Motor controller

Abstract

A control system for controlling an operating thrust of an electric propulsion system for a watercraft by a user is disclosed. In an embodiment, the control system comprises a user wearable object and a control module having at least one sensor associated with a sensing region of the control module. The at least one sensor provides a sensed signal indicating whether the user wearable object is located on or within the sensing region. When the sensed signal indicates that the user wearable object is not located on or within the sensing region, the control module generates at least one control signal for controlling the electric propulsion system to operate at a low or no level of thrust. A method of controlling an operating thrust of an electric propulsion system for a watercraft is also disclosed.

Description

MOTOR CONTROLLERPRIORITY DOCUMENT

[0001] The present application for patent claims priority from Australian Provisional Patent Application No. 2024902732 entitled “Motor Controller”, filed 30 August 2024, which is hereby expressly incorporated by reference herein in its entirety.TECHNICAL FIELD

[0002] The present invention relates to a motor controller. In a particular form the present invention relates to a motor control system for controlling an electric motor of a watercraft propulsion system.BACKGROUND

[0003] Watercraft based activities using small vessels, such as surfing, kite-surfing, wing-surfing, stand-up paddle boarding and kayaking, are popular outdoor recreational pursuits. However, these activities can place relatively significant fitness and endurance demands on the person involved with the activity. For example, surfing involves paddling at moderate intensity from a beach to a break, and then burst-type efforts of paddling at a higher intensity to try and catch a wave. Unfortunately, the fitness and endurance demands of surfing may dissuade people from participating or otherwise limit their participation. Similarly, because of its own particular set of physical demands, conventional stand-up paddle boarding involving a board and a paddle for generating propulsion may also only be suitable for people of reasonable fitness, endurance and strength. Furthermore, when environmental conditions are unfavourable (such as in light wind conditions if kite-surfing or wing-surfing) it may be difficult to have the watercraft reach operational speed.

[0004] To reduce the demands placed on people who might enjoy watercraft based activities such as surfing and stand-up paddle boarding, or to compensate for unfavourable environmental conditions for watercraft based activities like kite-surfing and wing-surfing, electric propulsion systems have been developed which involve attaching an electric motor to the watercraft and providing a separate power and control module for operating the electric motor. In such systems, the electric motor may be controllably operated by a user to supplement the user’s self-generated propulsion or to compensate for unfavourable environmental conditions, or it may be used as the only source of propulsion when required. In either case, the electric propulsion system mayenhance the user’s experience of the activity by providing an additional propulsion option which may replace or reduce the user’s propulsive effort or compensate for unfavourable environmental conditions.

[0005] User control of the electric motor is typically by way of a hand-held control module which may be equipped with an electric throttle which is operable to vary the thrust generated by the electric motor. However, it will be appreciated that there are circumstances where use of a handheld control module may be undesirable, for example, if a user is riding a powered surfboard, they may wish to have both hands free to paddle the board, or if a user is wing-surfing they may wish to have both hands free to hold and control the wing.

[0006] Another use scenario where hand-held control may be undesirable or impractical, occurs when a user of a surfboard is catching waves. In this use scenario, the user may start in a prone position (that is, lying on the board) and operate the electric propulsion system to provide a thrust which assists with catching the wave. Once caught, the user may transition to a standing position and disable the electric propulsion system (as it is no longer required). In this use case, the user would have to use their hands to transition from the prone position to the standing position whilst simultaneously holding and operating the hand-held control module.

[0007] It is against this background that the present disclosure has been developed.SUMMARY

[0008] The following presents a simplified summary of one or more aspects of the present disclosure, in order to provide a basic understanding of such aspects. This summary is not an extensive overview of all contemplated features of the disclosure, and is intended neither to identify key or critical elements of all aspects of the disclosure nor to delineate the scope of any or all aspects of the disclosure. Its sole purpose is to present some concepts of one or more aspects of the disclosure in a simplified form as a prelude to the more detailed description that is presented later.

[0009] A first aspect of the present disclosure provides a control system for controlling an operating thrust of an electric propulsion system for a watercraft, the control system comprising: a user wearable object; a control module having at least one sensor associated with a sensing region of the control module, the at least one sensor for providing a sensed signal indicating whether the object is located on or within the sensing region;wherein when the sensed signal indicates that the user wearable object is not located on or within the sensing region, the control module generates at least one control signal for controlling the electric propulsion system to operate at a low or no level of thrust.

[0010] In certain embodiments, the at least one control signal is a time delayed control signal. The time delay may be a fixed delay or it may be adjustable.

[0011] In certain embodiments, the at least one control signal controls the electric propulsion system to gradually transition to operate at the low or no level of thrust over a period. The period may be a fixed period or it may be an adjustable period. An advantage of providing a control signal which controls the electric propulsion system to gradually transition to operate at the low or no level of thrust over a period is that it allows a user of the watercraft time to reposition themselves on the watercraft without any abrupt changes in thrust (and thus deceleration). For example, in an embodiment in which the watercraft is a foiling surfboard, it allows the user to reposition or transition from a prone position to a standing position.

[0012] In certain embodiments, the object is configured to be worn about a neck of the user. For example, the object may be in the form of a pendant which is carried by a necklace, lanyard or tether worn around the neck of the user. The necklace, lanyard or tether may be of a fixed length or it may be adjustable in length to suit the use requirements of the user. In either case, as the user transitions to a standing position, the necklace, lanyard or tether will begin to tighten and eventually pull the object away from the sensing region. In certain embodiments pulling the object away from the sensing region disconnects or removes the object from the sensing region of the control module.

[0013] In certain embodiments, the control module further comprises a plurality of thrust control inputs, such that each thrust control input is operable by a user to select a predetermined thrust mode or level of the electric propulsion system.

[0014] In certain embodiments, the control system further comprises a communications port configured to connect to a supplementary control module.

[0015] In certain embodiments, the supplementary control module may comprise a plurality of thrust control inputs which are operable by a user to select a predetermined thrust mode or level of the electric propulsion system. Additionally or alternatively it may comprise a force sensitive input functioning as a force sensitive thrust control, such that application of a force to said input results in the control module communicating a proportional control signal to the communications port,said proportional control signal depending on the amount of force applied to the force sensitive input by the user.

[0016] In certain embodiments the electric propulsion system comprises a brushless motor.

[0017] Another aspect of an embodiment of the present disclosure provides a method of controlling an operating thrust of an electric propulsion system for a watercraft, the method comprising: providing a user wearable object; providing a control module having at least one sensor associated with a sensing region of the control module, the sensor for providing a sensed signal indicating whether the object is located on or within the sensing region of the control module; generating, by the control module, at least one control signal which controls the electric propulsion system to operate at a low or no level of thrust mode when the sensed signal indicates that the object is not located on or within the sensing region.

[0018] A further aspect of embodiments of the present disclosure provides a control system for controlling an operating thrust of an electric motor for a watercraft, the control system comprising a memory storing a set of program instructions and a processor coupled to the memory, the processor configured to execute the set of program instructions to perform the above method.

[0019] Yet another aspect of the present disclosure provides a watercraft comprising: a board; an electric propulsion system affixed to the board; and a control system according to the first aspect described above; wherein, in use, the control system is operable by a user to control the electric propulsion system to operate at a low or no level of thrust by removing the object from the sensing region.

[0020] Yet another aspect of the present disclosure provides a control system for controlling an operating thrust of an electric propulsion system for a watercraft by a user, the control system comprising: a user wearable object; a primary control module having at least one sensor associated with a sensing region of the control module, the at least one sensor for providing a sensed signal indicating whether the user wearable object is located on or within the sensing region, the primary control module having a plurality of thrust control inputs for controlling an operating thrust of the electric propulsion system;a supplementary control module in signal communication with the primary control module, the supplementary control module comprising a plurality of secondary thrust control inputs for controlling the operating thrust of the electric propulsion system; wherein the thrust control inputs of the primary control module are operable by a user to control the operating thrust of the electric propulsion system only when the sensed signal indicates that the user wearable object is located on or within the sensing region; and wherein the thrust control inputs of the supplementary control module are operable by a user to control the operating thrust of the electric propulsion system irrespective of whether the sensed signal indicates that the user wearable object is or is not located on or within the sensing region.

[0021] These and other aspects of the invention will become more fully understood upon a review of the detailed description, which follows. Other aspects, features, and embodiments of the present invention will become apparent to those of ordinary skill in the art, upon reviewing the following description of specific, exemplary embodiments of the present invention in conjunction with the accompanying figures. While features of the present invention may be discussed relative to certain embodiments and figures below, all embodiments of the present invention can include one or more of the advantageous features discussed herein. In other words, while one or more embodiments may be discussed as having certain advantageous features, one or more of such features may also be used in accordance with the various embodiments of the invention discussed herein. In similar fashion, while exemplary embodiments may be discussed below as device, system, or method embodiments it should be understood that such exemplary embodiments can be implemented in various devices, systems, and methods.BRIEF DESCRIPTION OF DRAWINGS

[0022] Embodiments of the present invention will be discussed with reference to the accompanying drawings wherein:

[0023] Figure 1 is a schematic for a control system, according to an embodiment;

[0024] Figure 2 is a perspective view of a control module, according to an embodiment;

[0025] Figure 3 is an alternate perspective view of the control module of Figure 2;

[0026] Figure 4 is a perspective view of the control module of Figure 2, secured in a cradle;

[0027] Figure 5 is an exploded perspective view of the control module and cradle;

[0028] Figure 6 is a cross-sectional view of the control module and cradle;

[0029] Figure 7 is an underside view of the control module fitted with optional arm straps;

[0030] Figure 8 is a perspective view of the control module secured to a watercraft with a user in a prone position;

[0031] Figure 9 is a perspective view of the control module secured to a watercraft with a user transitioning to a standing position;

[0032] Figure 10 is a side view of the control module secured to a surf foil watercraft comprising an electric motor wherein the electric motor is being used to propel the surf foil through the water;

[0033] Figure 11 is a side view of the control module secured to a surf foil watercraft comprising an electric motor wherein the foil has generated sufficient lift that the electric motor has been lifted clear of the water;

[0034] Figure 12 is a perspective view of a first supplementary control module, according to an embodiment;

[0035] Figure 13 is a perspective view of a potential use case for the first supplementary control module in conjunction with the remote control module;

[0036] Figure 14 is a perspective view of a second supplementary control module, according to an embodiment;

[0037] Figure 15 is a perspective view of a potential use case for the second supplementary control module in conjunction with the remote control module; and

[0038] Figure 16 is a functional block diagram of a control module according to an embodiment.DESCRIPTION OF EMBODIMENTS

[0039] Referring to Figure 1, there is shown a schematic diagram for a control system 1 for controlling an operating thrust of an electric propulsion system 300 for a watercraft (not shown) according to an embodiment. The control system 1 comprises a control module 100 having asensing region 110 (ref. Figure 2) and at least one sensor 101 associated with the sensing region 110. In the present case, the sensing region 110 is a portion or area of the control module 100 configured to detect the presence or absence of an object 200 using the at least one sensor 101. The sensing region 110 may be an area which is shaped or contoured (e.g., a detent) to physically accommodate and removably retain the user-wearable object 200. The sensing region may rely on, for example, resistive, magnetic, optical, capacitive, electromagnetic, or other sensing technologies to generate a signal indicative of the object’s presence on or within, or absence from, the sensing region.

[0040] Although in the present case, the sensing region 110 is a portion or area of the control module 100, it is possible that the sensing region 110 comprises a detection region comprising a volume of air contiguous with the control module, such that the at least one sensor 101 of the control module is configured to detect the presence of an object within the detection region.

[0041] The at least one sensor 101 provides a sensed signal indicating whether the object 200 is located on or within the sensing region 110. The control module 100 generates at least one control signal which controls the electric propulsion system 300 to operate at a low or no level of thrust depending on the sensed signal.

[0042] The object 200 may have any suitable form. For example, the object may comprise a tag or pendant such as a disc-shaped, cube-shaped, pellet-shaped, bullet-shaped, ball-shaped, or rectangularly shaped pendant which is adapted for locating on a leash, necklace or lanyard. In certain embodiments, when the sensed signal indicates that the object 200 is not located on or within the sensing region 110, the control module 100 generates at least one control signal which controls the electric propulsion system 300 to operate at the low or no level of thrust. In embodiments where the electric propulsion system 300 comprises an electric motor (such as a brushless motor) having a shaft which drives a propeller to generate thrust, operating the electric propulsion system 300 at a low or no level of thrust is to be understood to mean that the electric motor is controlled to operate so that the propeller is either not rotating or is rotating at a speed which is a minimum controllable speed of the electric motor (for example, an idling speed).

[0043] Figures 2 to 6 show an embodiment of the control module 100. In the depicted embodiment, the control module 100 is in the form of a wireless control module configured to generate the at least one control signal for wireless communication to a power and control module in wired communication with the electric motor of the electric propulsion system 300 (ref. Figure1). It will however be appreciated that other forms of the control module may have a wired connection with the electric motor.

[0044] The illustrated control module 100 comprises a main body 102 housing the at least one sensor 101, display 105, plural user-operated switches (shown here as push-button switches 103, 104), power source 106 (ref. Figure 6) and electronics module 107 (ref. Figure 6). In the depicted embodiment, the sensing region 110 of the control module 100 is a detent formed on an upper surface of the main body 102 for contacting the object 200.

[0045] As will be described in more detail below, the object 200 is shaped to be located on and forcibly held in the detent by a holding force. In use, the object 200 may be pulled away from and off of the detent by a deliberate action of the user which overcomes the holding force, such as by the user transitioning from the prone position to the standing position, without directly involving their hands.

[0046] The at least one sensor 101 may comprise a hall effect sensor for providing the sensed signal depending on whether a magnetic field associated with a magnet carried by the object 200 is sensed by the at least one sensor 101, and thus on whether the object 200 is located on the sensing region 110 of the control module 100. It will however be appreciated that alternate sensors may be employed, such as an electromagnetic switch, a linear magnetic field transducer, an optical transducer, a pressure switch, a proximity switch, a capacitive sensor, or the like. If different sensors are used, an object 200 which is suitable for use with the different sensor would be required.

[0047] Display 105 may comprise a LCD, AMOLED, OLED, or TFT type display having a suitable resolution for displaying information to the user. One example of a suitable display is a 1.0 inch 128 x 96 pixels TFT LCD 4-wire SPI interface type display having an on-board controller. The display 105 may be configured to provide information to the user. No limiting examples of displayed user information include:• display of an operating mode of the control module (i.e. prone to surf, first supplementary control, second supplementary control);• display of a connection state of the object 200;• display of a thrust level or mode of the electric motor; and• display of a charge state of power source.

[0048] In an embodiment, the display 105 and push-button switches 103, 104 of the control module 100 can be used to programmably associate each of the push-button switches 103, 104 with various functions of the control module 100, including but not limited to: a user selectable thrust level or mode, a calibration function for calibrating thrust level or mode values for a second supplementary control module 500.

[0049] In certain embodiments, push-button switches 103, 104 may also be used to set a time delay for the generation of the one more control signals, or other user-selectable functions.

[0050] In the present case, the power source 106 is a battery, such as high energy density lithium polymer pouch cell. However, it will be appreciated that other types of power sources may be used. The power source 106 may comprise a rechargeable battery in which case the control module 100 may be configured to support charging of the battery by a suitable battery charging scheme. One example of a suitable battery charging scheme is an induction charging standard such as Qi and / or PMA. It will however be appreciated that the control module 100 may also be charged via a wired connection. Suitable power sources and battery charging schemes would be well known to a person skilled in the art.

[0051] Electronics module 107 is powered by the power source 106 and interfaces with the pushbutton switches 103, 104, display 105, sensor(s) 101 and communications port 108 to perform one or more functions of the control module 100.

[0052] A block diagram of a non-limiting example of the electronics module 107 is illustrated in Figure 16 and comprises a processor 120, memory 122, inputs interface 126, sensor interface 128, display interface 130 and wireless transceiver 132, antenna 136 and programmable timers 134.

[0053] The processor 120 may be implemented within one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, micro-controllers, microprocessors, or other electronic units designed to perform the functions described herein, or a combination thereof. Various middleware and computing platforms may be used. The memory 122 is operatively coupled to the processor 120 and may comprise RAM and ROM components, and may be provided within or external to the processor 120. The memory 122 may be used to store an operating system and additional software modules or instructions. The processor 120 may be configured to load and execute the software modules or instructions stored in the memory 122. A computer program may be written, for example, in ageneral-purpose programming language (e.g., Pascal, C, C++, Java, Python, JSON, etc.) or some specialized application-specific language, and may utilise or call software libraries or packages.

[0054] Input interface 126 may comprise conventional digital or analog inputs configured to receive analog and / or digital signals from the user operated switches 103, 104 and to provide an output to the processor 120.

[0055] Sensor interface 128 communicatively couples the at least one sensor 101 to the processor 120. In the present case, the sensor interface 128 is a hall-effect sensor interface which provides supply current and interfaces to a 2-wire hall effect sensor. The sensor interface 128 interfaces the hall effect sensor to the processor 120 via one or more outputs, which may be analog or digital outputs. Of course, it will be appreciated that the type and characteristics of the sensor interface 128 will depend on the type of the at least one sensor 101. Suitable sensor and sensor interfaces would be known to a skilled person.

[0056] In the present case, and as will be described in more detail below, wireless transceiver 132 communicates, via an antenna 136, the at least one control signals either directly or via an intermediate antenna arrangement to a power and control module of incorporating a motor controller coupled to the electric propulsion system 300 using a predefined communications protocol (e.g. Bluetooth, Zigbee, IEEE 802.15, IEEE 802.11, TCP / IP, UDP, etc.). In the present case, the wireless transceiver 132 communicates a 2.4GHz signal having a suitable transmission power.

[0057] Display interface 130 interfaces the processor 120 to display 105 to control the display of information on the display 105. In the present case the display interface 130 is a 4-wire SPI interface type interface. It will be appreciated that other types of display interfaces may be used.

[0058] Programable timers 134 interface with the processor 120 to perform timing and counting functions using one or more registers under the instruction of the processor 120. To operate a timer, processor 120 loads a count value (such as an 8-bit count value) into a register of a respective timer 134 and, on command, that timer 134 begins to decrement the count until it reaches 0, at which point it generates a signal that interrupts the processor 120.

[0059] In the present case, the communications port 108 is configured for signal communication with optional supplementary control modules using a suitable signalling method. One example of a suitable signalling method is a pulse-coded modulated (PCM) signal which communicates a user selected throttle setting to the control module 100. The purpose and function of the optionalsupplementary control modules will be described in further detail below. The communications port 108 shown here is protected by a waterproof cap 109.

[0060] Continuing with reference to Figures 2 to 6, the user operated inputs 103 / 104 comprise a power switch 103 for powering on / off the control module 100 and a plurality of function selection inputs in the form of push-button switches 104 (in this case four).

[0061] In the present case, each of the push-button switches 104 (which in this case are numbered, but in an alternate embodiment may be marked in some other fashion, or unmarked) are operable by a user to select a predefined function of the control module 100 which has been programmably associated with each respective push-button switch 104. For example, the control module 100 may be programmed so that operating each push-button switch 104 controls the control module 100 to generate a respective control signal which controls the electric propulsion system 300 to operate at a respective user-selected thrust mode or at a user-selected level of thrust.

[0062] In the present case, the push-button switches 104 operate as latched type push-button switches, meaning that operating a push-button switch 104 enables the user-selected function associated with that switch until such time as a different push-button switch 104 is operated by the user. For example, in the case where each push-button switch 104 is associated with a user selectable thrust level or mode, operating a push-button switch 104 to select a particular thrust level or mode means that the selected thrust level or mode is maintained until such time as a different thrust level or mode selection is made by the user operating a different push-button switch 104.

[0063] In embodiments where each push-button switch 104 is associated with a user selectable thrust level, the user selectable thrust level may be a thrust level percentage associated with the thrust performance of the electric propulsion system 300, such that a 100% thrust level would correspond to a maximum thrust level performance for the electric propulsion system 300.

[0064] By way of a non-limiting example, a first push-button switch 104 may be associated with a thrust level setting of 60% of the maximum thrust and a second push-button switch 104 may be associated with a thrust level setting of 80% of the maximum thrust. In this example, operating the first push-button switch 104 causes the control module 100 to generate a control signal which controls the electric propulsion system 300 to operate at a thrust mode or level of 60% of a maximum thrust, whereas operating the second push-button switch 104 causes the control module 100 to generate a control signal which controls the electric propulsion system 300 to operate at a thrust mode or level of 80% of the maximum thrust (i.e. 100%). Where each push-button switch104 is associated with a user selectable thrust level or mode, the push-button switches 104 may be referred to as “thrust control switches”.

[0065] In certain embodiments, each push-button switch 104 may be associated with a user selectable thrust or operating mode, such as a “sport mode” or “economy mode” (or other mode settings), which sets, regulates or optimises the thrust level of the electric propulsion system 300 depending on the user selection to prioritise, for example, ride performance or duration.

[0066] It will of course be appreciated that different thrust levels, mode settings or functions may be associated with each push-button switch 104.

[0067] In certain embodiments, functionality which is associated with the push-button switches 104 may be disabled when the sensed signal indicates that the object 200 is not located on, within or proximal to the sensing region 110 of the control module 100. For example, when the electric propulsion system 300 is operating in a particular mode or providing a selected level of thrust selected by a user operating a push-button switch 104, when the sensed signal indicates that the object 200 is not located on the detent, the control module 100 generates the at least one control signal which controls the electric propulsion system 300 to operate at the low or no level of thrust and the functionality of push-button switches 104 is disabled.

[0068] With reference to Figures 4 and 5, the depicted control module 100 is configured to be removably secured to a cradle 113, which itself is configured to be attached to the watercraft or potentially secured to or carried by a user of the watercraft. By removably securing the control module 100 to a cradle 113, the control module 100 can be easily removed for charging or cleaning purposes, or for operation as a hand-held device or user worn device. For example, and with reference now to Figure 7, where the control module 100 may be fitted with arm straps 112 which enable the control module 100 to be worn around the arm of a user.

[0069] As described above, the illustrated control module 100 is configured to allow the removable object 200 to be located and forcibly held on the sensing region 110 of the control module 100 in a manner which permits the object 200 to be pulled away from and off of the sensing region 110 by a deliberate action of the user, such as by the user transitioning from the prone position to the standing position.

[0070] In the present case, the object 200 is located on and forcibly held in contact with the sensing region 110 by virtue of the object 200 and control module 100 being magnetically attracted to one another. In the present case, this magnetic attraction is established between a magnet of theobject 200 and a ferrous plate 111 of the control unit 100. The ferrous plate 111 shown here is located within the main body 102 and adjacent to the detent of the sensing region 110. In the present case, it is the magnetic field of the magnet of object 200 which is sensed by the at least one sensor 101 to detect whether the object 200 is located on the detent.

[0071] In use, it is intended that the control module 100 and object 200 are operatively associated with the electric propulsion system 300 to assist the user of a watercraft to transition from a prone to standing position when catching a wave.

[0072] In certain embodiments, the object 200 is in the form of a pendant which is attached to or otherwise carried or worn by a user of the watercraft. In one form, as shown in Figures 8 and 9, the object 200 may be attached to a necklace or lanyard 201 worn around the neck of the user. In another form (not shown), the object 200 may be attached to a tether strap which is attached to or near an upper portion of the user’s body. For example, the tether strap may be secured by a clip or alternative fastening means to the user’s clothing.

[0073] In use, when the user is in the prone position (as shown in Figure 8), the length of the necklace, lanyard or tether is such that the object 200 is able to reach, and thus be located on or within, the sensing region 110 of the control module 100. However, as the user transitions to a standing position, the necklace, lanyard or tether will begin to tighten and eventually pull the object 200 away from the sensing region 110. Pulling the object 200 away from sensing region 110 in this way overcomes the magnetic force of attraction between the object 200 and the sensing region 110 and causes the object 200 to disconnect or “break away” from the sensing region 110 of the control module 100 (as shown in Figure 9).

[0074] When the sensor 101 detects that the object 200 is not located on or within the sensing region 110 of the control module 100, the control module 100 generates the least one control signal for controlling the electric propulsion system 300 to operate at a low or no level of thrust. In certain embodiments, the at least one control signal comprises a signal which causes a braking current to be applied to the electric motor of the electric propulsion system 300 so as to impede or stop rotation of a shaft of the electric motor.

[0075] An advantage of causing the electric propulsion system 300 to operate at a low or no level of thrust by pulling the object 200 away from the sensing region 110 without involvement of the user’s hands is the user’s hands will be available to help the user transition to the standing position. An additional advantage is that if the user was to fall from the watercraft the electric propulsionsystem 300 would be controlled to operate at a low or no level of thrust rendering it less likely that the user would be harmed by the propeller.

[0076] In certain embodiments, the control module 100 is programmed such that upon the at least one sensor 101 providing a sensed signal which indicates that the object 200 is not located on, within or proximal to the sensing region 110, the at least one control signal is generated after a predetermined time delay. In such embodiments, the predetermined time delay must expire before the at least one control signal is generated by the control module 100.

[0077] Providing a predetermined time delay allows the user time to transition to the standing position prior to the at least one control signal being generated, thus reducing or preventing instances of the user falling from the front of the board due to deacceleration caused by the reduction in thrust. It is possible that the duration of the time delay may be an adjustable duration which can be set according to the needs of the user. In one form, the duration of the time delay is adjustable between 0 and 500 milliseconds.

[0078] The at least one control signal may comprise a series of time-sequenced control signals which cause a gradual reduction in, or “ramping down”, of the operating thrust of the electric propulsion system 300 to the low or no level of thrust. Using a series of time-sequenced control signals to cause a gradual reduction in the operating thrust, rather than abruptly reducing the operating thrust, may reduce or prevent instances of the user falling from the front of the board as a result of deceleration due to a rapid change in thrust. It is possible that the characteristics of the ramping, such as the time period it occurs over, is able to be adjusted to suit the needs of the user.

[0079] In one embodiment, the object 200 may be attached to a necklace, lanyard or tether having an adjustable length. It will be appreciated that by suitable adjustment of the length of the necklace, lanyard or tether, the moment at which the necklace, lanyard or tether pulls the object 200 away from the sensing region as the user transitions to the standing position can be adjusted to suit the requirements of the user. For example, taller users may look to increase the length compared to shorter users, to enable them to reach a more upright position before release occurs. The user may also look to adjust the distance so as to fine-tune the moment at which the object 200 detaches from the control module 100.Example

[0080] A description of a prone to standing use case will now be described, with reference to Figures 8 to 11. In this particular use case scenario, the watercraft 600 is in the form of a foilingwatercraft, comprising a board, a foil 602 and mast 601 secured to the underside of the board. The electric propulsion system 300 shown here comprises power and control module 301 and an electric motor 302 (fitted with a propeller) which receives power and control signals from the power and control module 301. As shown, the electric motor 302 is affixed along the length of the mast 601.

[0081] Power and control module 301 may comprise a power source, such as a battery, a wireless transceiver for receiving the at least one control signals from the control module 100, and control electronics for communicating signals to the electric motor 302 which control the operating thrust of the electric motor 302, and thus of electric propulsion system 300, depending on the at least one control signal received by the power and control module 301 from the control module 100. An example of a suitable power and control module is described in International Patent Publication WO / 2023 / 159276 titled “Watercraft Propulsion System”, the entire contents of which are herein incorporated by this reference.

[0082] The user, lying in a prone position as shown in Figure 8, will power on the control module 100 by operating the power push-button switch 103 on the control module 100.

[0083] With the object 200 located in or on the sensing region 110 of the control module 100, the user will then operate a push-button switch 104 to select a predetermined amount or level of thrust sufficient to propel the board in the water with the user on board without the user having to paddle. The electric propulsion system 300 will then continue to operate at the selected thrust level.

[0084] When the user wants to catch a wave, they will then operate a push-button switch 104 associated with a higher thrust level such that the board develops sufficient speed for the foil 602 to generate a pressure differential that lifts the foil 602 upward, lifting the board 600, and the electric motor 302 of the electric propulsion system 300 out of the water. At this point, the user may begin to stand up.

[0085] As the user stands up, the lanyard will begin to tighten, as the neck of the user moves upwardly and away from the control module 100, eventually pulling the object 200 away from the sensing region 110. In the present case, applying a pulling force which overcomes the magnetic force of attraction between the object 200 and the sensing region 110 causes the object 200 to break away from the sensing region 110 of the control module 100 (as shown in Figure 9).

[0086] Once the sensor 101 senses that the object 200 has been pulled from the sensing region 110 of the control module 100 (as shown in Figure 9), the sensor 101 provides a sensed signal to thecontrol module 100 which indicates that the object 200 is not located on the sensing region 110 of the control module 100. The control module 100 will then generate, either immediately or after a predetermined time delay, at least one control signal which controls the electric propulsion system 300 to operate at a low or no level of thrust, so allowing the user to ride the board ‘on-foiT without the electric propulsion system 300 and propeller 301 rotating while out of the water.

[0087] In the present case, the at least one control signal is wirelessly communicated to the power and control module 301 of the electric propulsion system 300 to control a motor controller of the power and control module 301 to provide an output signal to the electric motor 302 which results in the electric propulsion system 300 operating at the low or no level of thrust.

[0088] It is envisaged that prone to standing type operation (where removal of the object 200 results in the transmission of a low or no thrust signal) of the control module 100 will be the default operating mode for the control module 100, with alternate operating modes being achieved by, for example, connecting supplementary control modules to the control module 100.Use of a Supplementary Control Module

[0089] Figures 11 and 12 show a first supplementary control module 400 which may be communicatively coupled to the control module 200. In the present case, the first supplementary control module 400 is configured to communicatively couple to the communications port 108 of the control module 100 via a cable 402 and plug 403. It can be seen that, like the control module 100, this first supplementary control module 400 also features a plurality of user-operable inputs in the form of push-button switches 401. These push-button switches 401are also able to be programmable associated with whatever value a user desires from a thrust level perspective from, for example, 0% to 100% of a maximum thrust available.

[0090] In certain embodiments, when the first supplementary control module 400 is communicatively coupled to the control module 100, the push-button switches 401 on the first supplementary control module 400 will be enabled for operation, and the push-button switches 104 on the control module 100 will be disabled for operation. In the present case, and unlike the pushbutton switches 104 on the control module 100, the push-button switches 401 on the first supplementary control module 400 are momentary action type buttons, meaning that the pushbutton switches 401 (and the corresponding control signals) are only enabled when depressed.

[0091] In one form, the push-button switches 401 on the first supplementary control module 400 may be programmably associated with different thrust percentage values to those of the control module 100, or they could have the same thrust percentage values.

[0092] Possible use cases for the first supplementary control module 400 may include, but are not limited to, the following configurations: a. where the control module 100 is secured in the cradle 113 on the watercraft, while the first supplementary control module 400 is held in the hand of a user (as shown in Figure 13); b. where the control module 100 is strapped to the arm of the user, while the first supplementary control module 400 is held in the hand of the user; or c. where the control module 100 may be secured to a handle of a wing or the boom of a windsurfing sail and the first supplementary control module 400 may be secured to another handle of the windsurfing sail, such that the user can hold the handle and actuate the thrust control buttons 401.

[0093] Referring now to Figures 14 and 15 where a second supplementary control module 500 is shown. The second supplementary control module 500 is also configured to communicatively couple to the communications port 108 of the control module 100 via a cable 502 and plug 503.

[0094] The second supplementary control module 500 is configured to transmit at least one control signal for controlling the thrust level of the electric propulsion system 300. In the embodiment shown, the module 500 has a single force sensitive input in the form of a force sensitive button 501, which functions as a force sensitive thrust control. While a force sensitive button 501 has been used, it will be appreciated that alternative inputs could also be used, such as position based sensor, such as a potentiometer. In certain embodiments, the second supplementary control module 500 communicates a proportional control signal to the communications port of the control module 100 which controls the operating thrust of the electric propulsion system 300 to be set at a level which depends on the amount of force applied to the force sensitive input by the user.

[0095] Possible use cases for the second supplementary control module 500 include, but are not limited to the following configurations, where the control module 100 is either secured in the cradle 113 on the watercraft, strapped to the user’s arm or secured to a handle of a wing or the boom of a windsurfing sail, and:a. where the second supplementary control module 500 is hand-held and actuated by the thumb or fingers of the user; b. mouth-held and actuated by the teeth of the user; or c. watercraft mounted and actuated by the feet of the user (as shown in Figure 16).

[0096] In certain embodiments, when the second supplementary control module 500 is connected to the control module 100, the force sensitive button 501 on the second supplementary control module 500 is enabled for operation and the push-button switches 104 on the control module 100 are disabled for operation.

[0097] Throughout the specification and the claims that follow, unless the context requires otherwise, the words “comprise” and “include” and variations such as “comprising” and “including” will be understood to imply the inclusion of a stated integer or group of integers, but not the exclusion of any other integer or group of integers.

[0098] The reference to any prior art in this specification is not, and should not be taken as, an acknowledgement of any form of suggestion that such prior art forms part of the common general knowledge.

[0099] In some cases, a single embodiment may, for succinctness and / or to assist in understanding the scope of the disclosure, combine multiple features. It is to be understood that in such a case, these multiple features may be provided separately (in separate embodiments), or in any other suitable combination. Alternatively, where separate features are described in separate embodiments, these separate features may be combined into a single embodiment unless otherwise stated or implied. This also applies to the claims which can be recombined in any combination. That is a claim may be amended to include a feature defined in any other claim. Further a phrase referring to “at least one of’ a list of items refers to any combination of those items, including single members. As an example, “at least one of: a, b, or c” is intended to cover: a, b, c, a-b, a-c, b- c, and a-b-c.

[0100] It will be appreciated by those skilled in the art that the invention is not restricted in its use to the particular application described. Neither is the present invention restricted in its preferred embodiment with regard to the particular elements and / or features described or depicted herein. It will be appreciated that the invention is not limited to the embodiment or embodimentsdisclosed, but is capable of numerous rearrangements, modifications and substitutions without departing from the scope of the invention as set forth and defined by the following claims.

[0101] Those of skill in the art would understand that information and signals may be represented using any of a variety of technologies and techniques. For example, data, instructions, commands, information, signals, bits, symbols, and chips may be referenced throughout the above description may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.

[0102] Those of skill in the art would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software or instructions, middleware, platforms, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.

[0103] The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. For a hardware implementation, processing may be implemented within one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, micro-controllers, microprocessors, or other electronic units designed to perform the functions described herein, or a combination thereof. Various middleware and computing platforms may be used.

Claims

CLAIMS1. A control system for controlling an operating thrust of an electric propulsion system for a watercraft by a user, the control system comprising: a user wearable object; a control module having at least one sensor associated with a sensing region of the control module, the at least one sensor for providing a sensed signal indicating whether the user wearable object is located on or within the sensing region; wherein when the sensed signal indicates that the user wearable object is not located on or within the sensing region, the control module generates at least one control signal for controlling the electric propulsion system to operate at a low or no level of thrust.

2. The control system as claimed in claim 1, wherein the at least one control signal is a time delayed control signal.

3. The control system as claimed in claim 2, wherein the duration of the time delay is adjustable.

4. The control system as claimed in any one of the preceding claims, wherein the at least one control signal causes the electric propulsion system to gradually transition to operate at the low or no level of thrust over a period.

5. The control system as claimed in claim 4, wherein the period is adjustable.

6. The control system as claimed any one of the preceding claims, wherein the user wearable object is a pendant.

7. The control system as claimed in claim 6, wherein the pendant is carried by a necklace or lanyard worn around the neck of the user.

8. The control system as claimed in claim 7, wherein the necklace or lanyard is adjustable in length.

9. The control system as claimed in any one of the preceding claims, wherein the control module further comprises a plurality of thrust control inputs, and wherein when the sensed signal indicates that the user wearable object is located on or within the sensing region each thrust control input is enabled for operation by a user to select a predetermined thrust mode or level as the operating thrust of the electric propulsion system.

10. The control system as claimed in any one of the preceding claims, wherein the control module further comprises a communications port configured to connect to a supplementary control module.

11. The control system as claimed in claim 10, wherein the supplementary control module is in signal communication with the communications port, and wherein the supplementary control module comprises a plurality of secondary thrust control inputs which are operable by a user to select a predetermined thrust mode or level as the operating thrust of the electric propulsion system irrespective of whether the sensed signal indicates that the user wearable object is or is not located on or within the sensing region.

12. The control system as claimed in claim 10, wherein the supplementary control module is connected in wired coupled communication with the communications port and comprises a force sensitive input functioning as a force sensitive thrust control, such that application of a force to said force sensitive input results in the control module communicating a proportional control signal to the communications port to set the operating thrust of the electric propulsion system, said proportional control signal depending on the amount of force applied to the force sensitive input by the user.

13. A control system according to any one of claims 1 to 12, wherein the electric propulsion system comprises a brushless motor.

14. A method of controlling an operating thrust of an electric propulsion system for a watercraft, the method comprising: providing a user wearable object; providing a control module having at least one sensor associated with a sensing region of the control module, the sensor for providing a sensed signal indicating whether the user wearable object is located on or within the sensing region of the control module; generating, by the control module, at least one control signal which causes the electric propulsion system to operate at a low or no level of thrust mode when the sensed signal indicates that the user wearable object is not located on or within the sensing region.

15. A control system for controlling an operating thrust of an electric motor for a watercraft, the control system comprising: a memory storing a set of program instructions; and a processor coupled to the memory, the processor configured to execute the set of program instructions to perform a method according to claim 14.

16. A watercraft comprising : a board; an electric propulsion system affixed to the board; and a control system according to any one of claims 1 to 13; wherein, in use, the control system is operable by a user to control the electric propulsion system to operate at the low or no level of thrust by removing the object from the sensing region.

17. A control module for providing one or more control signals which cause an electric propulsion system for a watercraft to operate at a required operating thrust, the control module having at least one sensor for providing a sensed signal indicating whether an object is located on or within a sensing region of the control module, such that if the sensed signal indicates that the object is not located on or within the sensing region, the control module generates at least one control signal which causes the electric propulsion system to operate at a low or no level of thrust.

18. A control system for controlling an operating thrust of an electric propulsion system for a watercraft by a user, the control system comprising: a user wearable object; a primary control module having at least one sensor associated with a sensing region of the control module, the at least one sensor for providing a sensed signal indicating whether the user wearable object is located on or within the sensing region, the primary control module having a plurality of thrust control inputs for controlling an operating thrust of the electric propulsion system; a supplementary control module in signal communication with the primary control module, the supplementary control module comprising a plurality of secondary thrust control inputs for controlling the operating thrust of the electric propulsion system; wherein the thrust control inputs of the primary control module are operable by a user to control the operating thrust of the electric propulsion system only when the sensed signal indicates that the user wearable object is located on or within the sensing region each; and wherein the thrust control inputs of the supplementary control module are operable by a user to control the operating thrust of the electric propulsion system irrespective of whether the sensed signal indicates that the user wearable object is or is not located on or within the sensing region.

19. A control system according to claim 18, wherein the user wearable object is removably held in contact with the sensing region by a holding force.

20. A control system according to claim 19, wherein the watercraft is a board, wherein the primary control module is located towards the bow of the board for operation by a user in a prone position and wherein the necklace or lanyard has a length configured to enable the user to apply a pulling force to the user wearable object, via the necklace or lanyard, as the user transitions from the prone position to a standing position, said pulling force overcoming the holding force to detach the user wearable object from the primary control module.

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