EP1838571B1 - Motorwasserfahrzeug mit einer steuereinrichtung - Google Patents

Motorwasserfahrzeug mit einer steuereinrichtung Download PDF

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Publication number
EP1838571B1
EP1838571B1 EP06700473A EP06700473A EP1838571B1 EP 1838571 B1 EP1838571 B1 EP 1838571B1 EP 06700473 A EP06700473 A EP 06700473A EP 06700473 A EP06700473 A EP 06700473A EP 1838571 B1 EP1838571 B1 EP 1838571B1
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EP
European Patent Office
Prior art keywords
watercraft
rechargeable
controller
battery
motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP06700473A
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German (de)
English (en)
French (fr)
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EP1838571A1 (de
Inventor
Ralf Bauer
Jürgen Grimmeisen
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Rotinor GmbH
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Rotinor GmbH
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Publication date
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Application filed by Rotinor GmbH filed Critical Rotinor GmbH
Priority to PL06700473T priority Critical patent/PL1838571T3/pl
Publication of EP1838571A1 publication Critical patent/EP1838571A1/de
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/46—Divers' sleds or like craft, i.e. craft on which man in diving-suit rides
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/02—Divers' equipment
    • B63C11/26—Communication means, e.g. means for signalling the presence of divers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/02—Divers' equipment
    • B63C2011/021—Diving computers, i.e. portable computers specially adapted for divers, e.g. wrist worn, watertight electronic devices for detecting or calculating scuba diving parameters

Definitions

  • the invention relates to a motor watercraft with a control device and with a drive unit having a water screw driven by an electric motor, wherein the electric motor, an operating unit, a motor controller, a accumulator control and a battery are arranged in a vehicle body and wherein the water screw in a flow channel in the vehicle body is arranged.
  • the invention further relates to a method for operating a control device of a motor watercraft with a drive unit, the one by a An electric motor driven water screw, wherein the electric motor, an operating unit, a motor controller, a accumulator control and an accumulator are arranged in a vehicle body and wherein the water screw is arranged in a flow channel in the vehicle body.
  • a motor watercraft in the context of the invention is a motor-driven watercraft, in which the person controlling the vessel is pulled on or under the water surface.
  • the watercraft serves as a locomotion aid for a swimmer or diver.
  • Also known as wet diving boat such a vessel is known because the swimmer or diver sitting in any cabin or on the vehicle, but is directly in contact with the water.
  • a motor watercraft which has a cylindrical main body in which the batteries and other control parts are arranged. At the rear, both the electric motor and the water screw are mounted in an annular body. This vessel can serve both to propel a small boat and an individual. The flow generated by the electric motor and the water screw strikes the person to be transported.
  • Another motor watercraft is through the WO 01/62347 known.
  • the user is on the vehicle body and the water screw in the flow channel is driven by a battery powered electric motor so that a water flow is sucked through the flow channel, which runs counter to the direction of travel of the motor watercraft.
  • the flow of water is thus kept away from the user and can by the shape of the vehicle body on the User be passed.
  • a screw, an electric motor and a control unit are combined to form a unit and housed in the flow channel of the motor watercraft. This brings a significant simplification in the construction and maintenance of the motor watercraft with it.
  • the batteries housed in a separate housing are easily removable for charging and can be replaced by a new housing with charged batteries.
  • the motor watercraft When used as intended, the motor watercraft is exposed to fresh or salt water, temperature fluctuations and exposure to water pressure. If the device is used in a rental, special security measures and differently trained users must be taken into account. In particular, malfunction of the device, which could damage the user, must be largely avoided.
  • the object relating to the device is achieved in that the operating unit, the motor control and the accumulator control are brought into data connection by means of a communication device controlled via the control device. In this way, it can be achieved that the data transmission is particularly secure against interference, a continuous monitoring of the system components is carried out and, if necessary, an emergency shutdown can be carried out.
  • the controlled communication device has a system bus for the data exchange, the system architecture is particularly clear, since identical signals are available in all components and, in the case of changes, these simultaneously take effect on all components.
  • system bus is designed as a two-wire system with bidirectional differential signal transmission, reliable data transport can be achieved despite high medium-frequency currents in the motor control and the drive unit and the associated electromagnetic interference.
  • Low-cost standard components can be used if the controlled communication device has an RS-485 transmission device.
  • the operating unit is designed as a bus master and the motor control and accumulator control as a bus slave, it can be achieved that the data processing unit with memory can monitor the data traffic and determine an interruption. In such an error case, an emergency shutdown can be triggered.
  • a wireless interface is provided for the data exchange between the control device and a service device, a data connection protected against the ingress of water can be realized.
  • a particularly advantageous embodiment provides that the wireless interface is designed as a bidirectional infrared interface or other optical interface. Many portable computers are equipped with such an interface and thus can be used without upgrading the maintenance of the motor water device.
  • the available bandwidth is optimally utilized for the data traffic.
  • One embodiment with customizable operating parameters for trained operators and extended privileges for service personnel provides access privileges to access internal parameters, metrics, settings, and programming.
  • a protected against unauthorized opening and / or penetrating water embodiment provides that the engine control has at least one light sensor and at least one water sensor.
  • the motor watercraft is particularly protected against electrical malfunction.
  • waterproof hidden controls are located on the controller, special functions such as resetting the rental period clock can be triggered without opening the waterproof enclosure of the device.
  • an acoustic alarm device is provided in the accumulator control, the operator can be made aware of critical operating conditions such as an over-temperature of components or a malfunction.
  • a particularly suitable for renting the motor watercraft execution provides that in the control device acting on the drive unit time detection device is provided.
  • the maximum depth can be adapted to the load capacity of the watertight envelope of the motor watercraft as well as to the capabilities of the operator, if in the control device at least one water pressure sensor is arranged.
  • a robust embodiment of the operating device of the motor watercraft provides that the operating unit has at least one handle with a handle sensor and that the handle sensor consists of a movably mounted permanent magnet, which is in operative connection with two magnetic field sensors.
  • Self-monitoring of the operating device and thus a particularly functionally reliable design, can be achieved by error detection by formation of a sum signal from the two signals of the magnetic field sensors is provided for the evaluation of the signals of the two magnetic field sensors in the handle sensor.
  • the object relating to the method is achieved by transmitting data between the operating unit, the motor control and the accumulator control by means of a controlled communication device. This allows monitoring of the components and thus a particularly safe operation.
  • An increase in operational readiness by means of replaceable accumulators while at the same time safe operation by integration of the accumulator and an intelligent accumulator control can be achieved by the data transmission and the power transmission is made via a detachable high-current connector.
  • a safer mode of operation is achieved by the accumulator control completely switching off the voltage at the high current connector when the controlled communication device is interrupted or disturbed for more than 3 seconds. As a result, a threat to operators as well as damage to components is avoided.
  • the electrical safety to the outside as well as the protection of components are improved by switching a maximum of 16 V at a current limit of 500mA from the accumulator to the high current connector with the electric motor.
  • a particularly easy-to-use, yet sufficient safety regulations embodiment provides that for transporting the motor watercraft with a connected charger via the control unit, a signal to the accumulator control is given, whereupon the accumulator control checks the state of charge of the accumulator and at a charge of more than 10% of the maximum capacity signals an error and starts charging up to 10% of the maximum capacity at a charge level of less than 10% of the maximum capacity.
  • a command to transition to a transport mode via the system bus to the accumulator and the accumulator control separates the operating voltage from the high-current connector and are in the Accumulator horrung all components except for a safety controller of the Disconnected power supply, can be achieved that a safe transport is possible and yet the self-monitoring of the accumulator control is maintained.
  • the motor watercraft can be switched without additional facilities from transport mode to normal operating mode. Wake up from the transport mode when the voltage of the charger is within a permissible voltage range.
  • FIG. 1 shows a control device 1 for a motor watercraft with a control unit 10 and a controlled by him engine control 20, which controls a drive unit 30 with an electric motor 31 and monitors.
  • the motor controller 20 and the operating part 10 are connected via a high-current connector 40 to a battery controller 50, which controls the supply of the control device 1 from an accumulator 60 and monitors.
  • the control panel 10 is used to input driving commands to the vehicle suitable for over- and underwater operation as well as to output messages about the state of the vehicle to the operator. Furthermore, it is used for data input for programs and parameters for the control device 1.
  • the user lies or stands on the vehicle and holds on to a left hand grip 15 and a right hand grip 16.
  • Travel commands are given via the right hand grip 16, which has a handle sensor 18.
  • the handle sensor 18 consists of two horizontally in the direction of travel successively arranged magnetic field sensors and a vertically mounted above permanent magnet, which is suspended on a leaf spring and one pole is located above the front magnetic field sensor in the direction of travel.
  • the right hand grip 16 is tilted towards the operator.
  • the pole of the permanent magnet moves away from the front magnetic field sensor toward the rear magnetic field sensor. At maximum deflection, it stands directly above the rear magnetic field sensor.
  • the magnetic field at the front magnetic field sensor steadily decreases while it steadily increases at the rear magnetic field sensor.
  • Both signals are fed to a data processing unit with memory 14, which checks for plausibility and derives movement commands therefrom.
  • the plausibility check includes a calculation of a measure of the total magnetic field on both sensors and a comparison with upper and lower limits. If the total magnetic field is outside the limits, an error is concluded and an emergency stop is initiated. Furthermore, the event is entered in the memory of the data processing unit with memory 14.
  • the operating unit 10 For communication with the operator, the operating unit 10 has an LC display 13.
  • a water pressure sensor 17 is used to monitor the depth of the device. If its adjustable maximum value is exceeded, the drive unit 30 can be temporarily switched off, so that the device rises by self-buoyancy into lower depths.
  • control unit has two hidden Hall sensors 11 and 12. They can be arranged, for example, to the left and right of the LC display 13. If they are activated with associated permanent magnets, for example, a rental period clock can be reset.
  • the keypad 10 communicates with the engine controller 20 and the accumulator controller 50 via a system bus 43. Because of the electrical noise that may be caused by the high medium frequency electrical currents in the engine controller 20, the engine controller 20 and the propulsion unit 30 are spatially separate from the operator panel 10 and the system bus 43 realized in a bidirectional differential signal transmission technology such as RS-485.
  • the control panel 10 operates as a bus master and the motor controller 20 and the accumulator control 50 as a bus slave.
  • the bus master sends commands to the slaves and receives an acknowledgment for each request, which in turn contains the original request.
  • the bus master can determine if a command has reached the slave and has been correctly understood and edited. If the bus master detects an error, it can resend the command or initiate security measures such as an emergency stop.
  • a bidirectional infrared interface 70 is attached at the operating part 10. It can be accessed from the outside on the programs in the control panel 10, motor control 20 and accumulator 50 and, if necessary, new programs can be stored. Furthermore, parameters from these units can be read as well as written to them.
  • a boot loader software is provided for this purpose.
  • the access secured by PIN can also be used to set the rental period for a rental device and the maximum diving depth. Here, the maximum depth of the "user" with its PIN can be adjusted as far as allowed by the "factory" PIN limits.
  • the time can count down and so the user can see the remaining time remaining on the LCD display 13. It may be provided that the power of the electric drive is reduced for a given remaining time in order to signal the user the request to return in addition to the display, but to allow him to return with reduced speed.
  • the commands of the operating unit 10 are forwarded in the motor controller 20 via a controller 22 to a power stage 25.
  • the power output stage 25 is monitored by a temperature sensor 24 and protected against overloading.
  • the power output stage 25 is connected to the drive unit 30 via a power transmission 36 and a data transmission 37.
  • the speed of the electric motor 31 is measured by means of Hall sensors 32, 33 and 34, forwarded via the system bus 43 and compared in the operating unit 10 of the data processing unit with memory 14 with target values.
  • the rotational speed of the electric motor 31 does not return to zero, can with the emergency stop signal 26, the independent acts from the system bus 43, the entire power supply of the engine control 20 are turned off and so a safe stop of the engine can be achieved.
  • the temperature of the electric motor 31 is monitored continuously by means of the temperature sensor 35, so that in the event of an overload, an emergency shutdown can take place.
  • the power level 25 can be completely switched off when the drive is switched off.
  • the accumulator 60 and the associated accumulator controller 50 are interchangeable to achieve a constant readiness of the device. Its connection to the system bus is made via the high current connector 40, which has two data transfer contacts 41 in addition to two power transfer contacts 42. Due to the design of the system bus as a serial bus, two data transfer contacts 41 are sufficient and a particularly robust plug connection with only four contacts can be selected.
  • the accumulator 60 is connected to the accumulator controller 50 via a power transmission 57 and a
  • a safety controller 55 monitors the accumulator voltage and the temperature by means of the temperature sensors 61, 62.
  • the safety controller 55 indicates the danger of overheating as well as possible deep discharge a warning signal via an audible alarm device 54.
  • the safety controller 55 monitors the high current connector 40 for a possible short circuit due to salt water or conductive objects.
  • the voltage at the power transmission contacts 42 may be limited to a safe value of 16V and further limited the maximum current when the engine is stopped. In practice, a value of 500mA has been found to be suitable for current limiting.
  • the driving voltage is switched on as soon as the user actuates the handlebar sensor. Thereupon, the command to turn on the engine by the operating unit
  • the safety controller 55 also monitors the high current connector 40 for an interruption in data transmission over the system bus 43, and shuts off the voltage on the power transmission contacts 42 if it breaks for more than 3 seconds.
  • the motor control 20 and the accumulator control 50 contain water sensors 23 and 53, so that in the case of leakage of the units this event can be entered into the error memory in the data processing device with memory 14 and the drive can be switched off. With water in the battery also an entry in the memory of the battery control is entered, since the battery can also be operated separately from the control unit. In the event of water ingress, a dive trip can be broken off early enough before the motor watercraft suffers major damage. Furthermore, the motor controller 20 and the accumulator control 50 include light sensors 21 and 52, which detect an opening of the components and enable logging in the data processing device with memory 14. With water in the battery also an entry in the memory of the battery control is entered, since the battery can also be operated separately from the control unit.
  • An unauthorized opening of the device can be recognized and used to find causes for possible damage.
  • the accumulator controller 50 can be connected via a charging socket 51 to a charger, not shown here. If the safety controller 55 determines a suitable charging voltage at the contacts of the charging socket 51, the charging process of the accumulator 60 monitored by a charging control 56 begins. In this case, the safety controller 55 monitors the temperature of the accumulator 60 with temperature sensors 61 and 62.
  • the accumulator is due to the high capacity preferably a lithium-ion battery is used.
  • the high current connector 40 For air transport, the high current connector 40 must be de-energized and the charge level of the accumulator 60 may not exceed 10% of the maximum capacity.
  • the user can enter a signal via the operating unit 10 via the system bus 43 to the safety controller 55 when the charger is connected. If the current state of charge is impermissibly high, a warning signal is output and the user must discharge the battery up to the permissible limit. If the charge level is below 10%, the accumulator 60 is charged to 10% of its maximum capacity. Subsequently, the safety controller 55 disconnects the power supply from the power transmission contacts 42 and the other loads. Only the safety controller 55 itself remains active and monitors voltage and temperature at the accumulator 60 and the light sensor 52. The control device 1 is ready for transport.
  • the charger is reconnected. If the safety controller 55 detects a permissible charging voltage, it activates the components of the control device 1 again and initiates charging of the accumulator 60 to the nominal capacity.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Output Control And Ontrol Of Special Type Engine (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Control Of Electric Motors In General (AREA)
  • Photoreceptors In Electrophotography (AREA)
  • Control And Safety Of Cranes (AREA)
  • Control Of Eletrric Generators (AREA)
  • Safety Devices In Control Systems (AREA)
  • Power Sources (AREA)
  • Secondary Cells (AREA)
  • Combined Controls Of Internal Combustion Engines (AREA)
EP06700473A 2005-01-13 2006-01-10 Motorwasserfahrzeug mit einer steuereinrichtung Active EP1838571B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL06700473T PL1838571T3 (pl) 2005-01-13 2006-01-10 Motorowy pojazd wodny z urządzeniem sterującym

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102005001817A DE102005001817B4 (de) 2005-01-13 2005-01-13 Motorwasserfahrzeug mit einer Steuereinrichtung
PCT/EP2006/000139 WO2006074896A1 (de) 2005-01-13 2006-01-10 Motorwasserfahrzeug mit einer steuereinrichtung

Publications (2)

Publication Number Publication Date
EP1838571A1 EP1838571A1 (de) 2007-10-03
EP1838571B1 true EP1838571B1 (de) 2011-10-05

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EP06700473A Active EP1838571B1 (de) 2005-01-13 2006-01-10 Motorwasserfahrzeug mit einer steuereinrichtung

Country Status (20)

Country Link
US (1) US8249764B2 (es)
EP (1) EP1838571B1 (es)
JP (1) JP4755653B2 (es)
KR (1) KR101276784B1 (es)
CN (1) CN100579863C (es)
AT (1) ATE527165T1 (es)
AU (1) AU2006205932B2 (es)
BR (1) BRPI0606638B8 (es)
CA (1) CA2594772C (es)
DE (1) DE102005001817B4 (es)
DK (1) DK1838571T3 (es)
EG (1) EG24864A (es)
ES (1) ES2375148T3 (es)
IL (1) IL184546A (es)
MX (1) MX2007008367A (es)
PL (1) PL1838571T3 (es)
PT (1) PT1838571E (es)
RU (1) RU2381950C2 (es)
UA (1) UA92336C2 (es)
WO (1) WO2006074896A1 (es)

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Also Published As

Publication number Publication date
DE102005001817A1 (de) 2006-07-20
MX2007008367A (es) 2007-11-12
DK1838571T3 (da) 2012-02-06
KR101276784B1 (ko) 2013-06-19
AU2006205932B2 (en) 2011-05-12
RU2007130708A (ru) 2009-02-20
CA2594772C (en) 2011-04-26
CN101119889A (zh) 2008-02-06
US20080269969A1 (en) 2008-10-30
KR20070100961A (ko) 2007-10-15
CA2594772A1 (en) 2006-07-20
WO2006074896A1 (de) 2006-07-20
IL184546A0 (en) 2007-10-31
BRPI0606638B1 (pt) 2020-08-11
UA92336C2 (ru) 2010-10-25
US8249764B2 (en) 2012-08-21
CN100579863C (zh) 2010-01-13
PT1838571E (pt) 2012-01-13
EG24864A (en) 2010-11-01
PL1838571T3 (pl) 2012-04-30
RU2381950C2 (ru) 2010-02-20
AU2006205932A1 (en) 2006-07-20
DE102005001817B4 (de) 2009-01-29
ATE527165T1 (de) 2011-10-15
JP4755653B2 (ja) 2011-08-24
IL184546A (en) 2010-12-30
BRPI0606638B8 (pt) 2022-06-28
JP2008529866A (ja) 2008-08-07
EP1838571A1 (de) 2007-10-03
BRPI0606638A2 (pt) 2009-07-07
ES2375148T3 (es) 2012-02-27

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