Water sports apparatus, detection method therefor and control method

Abstract

Provided in the present application are a water sports apparatus, a detection method therefor and a control method. The water sports apparatus comprises a control module, a power module and a water pressure measurement module. The detection method comprises: on the basis of the current speed, the control module determines the operating state of the water sports apparatus; when the water sports apparatus is in a low-speed operating state, the water pressure measurement module collects current water pressure information of the water sports apparatus; on the basis of the water pressure information, the control module calculates the current water depth of the water sports apparatus, if the current water depth is less than or equal to a preset depth H1, the water sports apparatus being in an unmanned state; and / or the control module calculates the volume of water displacement of the water sports apparatus and the weight of a water sports participant on the basis of the water depth, and generates a recommended power control instruction on the basis of the weight of the water sports participant. The present application detects the state of the water sports apparatus in real time, and provides the corresponding control method for intelligently controlling the output power of a surfboard, improving the safety and convenience in operation of the water sports apparatus.

Description

A water sport device and a detection method and control method thereof Cross-reference to related applications

[0001] This application claims priority to Chinese Patent Application No. 202411325826.5 and No. 202411325884.8, filed in China on September 23, 2024, the contents of which are incorporated herein by reference in their entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of water sport devices, in particular to a water sport device and a detection method and control method thereof. BACKGROUND

[0003] The water sport device includes a surfboard, a hydrofoil, etc. By setting a control module and a power module, the water sport device can move forward in water through the power output by the power module in the absence of wind and waves, and thus is favored by water sport players.

[0004] The existing water sport device cannot determine whether a water sport player is on the device. When the device continues to move forward in the absence of a player, the device may move away from the player or collide with other players, which poses a safety hazard. Moreover, the existing water sport device cannot determine whether the device is in a water sliding state or a water flying state. When the running state of the device needs to be maintained, the output power still needs to be manually adjusted, which results in poor operation experience.

[0005] In addition, because water sport players with different weights need different output power to move forward in water, the water sport player needs to control the output power of the power module while keeping the body balanced, which results in a problem of high operation difficulty. SUMMARY

[0006] The present application is proposed based on the above-mentioned needs of the prior art. The present application provides a water sport device and a detection method and control method thereof, which can detect the state of the water sport device in real time and intelligently control the output power of the power module, thereby improving the operation convenience and safety of the water sport device.

[0007] The application provides a detection method of a water sports equipment, the water sports equipment comprising a control module, a power module and a water pressure detection module, the detection method comprising: the control module acquires a current speed of the water sports equipment, and judges a running state of the water sports equipment based on the current speed, the running state comprising a high-speed running state and a low-speed running state; when the water sports equipment is in the low-speed running state, the water pressure detection module collects current water pressure information of the water sports equipment; the control module acquires the water pressure information collected by the water pressure detection module, and calculates a current water depth of the water sports equipment according to the water pressure information; the control module judges whether the current water depth is less than or equal to a preset depth H1, the H1 being a water depth of the water sports equipment when the water sports equipment is unattended and floats on the water surface; if the current water depth is less than or equal to the preset depth H1, the water sports equipment is in an unattended state; if the current water depth is greater than the preset depth H1, the water sports equipment is in an attended state; and / or the control module calculates a drainage volume of the water sports equipment according to the water depth information, calculates a weight of a water sports person according to the drainage volume, and generates a recommended power control instruction according to the weight of the water sports person.

[0008] Further, the water sports equipment comprises a posture detection module for detecting a posture thereof, the posture detection module being used for collecting current posture information of the water sports equipment, and sending the current posture information to the control module.

[0009] Further, the control module judges whether the current posture belongs to a preset posture, the preset posture being a posture corresponding to the unattended state of the water sports equipment; if the current water depth is less than or equal to the preset depth H1, and the current posture belongs to the preset posture, the water sports equipment is in the unattended state; if the current water depth is greater than the preset depth H1, or the current posture does not belong to the preset posture, the water sports equipment is in the attended state.

[0010] Further, the control module calculates the drainage volume of the water sports equipment according to the posture information and the water depth.

[0011] Further, when the water sports equipment is in the high-speed running state, the control module judges whether the current water depth is less than 0, and sets the water depth of the water sports equipment in a critical state of switching between sliding and flying as 0; if the current water depth is less than 0, the water sports equipment is in the flying state; if the current water depth is greater than or equal to 0, the water sports equipment is in a non-flying state.

[0012] Further, when the water sports equipment is in the non-flying state, the control module judges whether the current water depth of the water sports equipment is equal to 0; if the current water depth is equal to 0, the water sports equipment is in the critical state of switching between sliding and flying; if the current water depth is greater than 0, the water sports equipment is in the sliding state.

[0013] The application provides a control method of a water sports equipment. When the water sports equipment is detected to be in an unattended state by using the detection method of the water sports equipment, a control module generates a stop power output instruction, and a power module receives the instruction generated by the control module and stops outputting power; and / or, when the water sports equipment is in a flying state, the control module judges whether the current water depth is less than a preset depth H2, the H2 is an optimal depth at which the water sports equipment can stably fly, if the current water depth is less than the preset depth H2, the control module generates a reduce power output instruction, and the power module receives the instruction generated by the control module and reduces the output power; and / or, the control module judges whether the current water depth is greater than the preset depth H2, if the current water depth is greater than the preset depth H2, the control module generates an increase power output instruction, and the power module receives the instruction generated by the control module and increases the output power.

[0014] Further, the power module receives the recommended power control instruction generated by the control module, and adjusts the output power according to the recommended power; and / or, the control module receives the power control instruction input by the water sports person, and the power module adjusts the output power according to the power control instruction input by the water sports person.

[0015] The application also provides a water sports equipment using the detection method and the control method, which comprises a board body, a mast, a hydrofoil, a control module, a power module and a water pressure sensor, the water pressure sensor is arranged on the board body, the mast or the hydrofoil and is electrically connected with the control module.

[0016] Further, the bottom of the board body is provided with a through hole, the shell of the water pressure sensor passes through the through hole and is connected with the board body, and a sealing ring is arranged between the shell and the board body.

[0017] Further, the application further comprises an attitude sensor, the attitude sensor is arranged on the board body, the mast or the hydrofoil and is electrically connected with the control module.

[0018] Further, the application further comprises a balance rudder, the balance rudder is arranged on the hydrofoil and is electrically connected with the control module, and the balance rudder can rotate or swing relative to the hydrofoil according to the instruction of the control module.

[0019] The application has the following beneficial effects:

[0020] (1) When the water sports equipment is in a low-speed running state, by comparing the current water depth of the water sports equipment with the preset depth H1, it can be judged whether there is a person on the equipment, and the current posture of the water sports equipment can also be compared with the preset posture at the same time to improve the accuracy of the presence or absence of a person. If the water sports equipment is in an unattended state, it is considered that a person has fallen into the water, and the control module generates instructions in real time and controls the power module to stop outputting power to prevent the water sports equipment from continuing to move forward in an unattended state and to prevent the water sports equipment from moving away from the water sports person or colliding with others, thereby improving safety; if the water sports person gets on the board again, the control module no longer generates and sends a stop output power instruction, and the power module normally outputs power.

[0021] (2) When the water sports equipment is in a high-speed running state, by judging whether the current water depth of the equipment is less than 0, it can be identified whether the water sports equipment is currently in a flying state or a sliding state, and further automatic output power can be set to maintain the current state, so that the water sports equipment can maintain high-speed running on the water surface without the need for the water sports person to adjust the output power, thereby improving the operation convenience of the water sports equipment; it can be further judged whether the current water depth of the water sports equipment is equal to 0, so as to detect whether the water sports equipment is in a critical state of sliding and flying switching, so that the water sports person can timely perceive that the state of the water sports equipment is about to change, so as to facilitate corresponding balance control or output power adjustment, thereby improving the safety of the water sports equipment.

[0022] (3) When the water sports equipment is in a flying state, it is further judged whether the current water depth of the water sports equipment is less than the preset depth H2. If the current water depth is less than the preset depth H2, the water sports equipment automatically reduces its output power, so that the speed of the water sports equipment decreases and the water depth increases, to prevent the power module from floating out of the water and being unable to output the power required for the water sports equipment to fly smoothly, thereby causing the water sports person to fall; if the current water depth is greater than the preset depth H2, the water sports equipment automatically increases its output power, so that the speed of the water sports equipment increases and the water depth decreases, to avoid the water sports equipment being close to the water surface and being impacted by the waves and being difficult to maintain balance. The above control method makes the water sports equipment maintain the best flying height, thereby improving the safety and operation convenience of the water sports equipment.

[0023] (4) The water pressure detection module can obtain water pressure information in real time, the control module calculates the current water depth and the weight of the water sports person according to the real-time water pressure information, and outputs the recommended power control instruction according to the weight of the water sports person, and the water sports equipment can automatically adjust the output power according to the recommended power control instruction, so that the water sports equipment can obtain the power required for advancing on the water without manual operation, and the operation convenience of the water sports equipment is improved; the water sports person can also manually control the power output according to the recommended power control instruction output by the control module, so as to adjust the appropriate power output in real time according to the weight of the water sports person, that is, convenient operation is also ensured. Safe use.

[0024] (5) The control module can combine the current water depth and the current attitude of the water sports equipment to calculate the displacement volume, so as to more accurately calculate the weight of the water sports person and improve the reliability of the output power control.

[0025] (6) The control module can generate a recommended balance control instruction according to the attitude of the water sports equipment, the power module adjusts the output power according to the weight of the water sports person and the recommended balance control instruction to achieve heave balance, and the balance module adjusts the inclination angle of the water sports equipment according to the recommended balance control instruction to achieve angle balance, so as to reduce the difficulty of the water sports person to maintain balance and improve the operation convenience of the water sports equipment. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the specific embodiments of the present application, the drawings needed in the description of the specific embodiments will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0027] Fig. 1 is a schematic diagram of the connection structure of the plate body, the mast and the water pressure sensor in the specific embodiments of the present application;

[0028] Fig. 2 is a schematic diagram of the water pressure sensor structure in the specific embodiments of the present application;

[0029] Fig. 3 is a module block diagram of the electric hydrofoil surfboard in embodiment 1 and embodiment 5 of the present application;

[0030] Fig. 4 is a flowchart of the detection and control method of the electric hydrofoil surfboard in embodiment 1 of the present application;

[0031] Fig. 5 is a module block diagram of the electric hydrofoil surfboard in embodiment 2 and embodiment 6 of the present application;

[0032] Fig. 6 is a flowchart of the detection and control method of the electric hydrofoil surfboard in embodiment 2 of the present application;

[0033] Fig. 7 is a flowchart of the detection method of the electric hydrofoil surfboard in Embodiment 3 of the present application;

[0034] Fig. 8 is a flowchart of the detection and control method of the electric hydrofoil surfboard in Embodiment 4 of the present application;

[0035] Fig. 9 is a flowchart of the control method of the electric hydrofoil surfboard in Embodiment 5 of the present application;

[0036] Fig. 10 is a flowchart of the calculation of the body weight by the control module according to the water pressure information in Embodiment 5 of the present application;

[0037] Fig. 11 is a flowchart of the control method of the electric hydrofoil surfboard in Embodiment 6 of the present application;

[0038] Fig. 12 is a block diagram of the electric hydrofoil surfboard in Embodiment 7 of the present application;

[0039] Fig. 13 is a flowchart of the control method of the electric hydrofoil surfboard in Embodiment 7 of the present application;

[0040] Fig. 14 is a flowchart of the control method of the electric hydrofoil surfboard in Embodiment 8 of the present application. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings. Obviously, the embodiments described in the present application are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, any other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0042] The water sports equipment can be a surfboard or a hydrofoil, or any other sports equipment that can carry people and float on the water surface. The present application is described by taking an electric hydrofoil surfboard as an example.

[0043] The present application detects the state of the electric hydrofoil surfboard and provides a corresponding control method, so as to intelligently control the output power of the surfboard, and improve the operation convenience and safety of the surfboard.

[0044] Embodiment 1

[0045] Referring to FIG. 1, the application provides an electric hydrofoil surfboard, which comprises a board body 60, a mast 70 and a hydrofoil. The board body 60 comprises a carbon fiber shell and a foam plastic inner cavity. The board body 60 and the hydrofoil are connected through the mast 70. The foam plastic inner cavity of the board body 60 is provided with a control module 30 and a speed sensor for detecting the current speed of the surfboard. The hydrofoil is provided with a power module 40, which is electrically connected with the control module 30 to receive the power control instructions output by the control module 30. The control module 30 can be a microprocessor, and the power module 40 can be an electric propeller or a water jet propeller.

[0046] Referring to FIG. 1 and FIG. 2, the electric hydrofoil surfboard further comprises a water pressure detection module 10 for detecting water pressure information. In the embodiment, the water pressure detection module 10 is a water pressure sensor, which comprises a shell 11, a water pressure probe 12, a sensor circuit board 13, a sealing ring 14 and a wire harness 15. The bottom of the board body 60 is provided with a through hole, and the shell 11 is installed in the through hole of the bottom of the board body 60 by clamping, threaded connection or other methods. The bottom of the shell 11 is provided with an annular flange, and the upper surface of the annular flange is provided with an annular groove. The sealing ring 14 is arranged in the annular groove of the shell 11, and the sealing ring 14 is in abutment with the shell 11 and the board body 60 and seals the gap between them, so as to improve the water tightness of the board body 60. The sensor circuit board 13 is arranged at the bottom of the shell 11, and the water pressure probe 12 is installed on the lower surface of the sensor circuit board 13. The wire harness 15 is arranged in the shell 11, and the two ends of the wire harness 15 are connected with the control module 30 and the sensor circuit board 13 respectively, so as to provide the power required for the water pressure probe 12 to work and transmit the water pressure information. It should be noted that the installation position of the water pressure sensor is not limited to the bottom of the board body 60. In some other embodiments, the water pressure sensor can be installed at a position of the board body 60, the mast 70 or the hydrofoil which can be immersed in water.

[0047] The speed sensor can obtain the current speed of the electric hydrofoil surfboard, and the control module 30 judges the running state of the surfboard based on the current speed. The running state includes a high-speed running state and a low-speed running state. The high-speed running state can include that the entire board body 60 of the surfboard flies out of the water surface, and that part of the structure of the board body 60 flies out of the water surface at high speed. The low-speed running state can include that part of the structure of the board body 60 navigates in water at low speed and is static. When the electric hydrofoil surfboard is in the high-speed running state, in order to maintain the high-speed flight or high-speed sliding of the surfboard, a person on the board is needed to control the balance, otherwise the surfboard will lose balance and the speed will drop sharply, and the surfboard cannot be in the high-speed running state. Therefore, in the embodiment, when the surfboard is in the high-speed running state, it is also necessarily in the manned state, and it is not necessary to further judge. When the surfboard is in the low-speed running state, even if there is no one to control the balance of the surfboard, the speed drop is not obvious due to the slow speed of the surfboard, and therefore it is necessary to further detect whether the surfboard is in the unmanned state.

[0048] In the embodiment of the present application, the electric hydrofoil surfboard is provided with a take-off speed, a high-speed sliding speed and a low-speed running speed. The take-off speed and the high-speed sliding speed represent that the surfboard is in a high-speed running state, and the entire board body 60 jumps out of the water surface to fly when the surfboard reaches or is greater than the take-off speed, for example, when the speed is greater than the set speed of 15 km / h, the entire board body 60 jumps out of the water surface to fly. The high-speed sliding speed is a high-speed sliding speed within a certain range, for example, between 10 km / h and 15 km / h, the top of the board body 60 jumps out of the water surface to slide at high speed. The low-speed running speed is between 0 km / h and the high-speed sliding speed or the lower limit value of the high-speed sliding speed, for example, between 0 km / h and 10 km / h. When the speed is the low-speed running speed, the bottom of the board body 60 is immersed in the water to sail at low speed or is stationary in the water. At this time, the surfboard can have a person or can have no person.

[0049] When the control module 30 determines that the electric hydrofoil surfboard is in a low-speed running state based on the current speed, the water pressure detection sensor is immersed in the water to collect water pressure information. The deeper the water pressure detection sensor is immersed in the water, the greater the water pressure value is, and the greater the water depth of the surfboard corresponding to the water pressure value is. Therefore, in the embodiment, the water depth of the surfboard when the surfboard is floating on the water surface without a person is preset as H1, that is, when the surfboard has a person and is in a low-speed running state, the water depth of the surfboard is always greater than H1. By comparing the current water depth of the surfboard with the preset depth H1, it can be determined whether the surfboard has a person.

[0050] Please refer to FIG. 3, the speed sensor detects the current speed of the electric hydrofoil surfboard in real time, and feeds back the speed information to the control module 30. The control module 30 determines whether the surfboard is in a low-speed running state or a high-speed running state based on the current speed. The water pressure detection module 10 is connected with the control module 30 through the wire harness 15, and the water pressure detection module 10 transmits the current water pressure information collected by it to the control module 30. The control module 30 calculates the current water depth of the surfboard according to the water pressure information. The control module 30 compares the current water depth with the preset depth H1, and can determine whether the surfboard has a person when the surfboard is in a low-speed running state. The control module 30 is electrically connected with the power module 40, and the control module 30 can generate a stop output power instruction when the surfboard is in a state without a person. The power module 40 can receive the instruction and stop outputting power. Please refer to FIG. 4, the steps of determining whether the surfboard has a person or not according to the water pressure are as follows:

[0051] S11: The control module 30 obtains the current speed of the electric hydrofoil surfboard, and determines the running state of the surfboard based on the current speed.

[0052] S12: When the surfboard is in a low-speed running state.

[0053] S13: The water pressure detection module 10 collects the current water pressure information of the surfboard.

[0054] S14: The control module 30 obtains the water pressure information collected by the water pressure detection module 10, and calculates the current water depth of the surfboard according to the water pressure information.

[0055] S15: The control module 30 determines whether the current water depth of the surfboard is less than or equal to the preset depth H1.

[0056] S16: If the current water depth of the surfboard is less than or equal to the preset depth H1, the surfboard is in an unmanned state.

[0057] S17: If the current water depth of the surfboard is greater than the preset depth H1 in the unmanned state, the surfboard is in a manned state.

[0058] In this embodiment, if the electric hydrofoil surfboard is in a manned state, the power module 40 normally outputs power. If the surfboard is in an unmanned state, it is considered that a person falls into the water, the control module 30 generates a command in real time and controls the power module 40 to stop outputting power, so as to prevent the surfboard from continuing to move in the unmanned state and the surfboard from moving away from the water sports person or colliding with others, thereby improving the safety. That is, the surfboard further includes the following control steps in FIG. 4:

[0059] S18: When the surfboard is in an unmanned state, the control module 30 generates a command to stop outputting power.

[0060] S19: The power module 40 receives the command transmitted by the control module 30 and stops outputting power.

[0061] Embodiment 2

[0062] Embodiment 2 provides another electric hydrofoil surfboard. The difference from embodiment 1 is that considering that the surfboard has different postures in the manned state and the unmanned state, and the posture of the surfboard affects the size of the water pressure value, the water depth and the posture are combined, which can more accurately determine whether the water sports person is on the surfboard. Therefore, in this embodiment, the surfboard further includes a posture detection module 20 for detecting the current posture thereof.

[0063] In this embodiment, the posture detection module 20 can be a posture sensor to collect posture information such as yaw angle, roll angle, and pitch angle, and analyze the current posture of the electric hydrofoil surfboard according to the collected posture information. The posture sensor can be arranged on the board body 60, the mast 70 or the hydrofoil, and connected with the control module 30 through a conductive element.

[0064] Referring to FIG. 5, the water pressure detection module 10 is connected with the control module 30 through the wire harness 15, the water pressure detection module 10 transmits the current water pressure information collected by it to the control module 30, and the control module 30 calculates the current water depth of the electric hydrofoil surfboard according to the water pressure information. The posture detection module 20 is electrically connected with the control module 30, and the posture detection module 20 transmits the current posture information collected by it to the control module 30. The control module 30 compares the current water depth with the preset depth H1, and compares the current posture information with the preset posture, so as to determine whether there is a person on the surfboard. The preset posture is the posture corresponding to the state that the surfboard is unoccupied. The control module 30 is electrically connected with the power module 40, and the control module 30 can generate a stop power output instruction when the surfboard is unoccupied, and the power module 40 can receive the instruction and stop outputting power.

[0065] By comparing the current water depth of the electric hydrofoil surfboard with the preset depth H1, and comparing the current posture of the surfboard with the preset posture, it can be more accurately determined whether there is a person on the surfboard, and the reliability of the surfboard state detection is improved. Referring to FIG. 6, the state detection and control steps of the electric hydrofoil surfboard are as follows:

[0066] S21: The control module 30 acquires the current speed of the electric hydrofoil surfboard, and determines the running state of the surfboard based on the current speed.

[0067] S22: When the surfboard is in a low-speed running state.

[0068] S23: The water pressure detection module 10 collects the current water pressure information of the surfboard.

[0069] S24: The control module 30 acquires the water pressure information collected by the water pressure detection module 10, and calculates the current water depth of the surfboard.

[0070] S25: The posture detection module 20 collects the current posture information of the surfboard.

[0071] S26: The control module 30 acquires the posture information collected by the posture detection module 20.

[0072] S27: The control module 30 determines whether the current water depth of the surfboard is less than or equal to the preset depth H1, and whether the current posture of the surfboard belongs to the preset posture.

[0073] S28: If the current water depth of the surfboard is less than or equal to the preset depth H1, and the current posture of the surfboard belongs to the preset posture of the unoccupied state, the surfboard is in an unoccupied state.

[0074] S29: The control module 30 generates a stop power output instruction.

[0075] S210: The power module 40 receives the stop power output instruction transmitted by the control module 30 and stops outputting power.

[0076] S211: If the current water depth of the surfboard is greater than the preset depth H1, or the current posture of the surfboard does not belong to the preset posture, the surfboard is in the manned state.

[0077] S212: The power module 40 normally outputs power.

[0078] Embodiment 3

[0079] Embodiment 3 provides another electric hydrofoil surfboard. The difference from embodiment 1 is that in order to enable the water pressure detection sensor to still collect water pressure information when the surfboard is in the flying state, the water pressure detection sensor is installed on the hydrofoil, and the state detection method includes a step for judging whether the surfboard is in the flying state.

[0080] When the electric hydrofoil surfboard is in a high-speed running state, the entire board body 60 of the surfboard jumps out of the water and flies, and part of the structure of the board body 60 jumps out of the water and slides at high speed. In this embodiment, the water depth when the surfboard is in the critical state of switching between sliding and flying is set to 0, and the water depth when the entire board body 60 of the surfboard jumps out of the water and flies is less than 0, and the water depth when the board body 60 of the surfboard is partially immersed in water is greater than 0.

[0081] When the electric hydrofoil surfboard is in a high-speed running state, by further judging whether the current water depth of the surfboard is less than 0, it can be identified whether the surfboard is currently in a flying state or a sliding state. In some embodiments, the surfboard can feed back the detection result to the water sports person, so that the water sports person knows whether the surfboard is currently in a "flying state" or a "sliding state", so as to enable the water sports person to set the automatic power output and the like, so as to maintain the current sliding or flying state of the surfboard, and improve the operation convenience of the surfboard. Please refer to FIG. 7, the state detection steps of the electric hydrofoil surfboard include:

[0082] S31: When the electric hydrofoil surfboard is in a high-speed running state.

[0083] S32: The control module 30 judges whether the current water depth of the surfboard is less than 0.

[0084] S33: If the water depth is less than 0, the surfboard is in a flying state.

[0085] S34: If the water depth is greater than or equal to 0, the surfboard is in a non-flying state.

[0086] When the electric hydrofoil surfboard is in the non-flying state, the critical state of the surfboard between the sliding and flying states, or the sliding state can be detected by further judging whether the current water depth of the surfboard is equal to 0. In some embodiments, the water sports person can obtain a prompt that the surfboard is about to enter the sliding state or the flying state, so that the water sports person can timely perceive that the state of the surfboard is about to change, so as to facilitate corresponding balance control or adjustment of the output power, and improve the safety of the surfboard. That is, the surfboard further comprises the following state detection steps in FIG. 7:

[0087] S34: When the surfboard is in the non-flying state.

[0088] S35: The control module 30 judges whether the current water depth is equal to 0.

[0089] S36: If the water depth is equal to 0, the surfboard is in the critical state between the sliding and flying states.

[0090] S37: If the water depth is greater than 0, the surfboard is in the sliding state.

[0091] Embodiment 4

[0092] Embodiment 4 provides another electric hydrofoil surfboard. The difference from embodiment 3 is that the control method of the surfboard further comprises the step of intelligently controlling the output power.

[0093] When the electric hydrofoil surfboard is in the flying state, in order to maintain the stability of the flying state and avoid the water sports person falling, the power module 40 of the surfboard needs to be completely immersed in the water to output the power required for the surfboard to fly, and the board body 60 needs to be located at a certain height above the water surface to avoid the board body 60 being impacted by the waves and being difficult to maintain balance, so there is an optimal depth for the surfboard to maintain a stable flying state. The optimal depth can be a specific depth or a depth range. In this embodiment, the optimal depth at which the surfboard can stably fly is set as H2.

[0094] When the electric hydrofoil surfboard is in the flying state, it is further judged whether the current water depth of the surfboard is less than H2. In some embodiments, when the center of the mast 70 along the vertical direction is flush with the water surface, the water depth of the surfboard is the optimal water depth, that is, when the board body 60 and the hydrofoil are at an equal distance from the water surface, the water depth of the surfboard is H2. If the current water depth is less than the preset depth H2, the surfboard automatically reduces the output power, so that the speed of the surfboard decreases and the water depth increases, so as to prevent the power module 40 from floating out of the water and being unable to output the power required for the surfboard to fly stably, thereby causing the water sports person to fall, and improving the safety of the surfboard. Please refer to FIG. 8, the steps of intelligently reducing the output power according to the preset depth H2 are as follows:

[0095] S41: When the electric hydrofoil surfboard is in flight state.

[0096] S42: The control module 30 judges whether the current water depth of the surfboard is less than the preset depth H2.

[0097] S43: If the water depth is less than the preset depth H2, the control module 30 generates a power output reduction instruction.

[0098] S44: The power module 40 receives the instruction generated by the control module 30 and reduces the output power.

[0099] In this embodiment, if the current water depth is greater than the preset depth H2, the electric hydrofoil surfboard can automatically increase its output power, so that the speed of the surfboard increases and the water depth decreases, to avoid the board body 60 close to the water surface and be impacted by the water waves and difficult to maintain balance, so as to maintain the optimal flight height of the surfboard, and further improve the safety and operation convenience of the surfboard. The steps of intelligently increasing the output power according to the preset depth H2 are as follows:

[0100] S45: The control module 30 judges whether the current water depth of the surfboard is greater than the preset depth H2.

[0101] S46: If the current water depth is greater than the preset depth H2, the control module 30 generates an output power increase instruction.

[0102] S47: The power module 40 receives the instruction generated by the control module 30 and increases the output power.

[0103] S48: If the current water depth is equal to the preset depth H2, the power module 40 normally outputs power.

[0104] Further, the power module 40 can reduce the output power in a linearly decreasing manner, or increase the output power in a linearly increasing manner, so that the increase or decrease of the output power is more smooth, to avoid the output power suddenly decreasing and causing the surfboard to be unable to run stably.

[0105] Embodiment 5

[0106] Embodiment 5 provides another detection and control method of the electric hydrofoil surfboard. The difference from embodiment 1 is that, in order to further improve the operation convenience and safety of the surfboard, the detection method of judging the weight of the water sports person according to the current water depth and generating a recommended power control instruction, and the control method of adjusting the output power according to the recommended power control instruction are further included.

[0107] Referring to FIG. 3, the electric hydrofoil surfboard comprises a water pressure detection module 10, a control module 30 and a power module 40, the water pressure information is obtained in real time by setting the water pressure detection module 10, the control module 30 can calculate the weight of the person on the electric hydrofoil surfboard according to the water pressure information, and generate a power control instruction suitable for the weight of the water sports person, thereby improving the operation convenience and safety of the surfboard. Referring to FIG. 9, the steps of generating the recommended power control instruction by the control module 30 are as follows:

[0108] S51: The water pressure detection module 10 obtains the water pressure information in which the electric hydrofoil surfboard is located.

[0109] S52: The control module 30 receives the water pressure information collected by the water pressure detection module 10, and calculates the current water depth of the surfboard.

[0110] S53: The control module 30 calculates the current displacement volume of the surfboard according to the water depth.

[0111] S54: The control module 30 calculates the weight of the water sports person according to the displacement volume.

[0112] S55: The control module 30 generates a recommended power control instruction according to the weight of the water sports person.

[0113] In this embodiment, in order to enable the electric hydrofoil surfboard to obtain the power required for sliding on the water surface without the operation of the person, and improve the operation convenience of the surfboard, the control module 30 can send the recommended power control instruction generated by it to the power module 40, so as to adjust the appropriate power in real time according to the weight of the water sports person. That is, the control method of the surfboard further comprises the following steps:

[0114] S56: The power module 40 receives the recommended power control instruction, and adjusts the output power according to the recommended power control instruction.

[0115] Referring to FIG. 10, specifically, the steps of calculating the weight of the water sports person by the control module 30 according to the water pressure information are as follows:

[0116] S61: The water pressure detection module 10 obtains the water pressure information in which the electric hydrofoil surfboard is located.

[0117] S62: The control module 30 calculates the current water depth of the surfboard according to the formula P=ρgh, wherein P represents the water pressure, ρ represents the density of water, g represents the acceleration of gravity, and h represents the water depth.

[0118] S63: The control module 30 calculates the current displacement volume of the surfboard according to the formula V=∫0 h ​​​​​​​​​​​S(h)dh calculates the current displacement volume of the surfboard, where S(h) represents the waterline area of the surfboard at the water depth h, and the control module 30 presets the corresponding relationship between the waterline area and the water depth, and obtains the corresponding waterline area according to the water depth.

[0119] S64: The control module 30 calculates the current buoyancy of the surfboard according to the formula F=pgV, where F represents the buoyancy.

[0120] S65: The control module 30 calculates the weight of the water sports person according to the formula F=mg+G, where m represents the weight of the water sports person, and G represents the gravity of the surfboard.

[0121] Embodiment 6

[0122] Embodiment 6 provides another detection and control method of the electric hydrofoil surfboard. The difference from embodiment 5 is that in order to more accurately calculate the displacement volume of the surfboard and improve the reliability of power control, the surfboard further comprises a posture detection module 20 for detecting the posture information thereof.

[0123] Referring to FIG. 5, the electric hydrofoil surfboard comprises a water pressure detection module 10, a posture detection module 20, a control module 30 and a power module 40. The control module 30 calculates the displacement volume of the surfboard and the weight of the water sports person according to the posture information and the water depth, and then generates a recommended power control instruction. The control module 30 is electrically connected with the power module 40, and the power module 40 adjusts the output power according to the power control instruction input by the control module 30.

[0124] Since the electric hydrofoil surfboard will obtain different displacement volumes when entering the water at different postures, the combination of the posture of the surfboard and the water depth can more accurately calculate the displacement volume of the surfboard and improve the reliability of the output power control. Referring to FIG. 11, the steps of generating a recommended power control instruction based on the current water depth and the current posture are as follows:

[0125] S71: The water pressure detection module 10 obtains the water pressure information of the current electric hydrofoil surfboard.

[0126] S72: The control module 30 receives the water pressure information collected by the water pressure detection module 10, and calculates the current water depth of the surfboard.

[0127] S73: The posture detection module 20 collects the current posture information of the surfboard.

[0128] S74: The control module 30 receives the posture information collected by the posture detection module 20.

[0129] S75: The control module 30 calculates the current displacement volume of the surfboard according to the posture information and the water depth.

[0130] S76: The control module 30 calculates the weight of the water sports person according to the displacement volume of the surfboard.

[0131] S77: The control module 30 generates the recommended power control instruction according to the weight of the water sports person.

[0132] In this embodiment, the water sports person can manually operate the control module 30 according to the recommended power control instruction output by the control module 30 to adjust the output power of the power module 40, so as to adjust the appropriate power in real time according to the weight of the water sports person, that is, convenient operation is also ensured. Safe use.

[0133] Embodiment 7

[0134] Embodiment 7 provides another detection and control method of the electric hydrofoil surfboard. The difference from embodiment 6 is that in order to further improve the operation convenience, the surfboard further comprises a balance module 50, and the control module 30 can generate a recommended balance control instruction according to the attitude of the surfboard, adjust the output power and heave balance of the surfboard by controlling the power module 40, and adjust the angular balance of the surfboard by controlling the balance module 50.

[0135] In this embodiment, the balance module 50 is a balance rudder, which is arranged on the hydrofoil, and is electrically connected with the control module and can receive the balance control instruction sent by the control module 30. The balance rudder rotates or swings relative to the hydrofoil according to the balance control instruction, so as to adjust the left-right inclination angle of the electric hydrofoil surfboard, or adjust the front-rear inclination angle of the surfboard.

[0136] Please refer to FIG. 12, the water pressure detection module 10 and the attitude detection module 20 are respectively electrically connected with the control module 30, and transmit the water pressure information and the attitude information of the electric hydrofoil surfboard to the control module 30. The control module 30 calculates the water depth according to the water pressure information, analyzes the current attitude of the surfboard according to the attitude information, and calculates the displacement volume of the surfboard and the weight of the water sports person according to the attitude of the surfboard and the water depth. The control module 30 generates a recommended balance control instruction according to the attitude of the surfboard, and then combines the weight of the water sports person and the balance control instruction to generate a recommended power size instruction. The control module 30 is electrically connected with the power module 40, and the control module 30 transmits the recommended power size instruction generated by it to the power module 40. The power module 40 adjusts the size of the output power according to the recommended power size instruction, and realizes the heave balance of the surfboard. The control module 30 is electrically connected with the balance rudder, and the control module 30 transmits the recommended balance control instruction generated by it to the balance rudder. The balance rudder swings or rotates according to the recommended balance control instruction, so as to adjust the inclination angle of the surfboard, and realize the angular balance of the surfboard.

[0137] By automatically controlling the heave balance and angle balance of the electric hydrofoil surfboard, the difficulty of keeping balance on the surfboard for the water sports person can be effectively reduced, and the operation convenience of the surfboard is improved. Referring to FIG. 13, the steps of controlling the output power size and balance of the electric hydrofoil surfboard are as follows:

[0138] S81: The water pressure detection module 10 acquires water pressure information of the electric hydrofoil surfboard.

[0139] S82: The control module 30 receives the water pressure information collected by the water pressure detection module 10, and calculates the current water depth of the surfboard.

[0140] S83: The attitude detection module 20 collects the current attitude information of the surfboard.

[0141] S84: The control module 30 receives the attitude information collected by the attitude detection module 20.

[0142] S85: The control module 30 calculates the current displacement volume of the surfboard according to the attitude information and the water depth.

[0143] S86: The control module 30 calculates the weight of the water sports person according to the displacement volume.

[0144] S87: The control module 30 generates a recommended balance control instruction according to the current attitude of the surfboard.

[0145] S88: The control module 30 generates a recommended power size instruction according to the weight of the water sports person and the balance control instruction.

[0146] S89: The power module 40 receives the power size instruction of the control module 30, and adjusts the size of the output power according to the recommended power size instruction, while realizing the heave balance of the surfboard.

[0147] S810: The balance module 50 receives the balance control instruction of the control module 30, and adjusts the inclination angle of the surfboard according to the recommended balance control instruction, so as to realize the angle balance of the surfboard.

[0148] Embodiment 8

[0149] Embodiment 8 provides another detection and control method of the electric hydrofoil surfboard. Different from embodiment 6, in order to reduce the calculation amount and data storage amount of the control module 30, the control module 30 presets the corresponding relationship between the water pressure information and the weight of the water sports person, so as to obtain the corresponding weight of the water sports person according to the current water pressure information, and thus the water depth information and the displacement volume of the surfboard do not need to be calculated, and the requirement on the performance of the control module 30 is reduced. Referring to FIG. 14, the steps of generating the recommended power control instruction based on the water pressure information are as follows:

[0150] S91: The water pressure detection module 10 collects the water pressure information of the electric hydrofoil surfboard.

[0151] S92: The control module 30 obtains the water pressure information.

[0152] S93: The control module 30 obtains the weight of the water sports person corresponding to the current water pressure information according to the preset correspondence between the water pressure information and the weight of the water sports person.

[0153] S94: The control module 30 generates a recommended power control instruction according to the weight of the water sports person.

Claims

1. A method of detecting a water sport device, characterized by, The water sports equipment comprises a control module, a power module and a water pressure detection module, and the detection method comprises: The control module obtains the current speed of the water sports equipment and determines the running state of the water sports equipment based on the current speed, wherein the running state comprises a high-speed running state and a low-speed running state. When the water sports equipment is in the low-speed running state, The water pressure detection module collects the current water pressure information of the water sports equipment. The control module obtains the water pressure information collected by the water pressure detection module and calculates the current water depth of the water sports equipment according to the water pressure information. The control module determines whether the current water depth is less than or equal to a preset depth H1, wherein H1 is the water depth of the water sports equipment when it is unattended and floats on the water surface; if the current water depth is less than or equal to the preset depth H1, the water sports equipment is in an unattended state; if the current water depth is greater than the preset depth H1, the water sports equipment is in an attended state. And / or, the control module calculates the water displacement of the water sports equipment according to the water depth, calculates the weight of the water sports personnel according to the water displacement, and generates a recommended power control instruction according to the weight of the water sports personnel.

2. The method of detecting a water sport device according to claim 1, wherein The water sports equipment comprises a posture detection module for detecting the posture thereof, wherein the posture detection module is used for collecting the current posture information of the water sports equipment and sending the current posture information to the control module.

3. The detection method of a water sport device according to claim 2, characterized in that, Further comprising: The control module determines whether the current posture belongs to a preset posture, wherein the preset posture is the posture corresponding to the unattended state of the water sports equipment. If the current water depth is less than or equal to the preset depth H1 and the current posture belongs to the preset posture, the water sports equipment is in the unattended state; if the current water depth is greater than the preset depth H1 or the current posture does not belong to the preset posture, the water sports equipment is in the attended state.

4. The method of detecting a water sport device according to claim 2, wherein Further comprising: The control module calculates the water displacement of the water sports equipment according to the posture information and the water depth.

5. The method of detecting a water sport device according to claim 1, wherein Further comprising: When the water sports equipment is in the high-speed running state, The control module determines whether the current water depth is less than 0, and sets 0 as the water depth of the water sports equipment in the critical state of the switching between the sliding and the flying. If the current water depth is less than 0, the water sports equipment is in the flying state. If the current water depth is greater than or equal to 0, the water sports equipment is in the non-flying state.

6. The method of detecting a water sport device according to claim 5, wherein Further comprising: When the water sports equipment is in the non-flying state, The control module determines whether the current water depth of the water sports equipment is equal to 0. If the current water depth is equal to 0, the water sports equipment is in the critical state of the switching between the sliding and the flying. If the current water depth is greater than 0, the water sports equipment is in the sliding state.

7. A control method of a water sport device, characterized by, When the water sports equipment is detected to be in the unattended state by the detection method of the water sports equipment according to claim 5, the control module generates a stop output power instruction, and the power module receives the instruction generated by the control module and stops outputting power. And / or, when the water sports equipment is in the flight state, the control module determines whether the current water depth is less than a preset depth H2, H2 is the optimal depth when the water sports equipment can stably fly, if the current water depth is less than the preset depth H2, the control module generates a decrease output power instruction, the power module receives the instruction generated by the control module and decreases the output power; and / or, the control module determines whether the current water depth is greater than the preset depth H2, if the current water depth is greater than the preset depth H2, the control module generates an increase output power instruction, the power module receives the instruction generated by the control module and increases the output power.

8. The control method of the water ride apparatus according to claim 7, characterized by, The power module receives the power control instruction generated by the control module, and adjusts the output power according to the received power control instruction; And / or, the control module receives the power control instruction input by the water sports person, and the power module adjusts the output power according to the power control instruction input by the water sports person.

9. A water sport device, characterized in that The water sports equipment comprises a board body, a mast, a hydrofoil, a control module, a power module and a water pressure sensor, the water pressure sensor is arranged on the board body, the mast or the hydrofoil and is electrically connected with the control module, and the water sports equipment applies the control method as claimed in claim 8.

10. A water sport apparatus according to claim 9, characterised in that, The bottom of the board body is provided with a through hole, the shell of the water pressure sensor passes through the through hole and is connected with the board body, and a sealing ring is arranged between the shell and the board body.

11. Watersport apparatus according to claim 10, characterized in that The water sports equipment further comprises an attitude sensor, the attitude sensor is arranged on the board body, the mast or the hydrofoil and is electrically connected with the control module.

12. The water sport device of claim 11, wherein, The water sports equipment further comprises a balance rudder, the balance rudder is arranged on the hydrofoil and is electrically connected with the control module, and the balance rudder can rotate or swing relative to the hydrofoil according to the instruction of the control module.

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