Watercraft having a height sensor

Abstract

A watercraft and a method of adjusting a thrust of a propulsion system of said watercraft. The watercraft including a hull and a deck supported by the hull. The watercraft further includes at least one mast assembly movably connected to the hull and configured to extend away from and retract towards the hull. A propulsion system and a lift assembly are connected to the at least one mast assembly. The watercraft further includes a height sensor assembly having a base mounted to one of the hull and the deck, and a height sensor configured to sense a height of the watercraft above a surface of water, the height sensor being pivotably connected to the bae, such that the height sensor pivots about a pivot axis independently from the base.

Description

WATERCRAFT HAVING A HEIGHT SENSORCROSS-REFERENCE

[0001] The present application claims priority to U.S. Provisional Application No. 63 / 750,804, filed on January 29, 2025, which is incorporated herein by reference in its entirety.FIELD OF TECHNOLOGY

[0002] The present technology relates to watercraft with a height sensor assembly.BACKGROUND

[0003] Watercrafts are sometimes equipped with a hydrofoil to provide lift thereto, notably raising a running surface of the watercraft from the water to reduce drag and to provide a smooth ride. In addition to a hydrofoil, such watercraft can also be equipped with a propulsion unit which provides thrust to the watercraft. Thrust generated by the propulsion unit can be adjusted to provide stability and optimize performance of the watercraft based on a height of the watercraft above the water.

[0004] Height sensors may be positioned on the watercraft to sense the height of the watercraft above the water. However, existing height sensors are typically designed with the assumption that the watercraft will remain upright (i.e., having zero roll) during operation of the watercraft. This configuration prevents accurate detection of the true distance between the watercraft and the surface of the water when the watercraft is leaning, such as during banking maneuvers, leading to some watercraft being constrained to near-vertical orientations to avoid sides of the watercraft contacting water during turns. This limitation impacts the handling of personal watercrafts, in which riders expect dynamic and sporty maneuverability.

[0005] In view of the foregoing, there is a need for a watercraft that addresses at least some of these drawbacks.SUMMARY

[0006] It is an object of the present technology to ameliorate at least some of the inconveniences present in the prior art.

[0007] According to one aspect of the present technology a watercraft is provided. The watercraft includes a hull; a deck supported by the hull; at least one mast assembly movably connected to the hull, the at least one mast assembly being configured to extend away from and retract towards the hull; a propulsion system connected to the at least one mast assembly; a lift assembly connected to the at least one mast assembly; and a height sensor assembly having: a base mounted to one of the hull and the deck; and a height sensor configured to sense a height of the watercraft above a surface of water, the height sensor being pivotably connected to the base, such that the height sensor pivots about a pivot axis independently from the base.

[0008] In some embodiments, the height sensor pivots about the pivot axis such that the height sensor is continuously oriented toward the surface of the water during operation of the watercraft.

[0009] In some embodiments, the height sensor defines a sensing axis; and the height sensor pivots about the pivot axis such that the sensing axis is substantially perpendicular to the surface of the water during operation of the watercraft.

[0010] In some embodiments, the watercraft wherein the lift assembly comprises at least one elevon; and the watercraft further includes a controller operatively connected to the propulsion system and the height sensor, the controller being configured to: receive a height signal from the height sensor, the height signal being indicative of the height of the watercraft above the surface of the water, and generate an adjustment signal to adjust at least one of a thrust of the propulsion system of the watercraft, an angle of the at least one elevon, and an extension or a retraction of the at least one mast assembly, the adjustment signal being based, at least in part, on the received height signal.

[0011] In some embodiments, the watercraft further includes an actuator operatively connected to the height sensor, the actuator being configured to actuate pivoting of the height sensor about the pivot axis; and wherein the controller is operatively connected to the actuator, the controller being further configured to control actuation of the actuator.

[0012] In some embodiments, the watercraft further includes an orientation sensor for sensing an orientation of the watercraft; and wherein the controller is further configured to: receive an orientation signal from the orientation sensor, the orientation signal being indicative of the sensed orientation of the watercraft, and generate an actuator signal to actuate the actuator to pivot the height sensor about the pivot axis, the actuator signal being based, at least in part, on the received orientation signal.

[0013] In some embodiments, the orientation sensor is a roll sensor for sensing a roll of the watercraft.

[0014] In some embodiments, the roll sensor is an inertial measurement unit.

[0015] In some embodiments, the base includes a gimbal frame; and the height sensor is pivotably connected to the gimbal frame configured to pivot the height sensor about the pivot axis.

[0016] In some embodiments, the height sensor is selected from one of an ultrasonic sensor, an optical sensor, a LIDAR-based sensor, and a RADAR-based sensor.

[0017] In some embodiments, the deck and the hull together define an aperture; and the base is positioned such that the height sensor senses the height of the watercraft above the surface of the water through the aperture.

[0018] In some embodiments, the base is mounted to the deck; and the height sensor is positioned above the aperture.

[0019] In some embodiments, the aperture is defined in a front portion of the deck and the hull.

[0020] In some embodiments, the deck and the hull define a recess extending inwardly from an outer edge of the deck and the hull; and the base is positioned such that the height sensor senses the height of the watercraft above the surface of the water through the recess.

[0021] In some embodiments, the recess extends inwardly from an outer front edge of the deck and the hull.

[0022] In some embodiments, the propulsion system includes an impeller.

[0023] In some embodiments, the lift assembly includes at least one hydrofoil.

[0024] In another aspect of the present technology, a method of controlling a watercraft is provided. The method includes pivoting a height sensor of a height sensor assembly about a pivot axis such that the height sensor is oriented toward a surface of water during operation of the watercraft, the height sensor being pivotably connected to a base of the sensor assembly mounted to one of a deck of the watercraft and a hull of the watercraft, the height sensor being configured to pivot independently from the base; sensing, by the height sensor, a height of the watercraft above the surface of water; receiving, by a controller, a height signal from the height sensor, the height signal being indicative of the sensed height; generating, by the controller, an adjustment signal based, at least in part, on the height signal; and in response to the adjustment signal, adjusting at least one of the thrust of the propulsion system of the watercraft, an angle of at least one elevon of the watercraft, and an extension or a retraction of at least one mast assembly of the watercraft.

[0025] In some embodiments, the height sensor defines a sensing axis; and pivoting the height sensor about the pivot axis includes pivoting the height sensor such that the sensing axis is substantially perpendicular to the surface of the water.

[0026] In some embodiments, the method further includes sensing, by an orientation sensor, an orientation of the watercraft; receiving, by the controller, an orientation signal from the orientation sensor, the orientation signal being indicative of the sensed orientation; generating, by the controller, an actuation signal based, at least in part, on the orientation signal; and wherein pivoting the height sensor of the sensor assembly about the pivot axis is performed by an actuator, and the actuator is actuated in response to the actuation signal.

[0027] In some embodiments, the orientation sensor is a roll sensor; and sensing, by the orientation sensor, the orientation of the watercraft, includes sensing, by the roll sensor, the roll of the watercraft.

[0028] Embodiments of the present technology each have at least one of the above-mentioned objects and / or aspects, but do not necessarily have all of them. It should be understood that some aspects of the present technology that have resulted from attempting to attain the above-mentionedobjects may not satisfy these objects and / or may satisfy other objects not specifically recited herein.

[0029] For purposes of this application, terms related to spatial orientation such as forwardly, rearward, upwardly, downwardly, left, and right, are as they would normally be understood by a rider of the watercraft sitting thereon in a normal driving position. Terms related to spatial orientation when describing or referring to components or sub-assemblies of the watercraft, separately from the watercraft should be understood as they would be understood when these components or sub-assemblies are mounted to the watercraft, unless specified otherwise in this application.

[0030] Explanations and / or definitions of terms provided in the present application take precedence over explanations and / or definitions of these terms that may be found in any documents incorporated herein by reference.

[0031] Additional and / or alternative features, aspects and advantages of embodiments of the present technology will become apparent from the following description, the accompanying drawings and the appended claims.BRIEF DESCRIPTION OF THE DRAWINGS

[0032] For a better understanding of the present technology, as well as other aspects and further features thereof, reference is made to the following description which is to be used in conjunction with the accompanying drawings, where:

[0033] Figure 1 is a top, rear, right side perspective view of a watercraft according to nonlimiting embodiments of the present technology;

[0034] Figure 2 is a left side elevation view of the watercraft of Figure 1, with a propulsion system and a lift assembly in a retracted position;

[0035] Figure 3 is a left side elevation view of the watercraft of Figure 1, with the propulsion system and the lift assembly in a deployed position;

[0036] Figure 4 is a top plan view top plan view of the watercraft of Figure 1 ;

[0037] Figure 5 is a botom plan view of the watercraft of Figure 1;

[0038] Figure 6 is a front elevation view of the watercraft of Figure 1;

[0039] Figure 7 is a close up, cross-sectional view of portions of the watercraft of Figure 1, taken along line 7-7 of Figure 4;

[0040] Figure 8 is a front elevation view of the watercraft of Figure 1 with the watercraft in a rolled orientation;

[0041] Figure 9 is a left side elevation view of the watercraft of Figure 8;

[0042] Figure 10 is a top plan view of the watercraft of Figure 8;

[0043] Figure 11 is a close up, cross-sectional view of portions of the watercraft of Figure 8, taken along line 11-11 of Figure 10;

[0044] Figure 12 is a top, rear, right side perspective view of the propulsion system and the lift assembly of the watercraft of Figure 1, with the propulsion system and the lift assembly in the deployed position;

[0045] Figure 13 is a cross-sectional view of the lift-propulsion system of Figure 12, taken along line 13-13 of Figure 12;

[0046] Figure 14 is an exploded view taken from a front, left side perspective view of portions of the watercraft of Figure 1; and

[0047] Figure 15 is a flow diagram depicting a method for adjusting a thrust of the propulsion system of the watercraft of Figure 1.

[0048] It should be noted that the Figures may not be drawn to scale.DETAILED DESCRIPTION

[0049] A watercraft 10 in accordance with an embodiment of the present technology is illustrated in Figures 1 to 14. As can be seen in the present embodiment, the watercraft 10 is a personal watercraft (PWC), with a mast assembly 105, a propulsion system 161, and a lift assembly163, connected to and suspended therebeneath for riding by an operator. However, the watercraft 10 may be any other suitable type of watercraft in other embodiments (e.g., a wakeboard, a surfboard, etc.).

[0050] Referring to Figures 1 to 5, the watercraft 10 has a buoyant body 12 formed from a deck 14 and a hull 16 disposed on the deck 14. The buoyant body 12 has a front end 22 and a rear end 24 defining a length of the buoyant body 12 therebetween. As shown in Figure 4, a longitudinal center axis 25 of the watercraft 10 extends longitudinally between the front end 22 and the rear end 24 and bisects a width of the buoyant body 12. The axis 25 defines a longitudinal direction 27 for the watercraft 10. The hull 16 and the deck 14 are joined together at a seam 15 that joins the parts in a sealing relationship (Figure 3). It is to be understood that the shape and arrangement of the buoyant body 12 may vary in different embodiments.

[0051] The deck 14 has a centrally positioned straddle-type seat 28 positioned on top of a pedestal 30 to accommodate multiple riders in a straddling position. The seat 28 includes a front seat portion 32 and a rear, raised seat portion 34. The seat 28 is preferably made as a cushioned or padded unit, or as inter-fitting units. The front and rear seat portions 32, 34 are removably attached to the pedestal 30. It is appreciated that, in alternative embodiments, the seat 28 may be configured for a single rider. It is understood that the shape and arrangement of the seat 28 may vary in different embodiments.

[0052] The watercraft 10 includes a handlebar assembly 50 including a handlebar 55 disposed generally forward of the seat 28. The handlebar 55 is configured and arranged to permit a driver sitting on the seat 28 during operation of the watercraft 10 to steer the watercraft 10, described in more detail below. The handlebar 55 includes a throttle lever control 56 on a right side thereof to permit control of the speed of the watercraft 10, via control of a propulsion unit 64, described in further detail below.

[0053] With additional reference to Figures 6 and 12 to 14, the watercraft 10 includes a propulsion system 161 and a lift assembly 163, together providing lift and propulsion to the watercraft 10. In the present embodiment, the propulsion system 161 and the lift assembly 163 are connected to a mast assembly 105. The propulsion system 161 and the lift assembly 163 can be selectively retracted (as seen in Figures 1, 2, 4 to 6, and 8 to 10) or deployed (as seen in Figures 312, and 13) to accommodate a desired operating mode of the operator of the watercraft 10, based on retraction and extension of the mast assembly 105. For details relating to some embodiments of retractable lift-propulsion systems, see for instance International Application Publication W02022 / 091035, published May 5, 2022, the entirety of which is incorporated herein by reference.

[0054] The mast assembly 105 connects the propulsion system 161 and the lift assembly 163 to the buoyant body 12 via an actuation assembly frame 108; see Figures 12 and 13. The actuation assembly frame 108 is disposed inside the buoyant body 12, within a chamber 87, and is connected to the hull 16. The mast assembly 105 includes a mast 132 pivotally connected to the actuation assembly frame 108 at a proximate end of the mast 132, with the mast 132 extending generally downward from the hull 16 when the propulsion system 161 and the lift assembly 163 is in the deployed position. A mast link 136 is also pivotally connected to the actuation assembly frame 108 at a proximate end of the mast link 136, rearward of the mast 132. The mast link 136 extends generally downward from the hull 16 when the propulsion system 161 and the lift assembly 163 is in the deployed position.

[0055] The propulsion system 161 includes a propulsion unit 64 and a propulsion unit frame 165 for supporting components of the propulsion system 161 and the lift assembly 163. The propulsion unit frame 165 is connected to the distal end of the mast assembly 105. The distal ends of the mast 132 and mast link 136 are pivotally connected to the propulsion unit frame 165. It is contemplated that the propulsion system 161 may be connected differently in other embodiments. Portions of the propulsion unit frame 165 are generally tubular and extend in the longitudinal direction 27 of the watercraft 10 (i.e., generally parallel to the center axis 25). The propulsion unit 64 includes a pump jet propulsion system 64 having a rotor 70 rotatable about a rotating axis. In the present embodiment, the rotor 70 is an impeller 70 having blades that, when rotated about the rotating axis, transform rotational power into linear thrust by acting upon water. The impeller 70 is surrounded by a duct 74. It is contemplated that the impeller 70 could be another type of rotor, such as a propeller or the like.

[0056] The propulsion system 161 has an electric motor 76 for driving the impeller 70 of the propulsion unit 64. As can be seen, in the present embodiment, the electric motor 76 is connectedto the propulsion unit frame 165. More specifically, the electric motor 76 is enclosed within the propulsion unit frame 165. In the present embodiment, the electric motor 76 is a 6kW motor, but other types of electric motors, such as a 12 kW and a 20kW motor, are contemplated.

[0057] The lift assembly 163 includes a front hydrofoil 170 and a rear hydrofoil 180 connected to the propulsion unit frame 165 of the propulsion system 161. The front hydrofoil 170 includes, and is formed by, two (a left and a right) elevons 175 pivotally connected to the propulsion unit frame 165 to assist in controlling the pitch and the roll of the watercraft 10. As depicted in Figure 14, an electrical actuator, such as an elevon motor 178, operates the elevons 175. In the present embodiment, a right elevon motor 178 is disposed in the propulsion unit frame 165 and is operatively connected to the right elevon 175. A left elevon motor 178 is disposed in the propulsion unit frame 165 and is operatively connected to the left elevon 175. Together, the left and right elevon motors 178 selectively move and position the front hydrofoil 170. The elevon motors 178 in combination with the propulsion system 161, specifically the impeller 70, control and maintain a height of the watercraft 10 above a surface of water.

[0058] The rear hydrofoil 180 is a fixed wing 180 rigidly connected to the propulsion unit frame 165 and is disposed forward of the mast 132 and the propulsion unit 64. As seen in Figure 5 for instance, the rear hydrofoil 180 has a larger width than the front hydrofoil 170, as defined perpendicular to the longitudinal direction 27.

[0059] The lift assembly 163 further includes a rudder 195 connected to the propulsion unit frame 165 for controlling yaw of the watercraft 10 during use. The rudder 195 is disposed rearward of the propulsion unit 64, although the particular placement could vary. The handlebar 55 is operatively connected to the rudder 195 to permit control by wire of the rudder 195 by the rider of the watercraft 10. Specifically, as the rider pivots the handlebars 55 about the steering axis 58, the rudder 195 is actuated, for example via an electrical actuator (not shown), to steer the watercraft 10. In some embodiments, the watercraft 10 could include a steering sensor to track position of the handlebar 55, although the particular technology could vary.

[0060] The watercraft 10 further includes an electrical assembly 82 (shown schematically in Figure 2), associated with the propulsion system 161 and lift assembly 163, to work in conjunction with the electric motor 76 and other powered components of the watercraft 10. The electricalassembly 82 is supported by the buoyant body 12. In particular, the electrical assembly 82 is housed in the chamber 87 of the buoyant body 12. In the illustrated embodiment, the electrical assembly 82 has a battery 84 (shown schematically) which stores energy for powering the electric motor 72 and an inverter 85 (shown schematically) in electrical communication between the battery 84 and the electric motor 72. The electrical assembly 82 is also operatively connected to the elevon motor 178 for powering movement of the elevons 175.

[0061] In the present embodiment, the battery 84 has a nominal voltage of 48V and a capacity of 2.5 kWh. However, batteries having other nominal voltages and power capacities are contemplated, such as batteries having a nominal voltage of 74 and a capacity of 6kWh or a nominal voltage of 400V and a capacity of 8.9kWh. The inverter 85 converts the direct current (DC) of the battery 84 to alternating current (AC) which powers the electric motor 76. Electrical wires (not shown) extend within the mast 132 to electrically connect the electric motor 76 to the electrical assembly 82. It is contemplated that more than one battery 84 could be provided. In at least some embodiments, a charging plug (not shown) could be provided in the buoyant body 12 and be electrically connected to the battery 84. The charging plug could thus be electrically connected to a power source (e.g., an electrical outlet) to charge the battery 84.

[0062] With reference to Figures 12 and 13, the mast assembly 105 includes an actuator 110 and a four-bar assembly connecting the actuator 110 to the mast 132 to adjust a longitudinal position of the hydrofoil 180 in response to a presence of the passenger on the straddle seat 28. The actuator 110 is disposed in the chamber 87. The actuator 110 is connected to and supported by the frame 108. Specifically, the actuator 110 includes a motor and cylinder body 111 connected to the frame 108 and a piston rod 112 movably connected to the motor and cylinder body 111. The piston rod 112 linearly translates relative to the body 111 generally in the longitudinal direction 27.

[0063] The piston rod 112 is configured and arranged to selectively linearly translate relative to the body 111 to shift a four-bar assembly to move the propulsion system 161 and the lift assembly 163 longitudinally. To form the four-bar assembly with the mast 132, the mast link 136, and the propulsion unit frame 165, the mast assembly 105 also includes two front rigid members 114, two rear rigid members 120, and two rigid links 124 connecting together the rigid members114, 120. It is contemplated that a four-bar assembly could be formed from one front rigid member 114, one rear rigid member 120, and one link 124 in some embodiments.

[0064] The two front rigid members 114 are pivotally connected to the actuation assembly frame 108. In the illustrated embodiment, there is a left-side front rigid member 114 disposed to a left side of the actuator 110, and a right-side front rigid member 114 disposed to a right side of the actuator 110. A lower end of each front rigid member 114 is pivotally connected to the actuation assembly frame 108. The lower end of each front rigid member 114 is also rigidly connected to the mast 132 through the frame 108, such that rotation of the front rigid members 114 causes a corresponding or equal rotation of the mast 132.

[0065] The two rear rigid members 120 include a left-side rear rigid member 120 disposed to the left side of the actuator 110 and a right-side rear rigid member 120 disposed to the right side of the actuator 110. A lower end of each rear rigid member 120 is pivotally connected to the actuation assembly frame 108. An upper end of each rear rigid member 120 is pivotally connected to the piston rod 112 of the actuator 110. Linear movement of the piston rod 112 causes rotation of the rear rigid members 120 about their lower end connection to the frame 108. The motor and cylinder body 111 is thus similarly pivotally connected to the frame 108 to permit some angular motion of the motor and cylinder body 111 relative to the frame 108 when the distal end of the piston rod 112 moves with the rotating rear rigid members 120. The piston rod 112 thus moves partially vertically up and down (orthogonal to a horizontal plane defined by the buoyant body 12) in addition to longitudinal movement, with the distal end portion rotating in a vertically and longitudinally-extending plane defined through the longitudinal center axis 25.

[0066] The mast assembly 105 further includes two rigid links 124 connecting the front rigid members 114 to the rear rigid members 120. Specifically, a left-side rigid link 124 is disposed to the left side of the actuator 110 and a right-side rigid link 124 is disposed to the right side of the actuator 110. The links 124 extend generally in the longitudinal direction 27 to connect the front rigid members 114 and the rear rigid members 120. One end of each link 124 is pivotally connected to a center portion of the corresponding rear rigid member 120, with the other end being pivotally connected to a top end of the corresponding front rigid member 114.

[0067] The front rigid members 114, the rear rigid members 120, the rigid links 124, the mast 132, and the mast link 136 are configured and arranged to form a four-bar linkage to transfer linear movement of the actuator 110, specifically the piston rod 112, into longitudinal displacement of the hydrofoil 180. Rearward movement of the piston rod 112 causes generally rearward motion of the top portion of the rear rigid members 120, in turn pulling the rigid links 124 rearward. Rearward movement of the links 124 in turn causes a generally rearward rotation of the top ends of the front rigid members 114. Rotation of the front rigid members 114 thus rotates the mast 132, movement of which is stabilized by the rotational link of the mast link 136 between the frame 108 and the propulsion frame 165, in turn causing the propulsion frame 165, with the hydrofoil 180, to move generally forward in the longitudinal direction 27. Forward movement of the piston rod 112 similarly moves the members 114, 120 and the links 124 such that the propulsion frame 165, with the hydrofoil 180, is moved generally rearward along the longitudinal direction 27.

[0068] Although the watercraft 10 of the present embodiment includes a single mast assembly 105, it is appreciated that the watercraft 10 may be configured with multiple mast assemblies 105. In alternative embodiments, for example, the watercraft 10 could further include two additional mast assemblies 105. The additional mast assemblies 105 may be each connected to a respective lift assembly 163 which are operably connected to the handlebar assembly 50. It is appreciated that the additional mast assemblies 105 may be selectively retracted or deployed at will to accommodate a desired operating mode. It is to be understood that mast assembly configurations may vary in different embodiments. Additionally, it is to be understood that the propulsion system 161 and lift assembly 163 could be arranged on different mast assemblies.

[0069] The watercraft further includes a control unit 190 (depicted schematically in Figure 2) for controlling electrical components of the watercraft 10. In the present embodiment, the control unit 190 includes a proportional-integral-derivative (PID) controller. It is contemplated that different controllers or control systems may be used, for example other forms of control loop, flight controller, or foiling controller.

[0070] The control unit 190 is operatively connected to the propulsion system 161. Specifically, the control unit 190 is operatively connected to the motor 76 to control a speed of the motor 76, thereby controlling a thrust of the propulsion system 161. The control unit 190 is operativelyconnected to the throttle lever 56 to receive an indication of a “throttle” requests from the rider via the throttle lever 56. Additionally, the control unitl90 is operatively connected to the handlebar 55 to receive an indication of a yaw-control request via rotation of the handlebar 55 by the rider. The control unit 190 is operatively connected to the rudder 195 to control the rudder position based on the indication of the yaw-control request from rotation of the handlebar 55.

[0071] The watercraft 10 includes one or more sensors operatively connected to the control unit 190. The control unit 190 is configured to receive signals indicative of one or more parameters from the sensors. In response to the received signals, the control unit 190 then controls one or more components of the watercraft 10. In the present embodiment, the control unit 190 is configured to adjust a thrust of the propulsion system 161 based, at least in part, on a sensed height of the watercraft 10 above the surface of the water, described in further detail below. This allows the propulsion system 161 to generate an appropriate amount of thrust according to a substantially vertical height, referred to hereinafter as the height, of the watercraft 10 above the surface of the water, thereby enhancing stability, maneuverability, and optimizing overall handling and performance of the watercraft 10.

[0072] With reference to Figures 1 to 11, the watercraft 10 includes a height sensor assembly 200 having a base 202 and a height sensor 204. The height sensor 204 is configured to sense a height of the watercraft 10 above the surface of the water. The height sensor 204 may be any suitable type of sensor including, but not limited to, an ultrasonic sensor, an optical sensor, a LIDAR-based sensor, and a RADAR-based sensor. It is noted that the height, sensed by the height sensor 204, is the height between a bottom surface 203 of the height sensor 204 and the surface of the water. However, this may vary in other embodiments. The height sensor 204 is operatively connected to the control unit 190, such that the control unit 190 receives an indication, such as a height signal, of the sensed height of the watercraft 10 above the surface of the water. Based on the received height signal, the control unit 190 can adjust the thrust of the propulsion system 161. In the present embodiment, the control unit 190 can adjust the motor speed 76, the angle of one or both elevons 175, and the extension or retraction of the mast assembly 105. The control unit 190 may modify any of these parameters individually or in any desired combination.

[0073] The base 202 is mounted to the deck 14 of the watercraft 10. The height sensor 204 is pivotally connected to the base 202, such that the height sensor 204 is pivoted about a pivot axis 206, allowing for the height sensor 204 to move with respect to the base 202. The height sensor 204 defines a sensing axis 208. The height sensor 204 is pivoted about the pivot axis 206 such that the height sensor 204 is continuously oriented toward the surface of the water during operation of the watercraft 10. Otherwise stated, the height sensor 204 is continuously oriented facing downwards. Specifically, the height sensor 204 is pivoted about the pivot axis 206 such that the sensing axis 208 is substantially perpendicular to the surface of the water during operation of the watercraft 10. As a result, the height sensor 204 can sense the height of the watercraft 10 above the surface of the water, even as the orientation of the watercraft 10 changes during operation.

[0074] In the present embodiment, the pivot axis 206 extends in the longitudinal direction 27 (i.e., substantially parallel to the center longitudinal axis 25). Consequently, the height sensor 204 can be pivoted about the pivot axis 206 to accommodate for a change in roll of the watercraft 10 (as seen in Figures 8 to 11 depicting the watercraft 10 at a roll relative to the horizontal 201). In alternative embodiments, the pivot axis 206 may extend in a lateral direction (i.e., substantially perpendicular to the center longitudinal axis 25), thereby allowing the height sensor 204 to be pivoted to accommodate for a change in pitch of the watercraft 10. In further alternative embodiments, the height sensor 204 may be pivotally connected to the base 202 to be pivoted about more than one pivot axis. For example, the height sensor 204 may be pivotable about both a longitudinal pivot axis (i.e., pivot axis 206) and a lateral pivot axis, thereby accommodating for changes in both roll and pitch of the watercraft 10.

[0075] As depicted in Figures 4, 5, 7, 10, and 11, the deck 14 and the hull 16 of the watercraft 10 define an aperture 210, through which the height sensor 204 senses the height of the watercraft 10 above the surface of the water. In the present embodiment, the aperture 210 is defined in a front portion 21 of the watercraft 10. The base 202 is mounted to the deck 14 such that the height sensor 204 is positioned directly above the aperture 210. It is contemplated that the base 202 could be mounted or positioned differently while still ensuring the height sensor 204 senses the height of the watercraft 10 through the aperture 210. For example, in some embodiments, the base 202 may be mounted to the hull 16 of the watercraft 10.

[0076] In alternative embodiments, the deck 14 and the hull 16 may instead define a recess extending inwardly from an outer edge 23 (i.e., a front outer edge). The base 202 may be positioned such that the height sensor 204 senses the height of the watercraft 10 above the surface of the water through the recess. In further alternative embodiments, the base 202 may be positioned such that the height sensor 204 extends over the outer edge 23 of the watercraft 10.

[0077] The watercraft 10 further includes an orientation sensor 214 (depicted schematically in Figure 2) for sensing an orientation of the watercraft 10. In the present embodiment, the orientation sensor 214 is a roll sensor 214 configured to sense the roll of the watercraft 10. The roll sensor 214 may be any suitable sensor capable of identifying the roll of the watercraft 10, such as an inertial measurement unit (IMU). In other embodiments, the orientation sensor 214 may be a pitch sensor or the watercraft 10 may include more than one orientation sensor 214 to sense, for example, the pitch and the roll of the watercraft 10. The control unit 190 is operatively connected to the roll sensor 214 to receive an indication, such as a roll signal, from the roll sensor 214 of the sensed roll.

[0078] In the present embodiment, the height sensor 204 is actively pivoted about the pivot axis 206 by a height sensor actuator 212, referred to hereinafter as the actuator 212. In the present embodiment, the actuator 212 is housed within the base 202. However, the position of the actuator 212 may vary in various embodiments. As will be described in further detail below, the height sensor 204 is pivoted about the pivot axis 206 by the actuator 212 in response to a change in the roll of the watercraft 10. The actuator 212 is operatively connected to the control unit 190 such that the actuator 212 receives an indication, such as an actuation signal, from the control unit 190 to actuate pivoting of the height sensor 204. In some embodiments, the height sensor assembly 200 may include a roll sensor 214 within the base 202 that communicates directly with a controller of the height sensor actuator.

[0079] The control unit 190 generates the actuation signal based, at least in part, on the sensed roll from the roll sensor 214. As a result, the degree at which the height sensor 204 is pivoted about the pivot axis 206 is determined, at least in part, on the sensed roll of the watercraft 10. In other words, the control unit 190 signals the actuator 212 to actuate or rotate the height sensor 204 to a target position about the pivot axis 206 that accommodates for the roll of the watercraft 10. Thisallows the height sensor 204 to be continuously oriented toward the surface of the water, such that the sensing axis 208 is substantially perpendicular to the surface of the water during operation of the watercraft 10. As a result, the height sensor 204 is able to sense the height of the watercraft 10 above the water independent of the roll of the watercraft 10.

[0080] It is noted that, in other embodiments, the height sensor 204 may instead be actively pivoted about the pivot axis 206. For example, in some embodiments, the base 202 may include a gimbal frame. The height sensor 204 may be pivotally connected to the gimbal frame to allow for active and controlled pivoting of the height sensor 204 about the pivot axis 206. The height sensor 204 may be actively controlled to achieve a true vertical orientation, for example response to an IMU.

[0081] With reference to Figure 15, a method 300 for controlling the watercraft 10 will now be described. As mentioned above, the present embodiment enables adjustment of at least one of the thrust of the propulsion system 161, the angle of at least one elevons 175, and / or an extension or a retraction of the mast assembly 105, based, at least in part, on the sensed height of the watercraft 10 above the surface of the water. It is noted that the order of the steps of the method 300 is shown as an example, and therefore the steps of the method 300 may vary in various embodiments.

[0082] The method 300 begins, at step 302, with sensing, by the roll sensor 214, the roll of the watercraft 10. The roll sensor 214 communicates a roll signal, indicative of the sensed roll to the control unit 190.

[0083] The method 300 continues, at step 304, with the control unit 190 receiving the roll signal from the roll sensor 214.

[0084] At step 306, the control unit 190, generates an actuation signal based, at least in part, on the received roll signal. The control unit 190 communicates the actuation signal to the actuator 212.

[0085] The actuation signal is received by the actuator 212 to actuate pivoting of the height sensor 204. At step 308, the method 300 proceeds with the actuator 212 pivoting the height sensor 204 about the pivot axis 206. As mentioned above, the actuator 212 pivots the height sensor 204 about the pivot axis 206 independently from the base 202, such that the height sensor 204 isoriented toward the surface of the water during operation of the watercraft 10. Specifically, in the present embodiment, the actuator 212 pivots the height sensor 204 so that the sensing axis 208, defined by the height sensor 204, is substantially perpendicular to the surface of the water during operation of the watercraft 10.

[0086] Once the height sensor 204 is actuated by the actuator 212, the method 300 proceeds, with step 310, with the height sensor 204 sensing the height of the watercraft 10 above the surface of the water. As a result of being pivoted, the height sensor 204 can determine the height of the watercraft 10 without being affected by the roll of the watercraft 10. The height sensor 204 communicates a height signal, indicative of the sensed height, to the control unit 190.

[0087] At step 312, the method 300 continues with the control unit 190 receiving the height signal from the height sensor 204.

[0088] The method 300 continues, at step 314, with the control unit 190 generating an adjustment signal based, at least in part, on the height signal. The control unit 190 communicates the adjustment signal to the propulsion system 161, more specifically one or more of the motor 76 of the propulsion system 161, the elevon motors 178, and / or the mast assembly 105.

[0089] In some instances, the adjustment signal is received by the motor 76 of the propulsion system 161. At step 316, the method 300 proceeds with adjusting the thrust of the propulsion system 161 in response to receiving the adjustment signal. In the present embodiment, the speed of the motor 76 is adjusted. For example, the speed of the motor 76 may be decreased, thereby reducing the thrust. Alternatively, the speed of the motor 76 may be increased, thereby increasing the thrust.

[0090] Additionally, or alternatively, the adjustment signal is received by the elevon motors 178. At step 318, the method 300 proceeds with adjusting the elevon motors 178 in response to receiving the adjustment signal. For example, in some instances, the elevon motors 178 may be caused to adjust an angle of one or both elevons 175, thereby adjusting the height of the watercraft 10.

[0091] Additionally, or alternatively, the adjustment signal is received by the mast assembly 105. At step 320, the method 300 proceeds with adjusting the extension or the retraction of the mast assembly 105 in response to receiving the adjustment signal.

[0092] It is noted that controlling the propulsion system 161, the elevon motors 178, and / or the mast assembly 105 may be in combination with or independent from one another.

[0093] In the present embodiment, the method 300 is continuously repeated, starting at step 302, throughout operation of the watercraft 10. However, it is contemplated that, in other embodiments, the method 300 may be selectively performed, such as in response to the control unit 190 receiving a rider input (e.g., toggling an adjustment mode on or off) or upon the watercraft 10 reaching a predetermined height above the surface of the water.

[0094] Modifications and improvements to the above-described embodiments of the present technology may become apparent to those skilled in the art. The foregoing description is intended to be exemplary rather than limiting. The scope of the present technology is therefore intended to be limited solely by the scope of the appended claims.

Claims

What is claimed is:

1. A watercraft comprising:a hull;a deck supported by the hull;at least one mast assembly movably connected to the hull, the at least one mast assembly being configured to extend away from and retract towards the hull;a propulsion system connected to the at least one mast assembly;a lift assembly connected to the at least one mast assembly; anda height sensor assembly having:a base mounted to one of the hull and the deck; anda height sensor configured to sense a height of the watercraft above a surface of water, the height sensor being pivotably connected to the base, such that the height sensor pivots about a pivot axis independently from the base.

2. The watercraft of claim 1, wherein the height sensor pivots about the pivot axis such that the height sensor is continuously oriented toward the surface of the water during operation of the watercraft.

3. The watercraft of claim 1 or 2, wherein:the height sensor defines a sensing axis; andthe height sensor pivots about the pivot axis such that the sensing axis is substantially perpendicular to the surface of the water during operation of the watercraft.

4. The watercraft of any one of claims 1 to 3, wherein:the lift assembly comprises at least one elevon; andthe watercraft further comprising:a controller operatively connected to the propulsion system and the height sensor, the controller being configured to:receive a height signal from the height sensor, the height signal being indicative of the height of the watercraft above the surface of the water, andgenerate an adjustment signal to adjust at least one of a thrust of the propulsion system of the watercraft, an angle the at least one elevon, and an extension or a retraction of the at least one mast assembly, the adjustment signal being based, at least in part, on the received height signal.

5. The watercraft of claim 4, further comprising:an actuator operatively connected to the height sensor, the actuator being configured to actuate pivoting of the height sensor about the pivot axis; andwherein the controller is operatively connected to the actuator, the controller being further configured to control actuation of the actuator.

6. The watercraft of claim 5, further comprising:an orientation sensor for sensing an orientation of the watercraft; andwherein the controller is further configured to:receive an orientation signal from the orientation sensor, the orientation signal being indicative of the sensed orientation of the watercraft, andgenerate an actuator signal to actuate the actuator to pivot the height sensor about the pivot axis, the actuator signal being based, at least in part, on the received orientation signal.

7. The watercraft of claim 6, wherein the orientation sensor is a roll sensor for sensing a roll of the watercraft.

8. The watercraft of claim 7, wherein the roll sensor is an inertial measurement unit.

9. The watercraft of any one of claims 1 to 4, wherein:the base comprises a gimbal frame; andthe height sensor is pivotably connected to the gimbal frame configured to pivot the height sensor about the pivot axis.

10. The watercraft of any one of claims 1 to 9, wherein the height sensor is selected from one of an ultrasonic sensor, an optical sensor, a LIDAR-based sensor, and a RADAR-based sensor.

11. The watercraft of any one of claims 1 to 10, wherein:the deck and the hull together define an aperture; andthe base is positioned such that the height sensor senses the height of the watercraft above the surface of the water through the aperture.

12. The watercraft of claim 11 , wherein:the base is mounted to the deck; andthe height sensor is positioned above the aperture.

13. The watercraft of claim 11 or 12, wherein the aperture is defined in a front portion of the deck and the hull.

14. The watercraft of any one of claims 1 to 10, wherein:the deck and the hull define a recess extending inwardly from an outer edge of the deck and the hull; andthe base is positioned such that the height sensor senses the height of the watercraft above the surface of the water through the recess.

15. The watercraft of claim 14, wherein the recess extends inwardly from an outer front edge of the deck and the hull.

16. The watercraft of any one of claims 1 to 15, wherein the propulsion system comprises an impeller.

17. The watercraft of any one of claims 1 to 16, wherein the lift assembly comprises at least one hydrofoil.

18. A method of controlling a watercraft, the method comprising:pivoting a height sensor of a height sensor assembly about a pivot axis such that the height sensor is oriented toward a surface of water during operation of the watercraft, the height sensor beingpivotably connected to a base of the sensor assembly mounted to one of a deck of the watercraft and a hull of the watercraft, the height sensor being configured to pivot independently from the base; sensing, by the height sensor, a height of the watercraft above the surface of water; receiving, by a controller, a height signal from the height sensor, the height signal being indicative of the sensed height;generating, by the controller, an adjustment signal based, at least in part, on the height signal; andin response to the adjustment signal, adjusting at least one of the thrust of the propulsion system of the watercraft, an angle of at least one elevon of the watercraft, and an extension or a retraction of at least one mast assembly of the watercraft.

19. The method of claim 18, wherein:the height sensor defines a sensing axis; andpivoting the height sensor about the pivot axis comprises pivoting the height sensor such that the sensing axis is substantially perpendicular to the surface of the water.

20. The method of claim 18 or 19, further comprising:sensing, by an orientation sensor, an orientation of the watercraft;receiving, by the controller, an orientation signal from the orientation sensor, the orientation signal being indicative of the sensed orientation;generating, by the controller, an actuation signal based, at least in part, on the orientation signal; andwherein pivoting the height sensor of the sensor assembly about the pivot axis is performed by an actuator, and the actuator is actuated in response to the actuation signal.

21. The method of claim 19, wherein:the orientation sensor is a roll sensor; andsensing, by the orientation sensor, the orientation of the watercraft, comprises sensing, by the roll sensor, the roll of the watercraft.1

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