to lift themselves out of the water using the surfboard-like part of the watercraft 20.

[0114] Particularly preferred for a watercraft 20 shown in Fig. 9 is an operating method with the fourth control protocol, such that the water distance between a reference point of the watercraft 20 and a water surface is detected, and the thrust of the nozzle is adjusted depending on the water distance. This is done, for example, by changing the nozzle diameter d.

[0115] Finally, Fig. 10 shows a schematic representation of a nozzle pivoting device 44 of a nozzle device 40. The nozzle device 40 has a nozzle 42 with an inner nozzle wall 45. Four electromagnets 49 are arranged around the nozzle 42, which electromagnetically pivot the nozzle 42. In particular, two electromagnets 49 are provided for pivoting according to the first pivot angle 81 and two electromagnets 49 for pivoting according to the second pivot angle 82.

[0116] All mentioned features, including those revealed solely in the drawings as well as individual features disclosed in combination with other features, are considered essential to the invention, both individually and in combination. Embodiments according to the invention may be fulfilled by individual features or a combination of several features.

[0117] List of reference symbols

[0118] 20 watercraft

[0119] 22 bow module

[0120] 24 rear module

[0121] 26 Jet propulsion module

[0122] 28 Power supply module

[0123] 29 electrical contact

[0124] 38 adapter module

[0125] 40 nozzle device

[0126] 41 Exit side

[0127] 42 nozzle

[0128] 43 Nozzle wall

[0129] 44 Nozzle swivel device

[0130] 45 Nozzle inner wall

[0131] 46 Secondary battery

[0132] 47 Generator

[0133] 48 Rotor

[0134] 49 Electromagnet

[0135] 50 control unit

[0136] 52 Accelerometer

[0137] 54 Gyro sensor

[0138] 60 right

[0139] 62 left

[0140] 64 above

[0141] 66 below

[0142] 68 swivel surface

[0143] 81 first swivel angle

[0144] 82 second swivel angle

[0145] 90 Hydrofoil

[0146] 92 front wing

[0147] 93 rear wing 94 support

[0148] 98 Connecting strut

[0149] 115 Fixing rod

[0150] 116 Connecting rod

[0151] 117 Connecting rod

[0152] 118 Opening

[0153] 120 receiving bodies

[0154] 121 recess

[0155] 122 recess

[0156] 125 discharge line

[0157] 126 gap

[0158] 127 Surface

[0159] 129 Grab handle

[0160] L Longitudinal axis

[0161] Q transverse axis

[0162] H vertical axis d diameter

Claims

Nozzle device for a jet propulsion module of a watercraft, modular watercraft, operating method for a watercraft, computer program product for controlling a watercraft 1. Nozzle device (40) for a jet propulsion module (26) of a watercraft (20), wherein the watercraft (20) has a longitudinal axis (L) oriented from the bow to the stern and a transverse axis (Q) arranged perpendicular to the longitudinal axis (L), wherein a vertical axis (H) runs perpendicular to the longitudinal axis (L) and perpendicular to the transverse axis (Q), wherein the nozzle device (40) has a nozzle (42), characterized in that the nozzle (42) can be pivoted about the vertical axis (H) by a first pivot angle (81) and can be pivoted about the transverse axis (Q) by a second pivot angle (82).

2. Nozzle device (40) according to claim 1, characterized in that the nozzle (42) is pivoted by means of a nozzle pivoting device (44) is pivotable, wherein the nozzle (42) is pivotable by motor or electromagnetic means.

3. Nozzle device (40) according to claim 1 or 2, characterized in that the nozzle device (40) has a secondary battery (46) for supplying voltage to the nozzle device (40), in particular to the nozzle pivoting device (44), wherein in particular the secondary battery (46) is inductively chargeable and / or the secondary battery (46) is chargeable by means of a generator (47) arranged in the nozzle device (40) with a rotor (48) arranged in a water flow of the nozzle (42).

4. Nozzle device (40) according to one of claims 1 to 3, characterized in that the nozzle (42) has a nozzle diameter (d) on an outlet side (41), wherein the nozzle diameter (d) is variable.

5. Nozzle device (40) according to one of claims 1 to 4, characterized in that the nozzle device (40) has a control unit (50) for controlling the nozzle device (40), wherein travel parameters can be detected and processed by means of the control unit (50), wherein the control unit (50) is designed to control the first and second pivot angles (81, 82) as a function of the travel parameters and / or to control the nozzle diameter (d), wherein in particular the travel parameters can be measured by means of an acceleration sensor (52) and / or a gyro sensor (54), wherein in particular the control unit (50) is designed to receive commands for selecting a travel mode and to adapt the control of the first and second pivot angles (81, 82) and / or the nozzle diameter (d) to the travel mode.

6. Nozzle device (40) according to one of claims 1 to 5, characterized in that the nozzle device (40) is non-detachably connected to a jet drive module (26) or that the nozzle device (40) is designed as an adapter module (38) for detachable connection to a jet drive module (26).

7. Modular watercraft (20) with a bow module (22) and a stern module (24), wherein the bow module (22) and the stern module (24) are detachably connectable by means of a connecting mechanism, wherein the stern module (24) has a jet propulsion module (26), characterized in that the watercraft (20) has a nozzle device (40) according to one of claims 1 to 6.

8. Operating method for a watercraft (20), in particular a modular watercraft (20) according to claim 9, wherein the watercraft (20) has a longitudinal axis (L) oriented from the bow to the stern and a transverse axis (Q) arranged perpendicular to the longitudinal axis (L), wherein a vertical axis (H) runs perpendicular to the longitudinal axis (L) and perpendicular to the transverse axis (Q), wherein the watercraft (20) has a nozzle device (40) with a nozzle (42), wherein the nozzle (42) has a nozzle diameter (d) on an outlet side (41), characterized in that the nozzle (42) is pivotable about the vertical axis (H) by a first pivot angle (θ1) and pivotable about the transverse axis (Q) by a second pivot angle (θ2), wherein the operating method comprises the following steps: Recording and processing of travel parameters, in particular by means of an acceleration sensor (52) and / or a gyro sensor (54), determining a first and a second target swivel angle and / or a target diameter depending on the travel parameters, Swiveling the nozzle (42) according to the first and second target swivel angles and / or changing the nozzle diameter (d) according to the target diameter.

9. Operating method according to the preamble of claim 8, characterized in that the nozzle (42) is pivotable about the vertical axis (H) by a first pivot angle (81) and pivotable about the transverse axis (Q) by a second pivot angle (82), the operating method comprising the following steps: Setting a driving mode, wherein a driving mode is linkable or linked to at least one control protocol, wherein a control protocol determines a first and / or a second target swivel angle for the nozzle (42) depending on detected driving parameters and swivels the nozzle (42) according to the first and / or the second target swivel angle and / or wherein a control protocol determines a target diameter depending on detected driving parameters and changes the nozzle diameter (d) according to the target diameter, Executing the at least one control protocol associated with the set driving mode, wherein in particular a first control protocol comprises the following steps: Detecting a longitudinal tilt, in particular a longitudinal tilt angle, of the watercraft (20) about the longitudinal axis (L), Determining a first target swivel angle depending on the longitudinal tilt, Swiveling the nozzle (42) according to the first target swivel angle, wherein in particular in the first control protocol the first target swivel angle is determined as a function of the tilt and the length of the watercraft.

10. Operating method according to claim 8 or 9, characterized in that a second control protocol comprises the following steps: Detecting a transverse tilt, in particular a transverse tilt angle, of the watercraft (20) about the transverse axis (Q) and / or an acceleration of the watercraft (20), in particular along the longitudinal axis (L), Determining a target diameter depending on the transverse tilt and / or the acceleration, changing the nozzle diameter (d) according to the target diameter.

11. Operating method according to one of claims 8 to 10, characterized in that a third control protocol comprises the following steps: Detecting a transverse tilt, in particular a transverse tilt angle, of the watercraft (20) about the transverse axis (Q) and / or an acceleration of the watercraft (20), in particular along the longitudinal axis (L), Determining a second target swivel angle depending on the lateral tilt and / or the acceleration, Swiveling the nozzle (42) according to the second desired swivel angle, wherein in particular a fourth control protocol comprises the following steps: Detecting a water distance between a reference point of the watercraft (20) and a water surface, Determining a target diameter depending on the water distance, Changing the nozzle diameter (d) according to the target diameter.

12. Operating method according to one of claims 8 to 11, characterized in that a fifth control program comprises the following steps: Setting a target diving depth, Determining a diving depth, Determining a second target swivel angle as a function of the target diving depth and the diving depth, swiveling the nozzle (42) according to the second target swivel angle.

13. Operating method according to one of claims 8 to 12, characterized in that a sixth control program comprises the following steps: Setting a target depth change, Determining a diving depth, Determining a second target swivel angle as a function of the target depth change and the immersion depth, swiveling the nozzle (42) according to the second target swivel angle.

14. A computer program product for controlling a watercraft (20), comprising instructions which, when the program is executed by a computer or by a microcontroller, cause the computer or microcontroller to carry out an operating method according to one of claims 8 to 13.

15. Computer program product for controlling a watercraft (20) according to claim 14, characterized in that a plurality of driving modes are provided, wherein at least one control protocol is or can be linked to each driving mode.

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