CN112373629A - Electric hydrofoil surfboard and control method - Google Patents
Electric hydrofoil surfboard and control method Download PDFInfo
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- CN112373629A CN112373629A CN202011342257.7A CN202011342257A CN112373629A CN 112373629 A CN112373629 A CN 112373629A CN 202011342257 A CN202011342257 A CN 202011342257A CN 112373629 A CN112373629 A CN 112373629A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B32/00—Water sports boards; Accessories therefor
- B63B32/10—Motor-propelled water sports boards
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B32/00—Water sports boards; Accessories therefor
- B63B32/60—Board appendages, e.g. fins, hydrofoils or centre boards
- B63B32/64—Adjustable, e.g. by adding sections, by removing sections or by changing orientation or profile
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Abstract
The application provides an electric hydrofoil surfboard and a control method. The electric hydrofoil surfboard comprises a surfboard and a control system, wherein the control system comprises a controller and an attitude sensor electrically connected with the controller; the controller is used for acquiring attitude data of the water skiing board detected by the attitude sensor; one end of the strut is connected with the water skiing board, an angle adjusting motor is arranged on the strut and electrically connected with the controller, and the controller is used for sending a first control instruction to the angle adjusting motor based on the attitude data so that the angle adjusting motor can adjust the attitude of the water skiing board according to the first control instruction; and the water wing plate is connected with the other end of the support rod. Through this mode for electronic hydrofoil can self carry out balanced regulation, and need not to rely on user's self balancing ability completely, and then has reduced the control degree of difficulty, has reduced the user threshold of entrying, has improved user experience.
Description
Technical Field
The application relates to the technical field of electronic equipment, in particular to an electric hydrofoil surfboard and a control method.
Background
The electric hydrofoil is a water sports device which is formed in recent years, and can bring surfing experience to users by means of a driving device of the electric hydrofoil in a water area without sea waves. However, in the electric hydrofoil surfboards which are common in the market at present, the posture of the electric hydrofoil surfboard is completely controlled by the user through human posture adjustment on the board. That is, present electronic hydrofoil relies on user's self balancing ability to carry out plate body control completely, and the control degree of difficulty is high, very big increase user's threshold of entrying, not good to beginner's experience.
Disclosure of Invention
An object of the embodiments of the present application is to provide an electric hydrofoil surfboard and a control method thereof, so as to solve the problem that the current electric hydrofoil surfboard is controlled by the balance ability of the user, and the control difficulty is high.
The invention is realized by the following steps:
in a first aspect, an embodiment of the present application provides an electric hydrofoil surfboard, including: the water skis are provided with a control system, and the control system comprises a controller and an attitude sensor electrically connected with the controller; the controller is used for acquiring attitude data of the water skiing board detected by the attitude sensor; one end of the strut is connected with the water skiing board, an angle adjusting motor is arranged on the strut and electrically connected with the controller, and the controller is used for sending a first control instruction to the angle adjusting motor based on the attitude data so that the angle adjusting motor can adjust the attitude of the water skiing board according to the first control instruction; and the water wing plate is connected with the other end of the support rod.
In the embodiment of the application, the posture sensor is additionally arranged on the surfboard of the electric hydrofoil surfboard, and the angle adjusting motor is additionally arranged on the strut of the electric hydrofoil surfboard, so that the controller can control the angle adjusting motor according to the posture of the surfboard, and further the posture of the surfboard is changed through the angle adjusting motor. Through this mode for electronic hydrofoil can self carry out balanced regulation, and need not to rely on user's self balancing ability completely, and then has reduced the control degree of difficulty, has reduced the user threshold of entrying, has improved user experience.
In combination with the technical solution provided by the first aspect, in some possible implementation manners, the supporting rod is further provided with a water outlet detection sensor, the water outlet detection sensor is electrically connected to the controller, and the controller is configured to acquire water outlet data detected by the water outlet detection sensor and send a second control instruction to the angle adjustment motor based on the water outlet data, so as to adjust the rotation speed of the angle adjustment motor.
In the embodiment of the application, the supporting rod is further provided with a water outlet detection sensor, and the controller is used for acquiring water outlet data detected by the water outlet detection sensor and sending a second control instruction to the angle adjusting motor based on the water outlet data so as to adjust the rotating speed of the angle adjusting motor. By the method, the rotating speed of the angle adjusting motor can meet the current water flow speed, and the stability of the electric hydrofoil surfboard during automatic posture adjustment is guaranteed.
With reference to the technical solution provided by the first aspect, in some possible implementation manners, a propeller is further disposed on the supporting rod, and the propeller includes a propulsion motor; the propulsion motor is electrically connected with the controller, and the controller is further used for sending a third control instruction to the propulsion motor based on the attitude data and the water outlet data so as to adjust the rotating speed of the propulsion motor.
In the embodiment of the application, the strut is further provided with a propeller, and the controller is further used for sending a third control instruction to the propulsion motor based on the attitude data and the water outlet data so as to adjust the rotating speed of the propulsion motor. Through the mode, the controller can reasonably control the speed of the electric hydrofoil surfboard based on the posture of the water skis and the water outlet data, the user does not need to artificially adjust the speed of the electric hydrofoil surfboard, and the use experience of the user is enhanced.
In combination with the technical solution provided by the first aspect, in some possible implementations, the effluent detection sensor is disposed on the strut at a position close to the propeller.
In the embodiment of the application, because the propeller needs to be located underwater when the electric hydrofoil surfboard is in use, the water outlet detection sensor is arranged on the strut close to the propeller, so that the water outlet detection sensor is also located underwater, and water data can be conveniently detected.
In combination with the technical solution provided by the first aspect, in some possible implementation manners, the attitude data is pitch angle data, and correspondingly, the controller is configured to send a first control instruction to the angle adjustment motor based on the pitch angle data, so that the angle adjustment motor adjusts the pitch angle of the water skiing board according to the first control instruction.
In this application embodiment, the attitude data is pitch angle data, and the controller can realize the accurate regulation to the pitch angle of aquaplane through pitch angle data.
With reference to the technical solution provided by the first aspect, in some possible implementation manners, the attitude data is yaw angle data, and correspondingly, the controller is configured to send a first control instruction to the angle adjustment motor based on the yaw angle data, so that the angle adjustment motor adjusts the yaw angle of the water skiing board according to the first control instruction.
In the embodiment of the application, the attitude data is yaw angle data, and the controller can accurately adjust the yaw angle of the water skiing board through the yaw angle data.
With reference to the technical solution provided by the first aspect, in some possible implementation manners, the posture data is roll angle data, and correspondingly, the controller is configured to send a first control instruction to the angle adjustment motor based on the roll angle data, so that the angle adjustment motor adjusts the roll angle of the water skiing board according to the first control instruction.
In the embodiment of the application, the attitude data is roll angle data, and the controller can accurately adjust the roll angle of the water skiing board through the roll angle data.
With reference to the technical solution provided by the first aspect, in some possible implementation manners, the attitude data includes pitch angle data, yaw angle data, and roll angle data; correspondingly, the angle adjustment motor includes: a pitch angle adjusting motor, a yaw angle adjusting motor and a roll angle adjusting motor; the controller is respectively electrically connected with the pitch angle adjusting motor, the yaw angle adjusting motor and the roll angle adjusting motor; the first control instruction comprises a fourth control instruction, a fifth control instruction and a sixth control instruction; the controller is used for sending the fourth control instruction to the pitch angle adjusting motor based on the pitch angle data so that the pitch angle adjusting motor adjusts the pitch angle of the water skiing board according to the fourth control instruction; the controller is further configured to send the fifth control instruction to the yaw angle adjusting motor based on the yaw angle data, so that the yaw angle adjusting motor adjusts the yaw angle of the water skiing plate according to the fifth control instruction; the controller is further configured to send the sixth control instruction to the roll angle adjusting motor based on the roll angle data, so that the roll angle adjusting motor adjusts the roll angle of the water skiing board according to the sixth control instruction.
In the embodiment of the application, the pitch angle data, the yaw angle data and the roll angle data are detected, so that the controller can adjust the pitch angle adjusting motor, the yaw angle adjusting motor and the roll angle adjusting motor based on the detected pitch angle data, yaw angle data and roll angle data, and further adjust the posture of the water skiing board. Through the mode, the adjusting precision is improved, the posture of the water skiing board can be adjusted more accurately, and the use experience of a user is further enhanced.
In combination with the technical solution provided by the first aspect, in some possible implementations, the angle adjustment motor is disposed on the supporting rod at a position close to the water skiing board.
In this application embodiment, through setting up the angle accommodate motor on branch and being close to the position of aquaplane, also set up the angle accommodate motor in the junction of branch and aquaplane, be convenient for realize the regulation to the gesture of aquaplane.
With reference to the technical solution provided by the first aspect, in some possible implementation manners, the control system further includes a signal receiving device, the signal receiving device is electrically connected to the controller, and the signal receiving device is further connected to a terminal device in a communication manner.
In the embodiment of the application, the signal receiving device can be used for realizing communication connection with the terminal equipment, so that a user can control the mode of the electric hydrofoil through the terminal equipment, and the use experience of different users is enhanced.
With reference to the technical solution provided by the first aspect, in some possible implementation manners, the control system further includes a signal adjusting circuit, and the signal adjusting circuit is electrically connected to the controller and the attitude sensor respectively; the signal adjusting circuit is used for adjusting the data detected by the attitude sensor and sending the adjusted data to the controller.
In the embodiment of the application, the accuracy of the attitude data acquired by the controller can be improved through the signal adjusting circuit.
In a second aspect, an embodiment of the present application provides a control method, which is applied to a controller in an electric hydrofoil surfboard as provided in the above embodiment, the method including: acquiring attitude data of the water skiing board detected by the attitude sensor; and sending a first control instruction to the angle adjusting motor based on the attitude data so that the angle adjusting motor adjusts the attitude of the water skiing board according to the first control instruction.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic structural view of an electric hydrofoil surfboard according to an embodiment of the present application.
Fig. 2 is a block diagram of an electric hydrofoil surfboard according to an embodiment of the present disclosure.
Fig. 3 is a schematic diagram of a pitch angle, a yaw angle, and a roll angle provided in an embodiment of the present application.
Fig. 4 is a flowchart illustrating steps of a control method according to an embodiment of the present disclosure.
Icon: 100-surfboards; 10-a aquaplane; 11-a controller; 12-attitude sensors; 13-signal receiving means; 14-a signal conditioning circuit; 20-a strut; 21-an angle adjustment motor; 22-a water-out detection sensor; 23-a propeller; 231-a propulsion motor; 232-a propeller; 30-water wing plate.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
The electric hydrofoil has the advantages that the plate body is controlled completely by means of the self balance capacity of the user, the control difficulty is high, the entrance threshold of the user is greatly increased, and the problems that the experience of a beginner is poor and the like are solved. The present inventors have studied and found that the following examples are proposed to solve the above problems.
Referring to fig. 1 and 2, an embodiment of the present invention provides an electric hydrofoil surfboard 100, including: a water ski 10, a strut 20 and a water wing plate 30. The water skiing board 10 is connected with the hydrofoil 30 through the supporting rod 20, namely one end of the supporting rod 20 is connected with the water skiing board 10, and the other end of the supporting rod 20 is connected with the hydrofoil 30.
Wherein the water skis 10 are provided with a control system. The control system comprises a controller 11 and an attitude sensor 12 electrically connected with the controller 11; the controller 11 is configured to acquire attitude data of the skateboard 10 detected by the attitude sensor 12. Structurally, the controller 11 may be an integrated circuit chip having signal processing capabilities. The controller 11 may also be a general-purpose Processor, such as a single chip, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a discrete gate or transistor logic device, or a discrete hardware component, which can implement or execute the methods, steps, and logic blocks disclosed in the embodiments of the present Application. Further, a general purpose processor may be a microprocessor or any conventional processor or the like.
Wherein, an angle adjusting motor 21 is arranged on the supporting rod 20. The angle adjustment motor 21 is electrically connected to the controller 11. The controller 11 is configured to send a first control instruction to the angle adjustment motor 21 based on the attitude data, so that the angle adjustment motor 21 adjusts the attitude of the water skiing board 10 according to the first control instruction.
In the embodiment of the present application, the posture sensor 12 is additionally provided on the surfboard 10 of the electric hydrofoil 100 and the angle adjustment motor 21 is additionally provided on the strut 20 of the electric hydrofoil 100, so that the controller 11 can control the angle adjustment motor 21 according to the posture of the surfboard 10, and further change the posture of the surfboard 10 by the angle adjustment motor 21. Through this mode for electronic hydrofoil surfboard 100 can self carry out balanced regulation, and need not to rely on user's self balancing ability completely, and then has reduced the control degree of difficulty, has reduced the user threshold of entrying, has improved user experience.
Alternatively, the angle adjusting motor 21 is provided on the strut 20 at a position close to the aquaboard 10. It should be noted that, because the angle adjusting motor 21 is used to adjust the posture of the water ski 10, the angle adjusting motor 21 is disposed on the strut 20 at a position close to the water ski 10, that is, the angle adjusting motor 21 is disposed at the connection position of the strut 20 and the water ski 10; facilitating the adjustment of the attitude of the water ski 10.
Optionally, a water outlet detection sensor 22 is further disposed on the strut 20. The effluent detection sensor 22 is electrically connected to the controller 11. Accordingly, the controller 11 is configured to obtain the water outlet data detected by the water outlet detection sensor 22, and send a second control instruction to the angle adjustment motor 21 based on the water outlet data to adjust the rotation speed of the angle adjustment motor 21. That is, the controller 11 may adjust the rotation speed of the angle adjustment motor 21 according to the water discharge data, for example, when the water discharge amount is large, the rotation speed of the angle adjustment motor 21 may be increased, and when the water discharge amount is small, the rotation speed of the angle adjustment motor 21 may be decreased. By the mode, the rotating speed of the angle adjusting motor 21 can be in accordance with the current water flow speed, and the stability of the electric hydrofoil 100 during automatic posture adjustment is ensured. The specific values of the water discharge amount and the rotation speed of the angle adjustment motor 21 corresponding to the water discharge amount may be determined according to different use situations, and the present application does not limit the specific values.
In the embodiment of the present application, the strut 20 of the electric hydrofoil 100 is further provided with a propeller 23 at a position close to the hydrofoil. The propeller 23 includes a propulsion motor 231 and a propeller 232. The controller 11 is electrically connected to the propulsion motor 231. The controller 11 is further configured to send a third control command to the propulsion motor 231 based on the attitude data and the water outlet data to adjust the rotation speed of the propulsion motor 231. That is, the controller 11 may adjust the rotation speed of the propulsion motor 231 according to the posture data and the water discharge data, thereby adjusting the speed of the electric hydrofoil 100. For example, when the water yield is large and the difference between the posture of the surfboard 10 and the equilibrium state is small, the rotation speed of the propulsion motor 231 may be increased to increase the speed of the electric hydrofoil 100; when the water yield is small and the difference between the posture of the surfboard 10 and the equilibrium state is large, the rotation speed of the propulsion motor 231 may be reduced to reduce the speed of the electric hydrofoil 100. In this way, the controller 11 can reasonably control the speed of the electric hydrofoil surfboard 100 based on the posture of the surfboard 10 and the water outlet data, and the user does not need to artificially adjust the speed of the electric hydrofoil surfboard 100, thereby enhancing the user experience. The specific values of the water discharge amount, the posture data, and the rotation speed of the propulsion motor 231 corresponding to the water discharge amount and the posture data may be determined according to different use cases, and the present application does not limit the values.
Optionally, to facilitate detection of the water discharge data, a water discharge detection sensor 22 is disposed on the strut 20 near the propeller 23. When the electric hydrofoil 100 is in use, the propeller 23 needs to be located underwater, and therefore, the water outlet detection sensor 22 is disposed on the strut 20 at a position close to the propeller 23, so that the water outlet detection sensor 22 is also located underwater, which is convenient for detecting water data. It is understood that the water-out detection sensor 22 may be located between the propeller 23 and the hydrofoil 30, in addition to being located between the surfboard 10 and the propeller 23 as shown in fig. 1.
As a first embodiment, the attitude data includes: pitch angle data. Referring to fig. 3, a fixed coordinate system Oxyz and a coordinate system Ox ' y ' z ' attached to the water ski 10 are defined by the fixed point O. To be provided withThe axes Oz and Oz ' are basic axes, and the vertical planes Oxy and Ox ' y ' are basic planes. The angle θ from the axis Oz to Oz' is called the pitch angle. Accordingly, the controller 11 is configured to send a first control instruction to the angle adjustment motor 21 based on the pitch angle data, so that the angle adjustment motor 21 adjusts the pitch angle of the water skiing board 10 according to the first control instruction. The angle adjusting motor 21 is a pitch angle adjusting motor. That is, when the attitude data is the pitch angle data, the controller 11 may adjust the pitch angle of the aquaplane 10 according to the angle of the acquired pitch angle, for example, when the detected pitch angle is 5 ° and the pitch angle in the equilibrium state is 2 °, the controller 11 may adjust the angle adjustment motor 21 according to the degree of the detected pitch angle and the degree of the pitch angle in the equilibrium state, so that the pitch angle of the aquaplane 10 is the pitch angle in the equilibrium state. Angle from pitch line ON to axis of motion Ox
Referred to as roll angle.
As a second embodiment, the attitude data includes: yaw angle data. With continued reference to fig. 3, the perpendicular ON to plane zOz ' is referred to as the pitch line, which in turn is the intersection of the base planes Ox ' y ' and Oxy. In the right-hand coordinate system, the angle θ should be measured in the counterclockwise direction, as viewed from the positive end of the ON. The angle ψ measured from the fixed axis Ox to the pitch line ON is called the heading angle. Accordingly, the controller 11 is configured to send a first control instruction to the angle adjusting motor 21 based on the yaw angle data, so that the angle adjusting motor 21 adjusts the yaw angle of the water skiing board 10 according to the first control instruction. The angle adjusting motor 21 is a yaw angle adjusting motor. That is, when the attitude data is yaw angle data, the controller 11 may adjust the yaw angle of the water skiing board 10 according to the obtained yaw angle, for example, when the detected yaw angle is 10 ° and the preset yaw angle is 5 °, the controller 11 may adjust the angle adjustment motor 21 according to the detected degree of the yaw angle and the preset degree of the yaw angle, so that the yaw angle of the water skiing board 10 is the preset yaw angle.
As a third embodiment, the attitude data includes: roll angle data. Please continue toReferring to fig. 3, the perpendicular ON to the plane zOz ' is referred to as the pitch line, which in turn is the intersection of the base planes Ox ' y ' and Oxy. In the right-hand coordinate system, the angle θ should be measured in the counterclockwise direction, as viewed from the positive end of the ON. Angle from pitch line ON to axis of motion Ox
Referred to as roll angle. Accordingly, the controller 11 is configured to send a first control command to the angle adjustment motor 21 based on the roll angle data, so that the angle adjustment motor 21 adjusts the yaw angle of the water skiing board 10 according to the first control command. The angle adjusting motor 21 is a roll angle adjusting motor. That is, when the attitude data is the yaw angle data, the controller 11 may adjust the roll angle of the water skiing board 10 according to the obtained roll angle, for example, when the detected roll angle is 4 ° and the roll angle in the balanced state is 1 °, the controller 11 may adjust the angle adjustment motor 21 according to the detected degree of the roll angle and the degree of the roll angle in the balanced state, so that the roll angle of the water skiing board 10 is the roll angle in the balanced state.
It is understood that the attitude data may also be a combination of any two of the above data, for example, the attitude data may include both pitch angle data and yaw angle data, both pitch angle data and roll angle data, and both yaw angle data and roll angle data.
Similarly, the attitude data may also include pitch angle data, yaw angle data, and roll angle data. This mode will be explained below. When the attitude data simultaneously detects the pitch angle data, the yaw angle data, and the roll angle data, the angle adjusting motor 21 includes a pitch angle adjusting motor, a yaw angle adjusting motor, and a roll angle adjusting motor. The controller 11 is electrically connected with the pitch angle adjusting motor, the yaw angle adjusting motor and the roll angle adjusting motor respectively. The pitch angle adjusting motor, yaw angle adjusting motor and roll angle adjusting motor may be disposed on the strut 20 near the aquaplane 10. At this time, the first control instruction includes a fourth control instruction, a fifth control instruction, and a sixth control instruction. Correspondingly, the controller 11 is configured to send a fourth control instruction to the pitch angle adjusting motor based on the pitch angle data, so that the pitch angle adjusting motor adjusts the pitch angle of the water skiing board 10 according to the fourth control instruction. The controller 11 is further configured to send a fifth control instruction to the yaw angle adjusting motor based on the yaw angle data, so that the yaw angle adjusting motor adjusts the yaw angle of the water skiing board 10 according to the fifth control instruction. The controller 11 is further configured to send a sixth control instruction to the roll angle adjusting motor based on the roll angle data, so that the roll angle adjusting motor adjusts the roll angle of the water skiing board 10 according to the sixth control instruction.
In the embodiment of the application, the pitch angle data, the yaw angle data and the roll angle data are detected, so that the controller can adjust the pitch angle adjusting motor, the yaw angle adjusting motor and the roll angle adjusting motor based on the detected pitch angle data, yaw angle data and roll angle data, and further adjust the posture of the water skiing board. Through this mode, improved the regulation precision for the regulation to the gesture of aquaplane 10 is more accurate, further has strengthened user's use and has experienced.
Referring to fig. 2, optionally, in the embodiment of the present application, the control system further includes a signal receiving device 13. The controller 11 is electrically connected to the signal receiving device 13. The signal receiving device 13 is used for receiving a control instruction sent by the terminal equipment. The controller 11 is used to control the electric hydrofoil surfboard 100 based on the control command. For example, the terminal device may send an adaptive control instruction to the controller 11 through the signal receiving device 13, so that the controller 11 adaptively controls the electric hydrofoil. The terminal device may also transmit a user mode command to the controller 11 through the signal receiving means 13 so that the controller 11 does not adaptively control the electric hydrofoil board 100, the balance of which is controlled by the user. It is also understood that the user can control the mode of the electric hydrofoil board 100 through the terminal device according to the needs, for example, a beginner can adopt the adaptive control mode, and a sophisticated player can adopt the user mode.
The terminal device may be a remote controller (remote controller), such as a radio remote controller, an infrared remote controller, a mobile phone, a tablet, and the like. The signal receiving device 13 may be an infrared receiving device, and correspondingly, the signal transmitting device included in the terminal device is an infrared transmitting device; the signal receiving means 13 may also be a radio receiving means, and the signal transmitting means comprised by the corresponding terminal equipment is a radio transmitting means. The present application is not limited thereto.
Optionally, in the embodiment of the present application, the control system further includes a signal conditioning circuit 14, and the signal conditioning circuit 14 is electrically connected to the controller 11 and the attitude sensor 12, respectively. The signal conditioning circuit 14 is configured to condition data detected by the attitude sensor 12 and send the conditioned data to the controller 11. The signal conditioning circuit 14 may include, among other things, an amplifier, and a filter. One end of the filter is connected to the attitude sensor 12, the other end of the filter is connected to the amplifier, and the other end of the amplifier is connected to the controller 11. The amplifier is used to increase the input signal level. A filter may be used to remove noise. The signal adjusting circuit can improve the accuracy of the attitude data acquired by the controller.
Referring to fig. 4, based on the same inventive concept, an embodiment of the present application further provides a control method, which is applied to the controller of the electric hydrofoil surfboard provided in the above embodiment. The method comprises the following steps: step S101-step S102.
Step S101: and acquiring attitude data of the water skiing board detected by the attitude sensor.
Step S102: and sending a first control instruction to the angle adjusting motor based on the attitude data so that the angle adjusting motor adjusts the attitude of the water skiing board according to the first control instruction.
It should be noted that the above steps have been described in the foregoing embodiments, and in order to avoid redundancy, the description will not be repeated. It is understood that the control method provided by the implementation of the present application further includes all the steps executed by the aforementioned controller. For convenience and brevity of description, specific processes of the control method may refer to the execution steps of the controller in the foregoing embodiments, and are not described herein again.
Based on the same inventive concept, the present application further provides a storage medium, on which a computer program is stored, and when the computer program is executed, the computer program performs the method provided in the foregoing embodiments.
The storage medium may be any available medium that can be accessed by a computer or a data storage device including one or more integrated servers, data centers, and the like. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
In addition, units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
Furthermore, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. An electric hydrofoil surfboard comprising:
the water skis are provided with a control system, and the control system comprises a controller and an attitude sensor electrically connected with the controller; the controller is used for acquiring attitude data of the water skiing board detected by the attitude sensor;
one end of the strut is connected with the water skiing board, an angle adjusting motor is arranged on the strut and electrically connected with the controller, and the controller is used for sending a first control instruction to the angle adjusting motor based on the attitude data so that the angle adjusting motor can adjust the attitude of the water skiing board according to the first control instruction;
and the water wing plate is connected with the other end of the support rod.
2. The electric hydrofoil surfboard according to claim 1 wherein the strut is further provided with a water outlet detection sensor electrically connected to the controller, and the controller is configured to obtain water outlet data detected by the water outlet detection sensor and send a second control command to the angle adjustment motor based on the water outlet data to adjust the rotation speed of the angle adjustment motor.
3. The electric hydrofoil surfboard of claim 2 wherein the strut is further provided with a propeller, the propeller comprising a propulsion motor; the propulsion motor is electrically connected with the controller, and the controller is further used for sending a third control instruction to the propulsion motor based on the attitude data and the water outlet data so as to adjust the rotating speed of the propulsion motor.
4. The electric hydrofoil surfboard of claim 3 wherein the water egress detection sensor is disposed on the strut at a location proximate to the propeller.
5. The electric hydrofoil surfboard of claim 1 wherein the attitude data is pitch angle data and, in response, the controller is configured to send a first control command to the angle adjustment motor based on the pitch angle data to cause the angle adjustment motor to adjust the pitch angle of the surfboard in accordance with the first control command.
6. The electric hydrofoil surfboard of claim 1 wherein the attitude data is yaw angle data and, in response, the controller is configured to send a first control command to the angle adjustment motor based on the yaw angle data to cause the angle adjustment motor to adjust the yaw angle of the surfboard in accordance with the first control command.
7. The electric hydrofoil surfboard of claim 1 wherein the attitude data is roll angle data and, in response, the controller is configured to send a first control command to the angle adjustment motor based on the roll angle data to cause the angle adjustment motor to adjust the roll angle of the surfboard in accordance with the first control command.
8. The electric hydrofoil surfboard of claim 1 wherein the attitude data includes pitch angle data, yaw angle data, and roll angle data;
correspondingly, the angle adjustment motor includes: a pitch angle adjusting motor, a yaw angle adjusting motor and a roll angle adjusting motor; the controller is respectively electrically connected with the pitch angle adjusting motor, the yaw angle adjusting motor and the roll angle adjusting motor; the first control instruction comprises a fourth control instruction, a fifth control instruction and a sixth control instruction;
the controller is used for sending the fourth control instruction to the pitch angle adjusting motor based on the pitch angle data so that the pitch angle adjusting motor adjusts the pitch angle of the water skiing board according to the fourth control instruction; the controller is further configured to send the fifth control instruction to the yaw angle adjusting motor based on the yaw angle data, so that the yaw angle adjusting motor adjusts the yaw angle of the water skiing plate according to the fifth control instruction; the controller is further configured to send the sixth control instruction to the roll angle adjusting motor based on the roll angle data, so that the roll angle adjusting motor adjusts the roll angle of the water skiing board according to the sixth control instruction.
9. The electric hydrofoil surfboard of claim 1 wherein the control system further comprises a signal receiving device, the signal receiving device being electrically connected to the controller, the signal receiving device being further communicatively connected to a terminal device.
10. A control method applied to a controller in an electric hydrofoil as claimed in claim 1, the method comprising:
acquiring attitude data of the water skiing board detected by the attitude sensor;
and sending a first control instruction to the angle adjusting motor based on the attitude data so that the angle adjusting motor adjusts the attitude of the water skiing board according to the first control instruction.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011342257.7A CN112373629A (en) | 2020-11-24 | 2020-11-24 | Electric hydrofoil surfboard and control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011342257.7A CN112373629A (en) | 2020-11-24 | 2020-11-24 | Electric hydrofoil surfboard and control method |
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| CN112373629A true CN112373629A (en) | 2021-02-19 |
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| CN202011342257.7A Pending CN112373629A (en) | 2020-11-24 | 2020-11-24 | Electric hydrofoil surfboard and control method |
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| CN113238568A (en) * | 2021-04-26 | 2021-08-10 | 天津小鲨鱼智能科技有限公司 | Following method, aircraft and first equipment |
| CN116215768A (en) * | 2023-02-06 | 2023-06-06 | 惠州奥视通电子有限公司 | Beidou positioning amphibious hydrofoil plate |
| CN117270450A (en) * | 2023-11-22 | 2023-12-22 | 深圳市苇渡智能科技有限公司 | Control system of water craft |
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