TW201743153A - Intelligent balanced surfing device - Google Patents

Abstract

This invention includes a surf board, a driving portion, a surfing direction controlling portion, a surfing tilting angle controlling portion, an intelligent balanced portion, and a controller. This device is driven by the driving portion so that this device can surf on water or the like. If the surfer wants to turn left, right, up or down, it can be controlled by the surfing direction controlling portion and the surfing tilting angle controlling portion. Once the device gets tilted too much, the intelligent balanced portion can make the surf board tilted back so as to keep it well balanced. The controller is able to control the actions of driving portion, the surfing direction controlling portion, the surfing tilting angle controlling portion, and the intelligent balanced portion. Therefore, this invention can effectuate the intelligent balance function. It can generate the pushing force for surfing. It can automatically turn off this device when the user falls in water. In addition, this invention can be remote controlled.

Description

Smart balance surfing device

The invention relates to a smart balance surfing device, in particular to a smart balance surf device which has the functions of automatically maintaining the balance of the surfboard, generating the thrust for pushing the surfboard surfing, automatically discharging the water, and the remote control function with the remote control function.

The traditional surfboard is only for the user to step on, allowing the user to surf in the surfing area. Traditional surfboards have the following problems: [1] Unbalanced thrust cannot be produced. The traditional surfboard is only for users to balance their surf and not fall into the water with their own skill and balance. This may be very simple for professional surfers, but for newcomers who are getting started. It’s not easy to say that newcomers who are new to surfing can’t enjoy surfing in a short time. [2] No surfing thrust. Those who are familiar with the surf field know that “wave selection” is one of the most important requirements of the surfing process. If the waves are not big enough and not beautiful enough, even the surfers with excellent skills can't surf. The main reason is that the wave thrust is insufficient, plus the tradition. The surfboard does not have a surf thrust device, so the surf can not be completed smoothly. In view of this, it is necessary to develop a technique that can solve the above disadvantages.

The object of the present invention is to provide a smart balance surfing device which has the advantages of automatically maintaining the balance of the surfboard, generating the thrust for pushing the surfboard surfing, the safety design of the automatic power-off of the falling water, and the remote control function. In particular, the problem to be solved by the present invention is that conventional surfboards cannot produce problems such as balanced thrust and no surf thrust. The technical means for solving the above problem is to provide a smart balance surfing device, comprising: a surfboard having a head, a tail and a virtual center line, the virtual center line being located between the head and the tail; a power unit is disposed under the surfboard for pushing the surfboard to surf in a surfing environment; a surf steering control unit is disposed at a position below the surfboard near the tail to control the surfing The board is changed between the left turn and the right turn; a surf tilt control unit is disposed at a position below the surfboard near the head to control the sway between the downtilt and the upright; a smart balance The utility model is disposed substantially below the surfboard along the virtual center line, and is provided with: a sensing device for sensing an inclination angle of the surfboard when surfing, and emitting a tilt angle signal; The device, when the tilt angle signal exceeds a predetermined value, for generating a balance thrust for pushing the surfboard to be reset, for a user to balance on the surfboard, and sustainable a surfing environment in the surf environment; a control unit is provided with: a central processing unit for controlling the power unit, the surf steering control unit, the surf tilt control unit, and the balancing power unit; and a control module For the user to operate, the power unit, the surf steering control unit, the surf angle control unit, and the balance power unit can be controlled by the central processing unit; a power source for supplying the power unit, a surf steering control unit, the surf tilt control unit, the balance power unit, and power required for the control unit to operate. The above objects and advantages of the present invention will be readily understood from the following detailed description of the preferred embodiments illustrated herein. The invention will be described in detail in the following examples in conjunction with the drawings:

Referring to Figures 1, 2, 3, 4 and 5, the present invention is a smart balance surfing device comprising: a surfboard 10 having a head 11, a tail 12 and a virtual center Line 13, the virtual centerline 13 is located between the head 11 and the tail 12. A power unit 20 is disposed below the surfboard 10 for pushing the surfboard 10 to surf in a surfing environment 91. A surf steering control unit 30 is disposed below the surfboard 10 near the tail 12 for controlling the volleyball 10 to turn to the left (see FIG. 6A) and to the right (see FIG. 6B). A surf angle control unit 40 is disposed at a position below the surfboard 10 near the head 11 for controlling the surfboard 10 to be tilted between the downward tilt (see FIG. 7A) and the upward tilt (see FIG. 7B). . A smart balance portion 50 is disposed substantially below the surfboard 10 along the virtual centerline 13 and is provided with: a sensing device 51 for sensing the tilt angle of the surfboard 10 when surfing. And send a tilt angle signal 51A (see Figure 10). A balancing power unit 52, when the tilt angle signal 51A exceeds a predetermined value, for generating a balance thrust for pushing the surfboard 10 to be reset, for a user 92 to maintain balance on the surfboard 10, which may last The surf environment 91 is surfed; a control unit 60 is provided with: a central processing unit 61 for controlling the power unit 20, the surf steering control unit 30, the surf tilt control unit 40, and the balance power unit 52 action. A control module 62 is operated by the user 92, and the power unit 20, the surf steering control unit 30, the surf angle control unit 40, and the balance power unit 52 are controlled by the central processing unit 61. A power source 63 is provided to supply the power required by the power unit 20, the surf steering control unit 30, the surf angle control unit 40, the balance power unit 52, and the control unit 60. In practice, referring to FIG. 10, the power unit 20 includes a motor control circuit 21, a power motor 22, and a power blade 23; the motor control circuit 21 is controlled by the control unit 60 to drive the power motor 22 The power motor 22 rotates the power blade 23 to push the surfboard 10 to surf in the surfing environment 91. The surf steering control unit 30 includes a steering drive 31, a steering servo motor 32, a steering rudder plate 33, and a steering limit switch 34. The steering drive 31 is controlled by the control unit 60 to drive the steering servo motor 32. The steering servo motor 32 rotates the steering rudder plate 33 (refer to FIGS. 6A and 6B, at least between a left turn angle θ11 and a right turn angle θ12) to control the surfboard 10 to the left ( Referring to Fig. 6A), turning to the right (refer to Fig. 6B), the shifting switch 34 is used to limit the steering limit angle of the steering rudder plate 33, and the steering rudder plate 33 is prevented from being oversteered. The slanting angle control unit 40 includes a tilting angle driver 41, a tilting angle servo motor 42, a tilting rudder plate 43, and a tilting limit switch 44. The tilting angle driver 41 is controlled by the control unit 60 to drive the tilting angle servo motor 42. The tilt servo motor 42 rotates the tilt rudder plate 43 (refer to FIG. 3, at least between the downward tilt angle θ21 and an upward tilt angle θ22) to control the surfboard 10 to tilt downward (see section 7A). The tilting limit switch 44 is used to limit the tilt limit angle of the tilt rudder plate 43 to prevent the tilt angle of the tilt rudder plate 43 from being excessive. The sensing device 51 includes a balance bar 511, a balance bar encoder 512 and an analog/digital converter 513 (see FIGS. 4 and 8B); the balance bar 511 is used to tilt with the surfboard 10 in which the surf is traveling. (Refer to Figures 8B and 9B, for example, between a right swing angle θA and a left swing angle θB); the balance bar encoder 512 is used to sense and emit the tilt angle signal 51A of the balance bar 511 (see 8A and 9A, corresponding to the right swing angle θA and the left swing angle θB, and between an excessive right tilt angle θ31 and an excessive left tilt angle θ32; the analog/digital converter 513 is used for the tilt The angle signal 51A is converted from an analog signal to a digital signal. The balancing power unit 52 includes a balance driver 521, a balance servo motor 522 and a balance blade 523. The balance driver 521 is controlled by the control unit 60 when the tilt angle signal 51A reaches (or exceeds) a predetermined value ( The balance swing angle θA and the left swing angle θB start the balance servo motor 522, and the balance servo motor 522 drives the balance blade 523 to rotate (when the right swing angle θA is forward, when the swing is left) The angle θB is reversed.) for generating a balance thrust that urges the surfboard 10 to reset, so that the user 92 is balanced on the surfboard 10 and can continue to surf in the surf environment 91. In more detail, regarding the discriminating process of whether the tilt angle signal 51A reaches the right swing angle θA or the left swing angle θB, a fuzzy controller or a PID controller may be built in the central processing unit 61 (proportion - The integral-differential controller consists of a proportional unit P, an integral unit I and a differential unit D. The three parameters of Kp, Ki and Kd can be applied to systems whose basic linearity and dynamic characteristics do not change with time. Both the fuzzy control system and the PID controller are well-known technologies, and there are related application devices on the market, and will not be described. The control module 62 includes an accelerator button 621, a deceleration button 622, a stop button 623, a left turn button 624, a right turn button 625, a down button 626, and an up button 627. The user 92 controls the operation of the power unit 20, the surf steering control unit 30, the surf angle control unit 40, and the balance power unit 52 via the central processing unit 61. The present invention further includes: a wireless control device 70A, comprising a wireless control module 71, a wireless transmitter 72, and a wireless receiver 73; the wireless control module 71 is provided with a wireless acceleration button 711 and a wireless deceleration button 712. a wireless stop button 713, a wireless left turn button 714, a wireless right turn button 715, a wireless down button 716, and a wireless up button 717; the buttons are respectively pressed by the user 92 and transmitted through the wireless The wireless device 73 is coupled to the central processing unit 61 for receiving the wireless control signal 71A from the wireless control module 71 for the central processing unit 61 to control the power unit 20 The surf steering control unit 30, the surf angle control unit 40, and the balance power unit 52 operate. A safety power-off control module 70B is provided with a fixed switch member 721 and a magnetic pull member 722. When the magnetic pull member 722 is attracted to the fixed switch member 721, the fixed switch member 721 is in a path state. The power unit 20, the surf steering control unit 30, the surf angle control unit 40, and the balance power unit 52 are all activated. When the magnetic puller 722 is pulled away by the user 92 (possibly pulling the water due to falling water) The magnetic puller 722) the fixed switch member 721, the fixed switch member 721 is in an open state (the power portion 20, the surf steering control portion 30, the surf tilt control portion 40, and the balance power unit 52 are all closed) This prevents the user 92 from being injured by any structure in the startup on the surfboard 10 after falling into the water. Referring to Fig. 11, the process according to the present invention for maintaining the balance of the surfboard can include the following steps after the start: Step A1 (81A): Control system initialization. Step A2 (81B): detecting the control signal and controlling the motion module setting. When set to 0, it is represented as "fuzzy control", and when set to 1, it means "PID control" (whether the control unit 60 is automatically set or manually The settings are all well-known technologies that are quite common on the circuit and must be reached without further elaboration. Step A3 (81C): Is the detection normal? If the result of the determination is "NO", the process returns to step A1 (81A) to re-operate, and if the result of the determination is "YES", the next step is performed. Step A4 (81D): Receive the tilt angle signal from the balance bar encoder. Step A5 (81E): Perform the tilt angle and angular velocity measurement operations of the balance bar. Step A6 (81F): Is the discrimination setting 0? When the determination result is "NO", step A71 (811G) is performed: the PID control calculation is executed. When the discrimination result is "YES", step A72 (812G) is performed: the tilt angle and the angular velocity parameters are blurred, and then the next step is performed. Step A8 (81H): Perform fuzzy control calculus (can retrieve or input relevant data from the fuzzy rule database). Step A9 (81I): Output the balance thrust value. (Previous step A71 (811G): Perform PID control calculation. After the end, jump to this step.) Step A10 (81J): The balance servo motor drives the balance blade to rotate, generates balanced thrust, and then ends. Referring to FIG. 12, the operation process of the control module of the present invention may include the following steps after the start: Step B1 (82A): receiving the control module command. Step B2 (82B): Perform system motion control (including acceleration, deceleration, left turn, right turn, up, down, stop, etc.). Step B3 (82C): Determine whether to stop? If the result of the determination is "NO", the process returns to step B1 (82A) to re-operate, and if the result of the determination is "YES", the operation is terminated. Referring to FIG. 13, the operation process of the wireless control device of the present invention may include the following steps after starting: Step C1 (83A): receiving a wireless control signal. Step C2 (83B): Perform system motion control (including acceleration, deceleration, left turn, right turn, up, down, stop, etc.). Step C3 (83C): Determine whether to stop? If the result of the determination is "NO", the process returns to step C1 (83A) to re-operate, and if the result of the determination is "YES", the operation is terminated. Referring to FIG. 14, the operation process of the safety power-off control module of the present invention may include the following steps after the start: Step D1 (84A): receiving a command of the safety power-off control module. Step D2 (84B): Execution stops the advancement and then ends. That is, the surfboard 10 of the present invention can perform the following actions in the surfing environment 91: [a] Acceleration/deceleration and stop: When the user 92 presses the accelerator key 621, the deceleration key 622, or the stop key 623, The power unit 20 is controlled to accelerate, decelerate or stop. [b] Turn left and right: Referring to Figures 6A and 6B, when the user 92 presses the left turn key 624 or the right turn key 625, the steering rudder plate 33 can be controlled to perform a left swing (for example, a left turn angle θ11). Or right swing motion (for example, right turn angle θ12), and the surfboard 10 can be controlled to turn left or right. [c] Downward tilting: Referring to Figures 7A and 7B, when the user 92 presses the down button 626 or the up button 627, the tilting rudder 43 can be controlled to make a downtilt angle θ21 or up. The swing of the angle θ22 (see Fig. 3) can control the surfboard 10 to tilt down or up. [d] Left and right balance: Referring to Figures 8A and 9A, when the tilt angle signal 51A of the sensing device 51 is tilted with the surfboard 10 in the surfing environment 91 to a right swing angle θA or a left swing angle θB (respectively The surfboard 10 is inclined to reach the excessive right tilt angle θ31 or the excessive left tilt angle θ32), and the control unit 60 automatically activates the balance power device 52 to rotate forward (corresponding to the right swing angle θA) or reverse (corresponding to the left swing angle θB). The balance thrust is generated and the surfboard 10 can be pushed back to a generally balanced position. The advantages and effects of the present invention can be summarized as follows: [1] Automatically maintain the balance of the surfboard. The invention is provided with an inductive device under the surfboard. When the tilting angle signal of the sensing device is inclined with the surfboard in the surfing environment and reaches or exceeds a predetermined angle value (for example, a right swing angle or a left swing angle), the control unit automatically According to the inclination angle of the surfboard, the balance power device is started (the forward or reverse rotation is automatically changed according to the inclination angle) to generate the balance thrust (the rotation speed varies with the inclination angle. In principle, the larger the inclination angle, the faster the rotation speed and the larger the larger the rotation speed. Balance the thrust.), and push the surfboard back to a generally balanced position. Therefore, the balance of the surfboard can be automatically maintained. [2] Produces thrust to propel surfboards. The present invention is provided with a power unit, and even if the wave impulse at sea is insufficient for surfing operation, the power unit can generate surf power, and the surf steering and control unit and the surf angle control unit can be used to make a left turn and a right turn during the surfing action. Down and up and other actions. [3] Safety design for automatic power failure of falling water. The invention is provided with a safety power-off control module, one end of which is connected to the user, and once the user drops the water and pulls to the safety power-off control module, the safety power-off control module is immediately powered off. [4] With remote control. The invention is provided with a wireless control device, which can directly press the hand (the control module is convenient for the foot to step on the manipulation), and can remotely make left turn, right turn, down tilt and upswing during the surfing process. The present invention has been described in detail with reference to the preferred embodiments of the present invention, without departing from the spirit and scope of the invention.

10‧‧‧surfboard
11‧‧‧ head
12‧‧‧Stern
13‧‧‧Virtual Centerline
20‧‧‧Power Department
21‧‧‧Motor control circuit
22‧‧‧Power motor
23‧‧‧Power Blades
30‧‧‧ Surf Steering Control Department
31‧‧‧Steering drive
32‧‧‧Steering servo motor
33‧‧‧ steering rudder
34‧‧‧steering limit switch
40‧‧‧ Surf Dip Control Department
41‧‧‧inclination drive
42‧‧‧inclination servo motor
43‧‧‧ Dip angle rudder
44‧‧‧ inclination limit switch
50‧‧‧Smart Balance
51‧‧‧Induction device
511‧‧‧balance bar
512‧‧‧balance bar encoder
513‧‧‧ Analog/Digital Converter
51A‧‧‧Slant angle signal
52‧‧‧Balance power unit
521‧‧‧balanced drive
522‧‧‧Balance servo motor
523‧‧‧balanced blades
60‧‧‧Control Department
61‧‧‧Central processor
62‧‧‧Control Module
621‧‧‧Accelerator
622‧‧‧Deceleration button
623‧‧‧stop button
624‧‧‧Left turn button
625‧‧‧right turn key
626‧‧‧ Down button
627‧‧‧Upward key
63‧‧‧Power supply
70A‧‧‧Wireless control unit
70B‧‧‧Safe Power Off Control Module
71‧‧‧Wireless Control Module
711‧‧‧Wireless accelerator
712‧‧‧Wireless deceleration button
713‧‧‧Wireless stop button
714‧‧‧Wireless left turn key
715‧‧‧Wireless right turn button
716‧‧‧Wireless down button
717‧‧‧Wireless up button
71A‧‧‧Wireless Control Signal
72‧‧‧Wireless transmitter
721‧‧‧Fixed switch parts
722‧‧‧Magnetic pull parts
73‧‧‧Wireless Receiver
81A‧‧‧Step A1
81B‧‧‧Step A2
81C‧‧‧Step A3
81D‧‧‧Step A4
81E‧‧‧Step A5
81F‧‧‧Step A6
811G‧‧‧Step A71
812G‧‧‧Step A72
81H‧‧‧Step A8
81I‧‧‧Step A9
81J‧‧‧Step A10
82A‧‧‧Step B1
82B‧‧‧Step B2
82C‧‧‧Step B3
83A‧‧‧Step C1
83B‧‧‧Step C2
83C‧‧‧Step C3
84A‧‧‧Step D1
84B‧‧‧Step D2
91‧‧‧ surfing environment
92‧‧‧User θ11‧‧‧Left turn angle θ12‧‧‧Right turn angle θ21‧‧‧Dip angle θ22‧‧‧Upward angle θ31‧‧‧Excessive right tilt angle θ32‧‧‧Excessive left rake angle θA‧ ‧‧Right swing angle θB‧‧‧Left swing angle

1 is a plan view of the first embodiment, FIG. 3 is a plan view of the first embodiment of the present invention, and FIG. 4 is a schematic view of the sensing device of the present invention. FIG. 4 is a schematic view of the sensing device of the present invention. 6A and 6B are respectively a schematic diagram of the surf steering control unit controlling the left and right turns of the surfboard according to the present invention. FIGS. 7A and 7B are respectively the surf angle control unit of the present invention, and the surfboard is tilted down and up. Figs. 8A and 8B are respectively a schematic diagram of the present invention according to the present invention, in which the surfboard of the present invention exhibits a right right angle and a right swing angle corresponding to the sensing device, and the balance power is generated. FIG. 10 is a system block diagram of the present invention. FIG. 11 is a flow chart of maintaining the balance of the surfboard according to the present invention. FIG. 12 is a flow chart showing a balance of the balance of the surfboard. FIG. 13 is a flow chart showing the operation of the wireless control device of the present invention. FIG. 14 is a flow chart showing the operation of the safe power-off control module of the present invention.

10‧‧‧surfboard

11‧‧‧ head

12‧‧‧Stern

13‧‧‧Virtual Centerline

22‧‧‧Power motor

23‧‧‧Power Blades

30‧‧‧ Surf Steering Control Department

32‧‧‧Steering servo motor

33‧‧‧ steering rudder

40‧‧‧ Surf Dip Control Department

43‧‧‧ Dip angle rudder

51‧‧‧Induction device

52‧‧‧Balance power unit

522‧‧‧Balance servo motor

523‧‧‧balanced blades

60‧‧‧Control Department

61‧‧‧Central processor

622‧‧‧Deceleration button

623‧‧‧stop button

624‧‧‧Left turn button

626‧‧‧ Down button

627‧‧‧Upward key

63‧‧‧Power supply

70B‧‧‧Safe Power Off Control Module

721‧‧‧Fixed switch parts

722‧‧‧Magnetic pull parts

73‧‧‧Wireless Receiver

Claims (9)

A smart balance surfing device includes: a surfboard having a head, a tail, and a virtual centerline, the virtual centerline being located between the head and the tail; a power unit is disposed at the Under the surfboard, the surfboard is used to push the surfboard to surf in a surfing environment; a surf steering control unit is disposed at a position below the surfboard near the tail of the surfboard for controlling the surfboard between the left turn and the right turn a surf angle control unit is disposed at a position below the surfboard near the head to control the sway between the downtilt and the upright; a smart balance is generally along the virtual centerline The device is disposed under the surfboard, and is provided with: an inductive device for sensing the inclination angle of the surfboard when traveling on the surf, and emitting a tilt angle signal; a balance power device is used as the tilt angle signal Exceeding a predetermined value for generating a balance thrust that pushes the surfboard to be reset, for a user to balance on the surfboard, and sustainable in the surf environment a control unit is provided with: a central processing unit for controlling the power unit, the surf steering control unit, the surf tilt control unit, and the balancing power unit; a control module is provided for The user controls the power unit, the surf steering control unit, the surf tilt control unit, and the balance power unit to operate; the power source is configured to supply the power unit and the surf steering control unit. The surf angle control unit, the balance power unit, and the power required to operate the control unit. The smart balance surfing device of claim 1, wherein the power unit comprises: a motor control circuit, a power motor and a power blade; the motor control circuit is controlled by the control unit and driven The power motor rotates the power blade to push the surfboard to surf in the surfing environment. The smart balance surfing device of claim 1, wherein the surf steering control unit comprises: a steering drive, a steering servo motor, a steering rudder plate and a steering limit switch; The control unit controls to drive the steering servo motor, the steering servo motor rotates the steering rudder to control the surfboard to change between a left turn and a right turn; the steering limit switch is used to limit the steering of the steering rudder The extreme angle prevents the steering rudder from oversteering. The smart balance surfing device of claim 1, wherein the surf angle control unit comprises: a tilt drive, a tilt servo motor, a tilt rudder plate and a tilt limit switch; the tilt drive is The control unit controls to drive the tilt servo motor, the tilt servo motor rotates the tilt rudder to control the surfboard to change between the downtilt and the upright; the tilt limit switch is used to limit the tilt of the tilt rudder The limit angle prevents the tilt angle of the tilt rudder from being excessive. The smart balance surfing device of claim 1, wherein the sensing device comprises: a balance bar, a balance bar encoder and an analog/digital converter; the balance bar is used to travel with the surf The surfboard is tilted; the balancer encoder is configured to sense and emit a tilt angle signal of the balance bar; the analog/digital converter is configured to convert the tilt angle signal from an analog signal to a digital signal. The smart balance surfing device of claim 1, wherein the balanced power device comprises: a balance drive, a balance servo motor and a balance blade; the balance drive is controlled by the control portion when the tilt The angle signal reaches a predetermined value, and the balance servo motor is activated. The balance servo motor drives the balance blade to rotate to generate a balance thrust for pushing the surfboard to reset. The smart balance surfing device of claim 1, wherein the control module comprises: an accelerator button, a deceleration button, a stop button, a left turn button, a right turn button, a down button, An up-up key is provided for the user to press, and the power unit, the surf steering control unit, the surf angle control unit, and the balance power unit are controlled by the central processing unit. The smart balance surfing device of claim 1, further comprising: a wireless control device comprising a wireless control module, a wireless transmitter and a wireless receiver; the wireless control module is provided with a wireless control module a wireless accelerator button, a wireless deceleration button, a wireless stop button, a wireless left turn button, a wireless right turn button, a wireless down button, and a wireless up button; each button is pressed by the user and transmitted through the button The wireless transmitter sends a wireless control signal; the wireless receiver is coupled to the central processor for receiving the wireless control signal sent by the wireless control module, wherein the central processor controls the power unit and the surf steering control unit The surf angle control unit and the balance power unit operate. The smart balance surfing device of claim 1, further comprising: a safety power-off control module, wherein a fixed switch member and a magnetic pull member are disposed, and when the magnetic pull member is attached to the The fixed switch member is in a path state. When the magnetic pull member is pulled away from the fixed switch member by the user, the fixed switch member is in an open state.