WO2016048196A1 - System for actively stabilizing a small floating craft - Google Patents

System for actively stabilizing a small floating craft Download PDF

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Publication number
WO2016048196A1
WO2016048196A1 PCT/RU2015/000604 RU2015000604W WO2016048196A1 WO 2016048196 A1 WO2016048196 A1 WO 2016048196A1 RU 2015000604 W RU2015000604 W RU 2015000604W WO 2016048196 A1 WO2016048196 A1 WO 2016048196A1
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WO
WIPO (PCT)
Prior art keywords
swimming
keel
mover
controller
sensor
Prior art date
Application number
PCT/RU2015/000604
Other languages
French (fr)
Russian (ru)
Other versions
WO2016048196A4 (en
Inventor
Alexei Petrovich Kirpichnikov
Original Assignee
Obschestvo S Ogranichennoi Otvetstvennostiyu "Autex Ltd."
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority to RU2014138622 priority Critical
Priority to RU2014138624 priority
Priority to RU2014138624/11A priority patent/RU2570924C1/en
Priority to RU2014138622/11A priority patent/RU2570998C1/en
Application filed by Obschestvo S Ogranichennoi Otvetstvennostiyu "Autex Ltd." filed Critical Obschestvo S Ogranichennoi Otvetstvennostiyu "Autex Ltd."
Publication of WO2016048196A1 publication Critical patent/WO2016048196A1/en
Publication of WO2016048196A4 publication Critical patent/WO2016048196A4/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B39/00Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
    • B63B39/08Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by using auxiliary jets or propellers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B32/00Water sports boards; Accessories therefor
    • B63B32/10Motor-propelled water sports boards
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B34/00Vessels specially adapted for water sports or leisure; Body-supporting devices specially adapted for water sports or leisure
    • B63B34/26Accessories for canoes, kayaks or the like
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B32/00Water sports boards; Accessories therefor
    • B63B32/60Board appendages, e.g. fins, hydrofoils or centre boards

Abstract

Use: in the building and upgrading of small vessels, boats, kayaks, various surfboards, SUPs, etc. Essence of the invention: a system for actively stabilizing a small floating craft (1) comprises at least one propeller (6) which extends from the body of the floating craft (1) in a direction perpendicular to the roll axis of the floating craft so that, in an operational state, the propeller (6) is in an underwater position, wherein the propeller (6) is capable of generating a torque which acts on the floating craft, the direction of the torque vector being opposite to the direction of the roll vector.

Description

 SYSTEM OF ACTIVE STABILIZATION OF SMALL

 SWIMMING AID

Technical field

 The invention relates to the field of designing small and individual swimming equipment, for example, such as surfboards, SUP, kayaks and canoes, and can be used to increase their stability.

State of the art

 It is known to use balancing weights to reduce the pitching of ships (see, for example, US 2012167812 A1).

 These systems are very cumbersome and complex, they are practically not applicable to boats, kayaks, boards, etc.

 FR 2940781 A1 describes a system to calm the pitching of a ship by means of a flexible connection between the hull and keel of the ship.

 This device essentially has the same disadvantages, in addition, it cannot be used on flat-bottomed ships without a keel, inflatable boats, etc.

 No. 5,474,012 A discloses a ship roll compensation system comprising a control unit, a transmission, and two planes located on either side of the mover.

 However, this system is not effective enough to compensate for pitching, and in addition, it can only be used on the go.

 RU 2384457 C2 describes a storm damper of pitching and rolling pitch, which has two steered wings or two rotary nozzles on propellers mounted on horizontal or inclined balloons in the stern of the ship’s hull under the direct influence of the fluid flow from working propellers. Rotary wing ballers allow elastic play of at least angles of ± 30 °, provided by a spring (or electromagnetic) device with a restoring torque proportional to the deflection of the wing from a neutral angle of zero or specified by the control equipment.

The described system operates in stormy conditions and in combination with powerful propellers; therefore, its efficiency is low for small vessels, skimboards and in relatively calm water. JP H04133893 describes the use of inflatable cavities made with appropriate actuators that allow the cavities to move along the side of the ship.

 Changing the position of the cavities allows you to smoothly change the buoyancy and the characteristics of the suppression of pitching, but not fast enough to soothe the latter.

 In the application WO2006022847, B63B39 / 04, a hydro-gyrostabilizer is described in the form of a cavity mounted on a swimming means in which the rotational movement of a liquid is organized using a water jet.

 A disadvantage of the known device is the limitation of the scope, due to the shape and size of the cavity. In particular, such a system cannot be applied to flat-boats, surfers and skimboards.

 Also known is the active steering wheel (fin) of an individual swimming means, made with the possibility of removable fastening on a swimming means, equipped with a built-in mover and remote control (US 2003167991).

 The known device allows an individual swimming vehicle to move in a controlled mode on the water surface.

 However, the functionality of this device and its scope are limited by short-term movement, it does not allow to fully control the stability of the swimming means.

 Closest to the present invention is a stabilization system of a swimming means comprising L-shaped rods with actuators mounted on the body of the swimming means and moving floats fixed to the rods (US 5787832 A).

 However, this system is characterized by insufficient efficiency and speed for the full repayment of the oscillations of a small swimming means, the known system is not essentially active and the means of moving the floats are not made with the possibility of working out the waves, most likely only with the possibility of changing buoyancy and heel.

For a number of individual boats from kayaks and canoes to SUP and surfboards, it is desirable, on the one hand, to reduce width and improved driving performance, and on the other - an increase in lateral stability and a decrease in the risk of side tipping.

 The objective of the invention is to increase the stability and safety of small-sized swimming equipment through the use of an active stabilization system that compensates for both pitching and user error, and prevents rollover.

Disclosure of invention

 The specified problem is solved in the system of active stabilization of a small swimming craft, designed for movement and balancing on the surface of the water. According to the invention, this system comprises at least one propulsion unit extended from the body of said floating means in a direction perpendicular to the axis of the heel or roll of the swimming means, so that in the working state the entire propulsor or its working part is in an underwater position, while the propulsor is directed with the possibility of creating a torque acting on the indicated swimming means, the vector of which is opposite to the roll or pitch vector.

 Preferably, the system comprises a controller and a sensor for angular position of the swimming means, wherein the input and output of the controller are connected to said sensor and to the control input of at least one mover, respectively.

 The system may optionally be equipped with a sensor of the center of gravity of the floating means, and / or a derivative of the angular position of the indicated floating means, and / or an environmental sensor, and the controller is made with additional information inputs connected to these sensors.

 In addition, the system may further comprise a control panel connected to the controller, wherein the controller is configured to change the channel transmittance coefficient of the angular position tilt sensor from the control panel.

Preferably, the controller is configured to change the channel transfer coefficient of the angular position sensor — propulsion device depending on external conditions, hydrodynamics of the swimming means, the position of the operator’s center of gravity and the mode selected by him. The mover can be carried out from the body of the swimming means in a direction that provides a non-zero projection on the direction perpendicular to the axis of the heel or roll of the swimming means by means of a rod fixed to the body of the swimming means.

 In this case, the rod can be mounted on the housing with the possibility of rotation around a vertical axis and connected with a rotary mechanism controlled by the controller.

 The mover on the rod can be mounted movably with the possibility of changing the direction of thrust. In this case, there may be a drive that provides a change in the position of the mover relative to the rod and connected to the controller.

 According to another embodiment of said system, at least one mover can be mounted on the keel or in the cavity made to the keel, while the mover is mounted with the possibility of creating traction in the direction perpendicular to the longitudinal and vertical axes of the swimming means.

 In this case, the keel can be made removable.

 Flaps can be installed on the keel with the ability to divert the jet created by the propulsion device or propulsors in the direction opposite to the given direction of movement of the swimming means.

 The rear and / or lower part of the keel is flexible.

 The keel can be made with lower petals, on which at least two propulsors are respectively placed, while these petals are executed with the possibility of their fixation in a horizontal, inclined or vertical position.

 In addition, the keel can be made with side plates on which the respective propulsors are mounted.

 At least one cavity can be made in the keel for its controlled filling with water or air.

 At least two propulsors can be mounted on the keel, directed at an obtuse angle to a given direction of movement of the swimming means.

In any version of the location of the movers, these movers can be performed reversible. Preferably, the following are used as a small swimming means: a surfboard, or SUP, or a skimboard, including those made with a reduction in width and / or with a lack of passive means of maintaining balance.

 The main point of the invention is precisely the stabilization of the floating means relative to the vertical or any other selected axis, regardless of the waves on the surface of the water or the dynamic movement of the center of gravity (load) of the smallest floating means. In general, a keel can be used with propulsion devices under the control of the controller, as well as one or more rods with propulsion devices (for reasons of symmetry, convenience, etc.)

 Although the implementation of a controller-controlled system is preferred, it is not the only one possible. So, control can be carried out from the joystick, or by converting the pressure of the athlete's legs into a control effort.

 It is also necessary to emphasize the difference in the behavior of the system of the present invention on a wave with respect to a traditional boat with a balancing float, when the force from the latter is proportional to immersion, and with a certain spatial step of the wave, the roll is maximum and the float enters the wave opening and the pitching is not compensated. The invention provides precisely stabilization, including on the waves, and a small swimming craft behaves much calmer and safer.

 When processing data on the amount of roll from the output of the angle sensor in the controller, the derivatives of this signal, data on wind speed, current, etc. can also be taken into account. Accounting for additional data can improve system performance and, ultimately, stabilization efficiency.

Brief Description of the Drawings

 Figure 1 shows the system in accordance with one of the variants of its implementation with the location of the mover on the rod, while the dotted line shows the position that the rod may occupy, top view;

 in FIG. 2 - another embodiment of the system, top view;

in FIG. 3 shows the connection diagram of the controller; in FIG. 4 - embodiment of the stabilization system with the location of the mover on the keel, side view;

 in FIG. 5 - the same, with a different arrangement of movers, bottom view;

 in FIG. 6 - the same with the location of the movers on the petals, front view; in FIG. 7 shows another embodiment of the stabilization system with the location of the mover on the keel, side view;

 in FIG. 8 - same, top view;

 in FIG. 9 - embodiment of the stabilization system with the location of the movers on the keel and on the side plates, side view;

 in FIG. 10 is the same front view;

 in FIG. 11 is an embodiment of a stabilization system with an arrangement of propulsors on a folding split keel, side view;

 in FIG. 12 - the same in the unfolded position of the keel, front view;

 in FIG. 13 - the same in the folded position of the keel, front view. Embodiments of the invention

As shown in FIG. 1, in the simplest case, the system can be formed by a rod 2 fixedly mounted on the swimming vehicle 1, at the end of which a propulsion device 6 is mounted, which is configured to create a pulling force directed both up and down. As the propulsion 6, an electric motor with a propeller or a water-jet propulsion can be used, the propulsion being below the surface of the water. In this case, a moment is created that compensates for the rolls of the swimming means 1. This is achieved by the fact that the magnitude of the moment is determined by the controller 7 by the magnitude and rate of change of the angular position of the swimming means 1, determined by the sensors 9 and 10 installed on the swimming means, respectively (the algorithm can also be used data on the position of the center of gravity coming from the sensor 11, as well as higher derivatives, etc.). The output signal of the controller 7 controls the thrust of the propulsion device 6, and if, in the example shown in Fig. 1, the swimming device 1 is tilted by a wave or an athlete who has transferred the center of gravity to the starboard side, the propulsion device 6, located to the right, should provide thrust down to the moment of full compensation roll, that is, in antiphase to the pitching vector. Conversely, if the swimming means 1 is inclined to the left side, the propulsion 6 creates a thrust up. The rod 2 can be made movable, with a rotary mechanism 3, which is controlled by the controller 7. In this case, the roll to the left side can be compensated not by changing the direction of the rod from bottom to top, but by transferring the rod 2 to position 2 '.

 The system may also comprise two rods 2 which are stationary relative to the swimming means 1 and are located perpendicular to the longitudinal axis of the swimming means (rods 2 and 2 'in FIG. 1).

 As shown in FIG. 2, the system may contain not one or two, but, for example, four rods 2, the position of which is also regulated by the controller 7.

 Perhaps movable mount movers b. Movers 6, installed at the ends of the side rods 2, are always under water and have two main positions (this does not mean that there are no intermediate between them):

 - nozzles (screws) are directed downward and the stabilization mode is automatically activated when the thrust (revolutions) of each propulsion is regulated by the built-in controller 7 based on the stabilization coefficient (the maximum possible stabilization or partial - with allowable tolerances for the angle of deviation from the vertical axis of the swimming vehicle 1 in peace). It doesn’t matter what causes instability - lateral roll on the wave or the movement of passengers or goods that shift the center of gravity, so this mode is especially useful when landing or disembarking;

 - nozzles (screws) are directed back to ensure forward movement. In this case, the control of the thrust and its redistribution between the movers can be carried out either manually, by the joystick, or automatically, by the controller 7, for example, for direct movement with compensation of lateral drift, etc.

 Perhaps the third position of the propulsors - forward nozzles, for example, for braking in water. If the position control is carried out separately on the right and left side, this allows you to get additional opportunities when maneuvering.

In the case of using such a system for boards, the simplest implementation may be the implementation of the transverse rod 2 with bends at the ends and movers 6 mounted on them (for example, engines and screws). At the same time, their position can be controlled as a pedal with a rotary by a mechanism (not shown), and directly by turning with the foot, for example, a drum with a corrugated rubber surface (not shown), connected with the axis of the rod 2. At the same time, control logic should be maintained (it is assumed, for example, that the upper third of the rubberized corrugated drum rises above " deck ”and is available for contact with the athlete’s foot): rotating the drum from itself all the way forward, you get a rear arrangement of nozzles and forward movement; turning the drum back on itself in the middle position, the stabilization mode is obtained, and with a further turn back, respectively, braking or moving backward is also carried out.

 It is advisable that in the stabilization mode (improvement of lateral stability), as the safest, the system switches either always by default (the pedal is released) or by a simplified danger signal (the athlete saw the side wave in advance and has the opportunity to switch to this mode with an instant simple action). In addition, an automatic transition to this mode can be provided in the event of a roll or a derivative of a rotational movement around the longitudinal axis higher than allowed.

If the variant with symmetrical movers 6 is used, then the simplest implementation of the joint fastening of two movers in the case of various swimming boards and kayaks can be a U-shaped transverse rod 2, at the ends of which movers are fixed on the L-shaped brackets 6. The sizes of all parts are selected from the following simple Considerations: the horizontal arrangement of the U-shaped structure, for example, corresponds to the horizontal arrangement of the propulsors with 6 screws (nozzles) back, while the L-shaped mount provides them with necessity of penetration relative to the water surface; the vertical position of the U-shaped structure (the result of its rotation by 90 °) then corresponds to the vertical position of the movers used in stabilization mode, and the size of the lateral parts of the U-shaped structure is selected based on the maximum roll and maximum wave height, despite which the mover must be under water. The rotary mechanism 4 and / or the hinge mechanism 5, as well as the fastening of the upper part of the U-shaped structure should provide both two extreme and intermediate positions of its side parts in the angle of rotation relative to axis 3 and the upper part of the structure. Of course, others are possible, including more complex structures that are divided for the left and right sides. The use of propulsors 6 (or jets from them) in the stabilization mode in the “not vertically, but at an angle” position, as well as various modes of the controller 7 for controlling traction (revolutions), including the redistribution of traction between the propulsors, provides many possibilities for controlling the swimming means. Two modes can be given as an example:

 - the shift of the center of gravity and the lateral roll created by the movement of the athlete’s body with appropriate traction control can create a rowing effect;

 - using one oar, the appropriate traction control mode can achieve full compensation of both roll and rotation, while not shifting the oar to the other side.

 For this purpose, additional information can be supplied to the input of controller 7: on the position of the athlete’s center of gravity in the plane of the “deck”, for example, from pressure sensors mounted in the “deck”, or in a special mat placed on it, as well as from sensors reporting the strength of the current, excitement, wind, etc. (conventionally indicated in Fig. 3 by 12). The controller 7 may also have various modes of operation, set from the remote 8. The difference between the modes can be the value of the transmission coefficient in the control channel, the value of the delay in this channel, etc. An important point is the possibility of temporarily connecting several swimming devices (for example, SUP boards) by means of the same rods 2 or other mechanical fasteners into a single collective swimming means with a coordinated stabilization mode, which excludes, inter alia, the occurrence of oscillations in such a system.

 In FIG. 4-10, various embodiments of the system are shown with a propulsion device or propulsors placed on a keel of a swimming craft.

The keel 4 installed on the boat, which by itself provides increased stability, provides much more stability due to the location in it or on it of the mover (s), creating a transverse controlled force, the component of which is directed perpendicular to the direction of movement of the swimming means and is located below the surface water, creating a moment that compensates for banks. In FIG. 4 schematically shows an embodiment of the system with the arrangement on the keel 4 of one reversing propulsion 6, and in FIG. 5 schematically depicts a variant with two overhead movers 6, 6 '. The keel 4 can be mounted on the body of the swimming means 1 by means of fasteners 13 (for example, belts). In the keel 4 can be placed the controller 7 and the power source, for example, a battery 5.

 When the mover or movers are located on the keel 4, the system functions in the same way as described above with the mover (movers) located on the rods 2 with the only difference that the moment that counteracts the roll or pitching is created by the mover thrust directed not vertically but horizontally.

 Manual control of the system is also possible. For example, in the embodiment shown in FIG. 4, the operator using the remote control 8 can control the direction of rotation of the reverse transverse mover 6, so that the moment created thereby ensures the stability of the swimming means 1 (horizontal position, for example, a skimboard). Similarly, in the device shown in FIG. 5, the operator changes the thrust of the propellers 6, 6 ', so that the force transverse to the direction of movement of the swimming means 1 ensures the stability of this floating means. The remote control 8 provides manual control of the movers 6, b 'or a change in the operating mode of the controller 7, with the possibility of automatically maintaining the horizontal position of the swimming means 1 or, equivalently, the vertical position of the keel 4. It should be emphasized that the movers can also be controlled using the joystick or pedals (not shown) mounted in the body of the swimming means 1.

 Thus, in the case considered, the operator, using the remote control 8, for example, executed in the form of a joystick, controls the direction and / or thrust of the propulsion device 6 (6 ').

In addition, the keel can be equipped with shutters 14 and 15, installed with the possibility of abduction of the jet created by the propulsors in the direction opposite to the specified direction of movement of the swimming means. This will allow you to combine maintaining a stable horizontal position of the swimming means 1 with its translational motion. The rear and / or lower parts 16 and 17 of the keel 4 can be made flexible, which is convenient in shallow water, and when rolling, when the mover or movers 6 operate in the "pulse" mode, it allows to further stabilize the swimming means 1 and provide an additional "translational" effect movement, not only when using the shutters 14 and 15, but also due to the fact that the rear 16 and lower 17 of the keel 4 work like a fin.

 In this case, the movement of the slight deflection of the lower part 17 is converted to the side opposite to the jet being thrown and the roll into the rotational movement of the rear fin (rear flexible part 16 of the keel 4). In other words, the keel can be made non-rigid in the lower 17 and / or rear 16 parts, including with the possibility of converting the bend of the lower part 17 relative to the vertical axis into the pivoting movement of the rear 16 part relative to the horizontal axis to improve the dynamics of the movement of the swimming means 1 and simulate the function fin.

For example, the lower part 17 of the keel 4 above the location of the movers 6 is made with non-rigid (elastic) fastening and the possibility of deviation from the vertical axis of the keel 4 by an angle ά (for example, under the influence of water resistance when the mover 6 is on). The rear portion 16 is also flexible. In this case, the connection of these two parts by a rod, for example, fixed on a hinge on the rigid part of the keel 4 above the fastening of the lower part 17 with the mover, and by the ends at the extreme, middle or other points of the lower 17 and rear 16 parts, respectively, when bending the lower part 17 will ensure the rotation of the rear part 16, for example, by the angle Kxarctga, where K is the proportionality coefficient equal to the ratio of the shoulders of the resulting lever relative to its turning point. Of course, more complex mechanical and electromechanical systems are possible, including those with non-linear angle conversion coefficients. Another possibility of implementing such a motion conversion is all kinds of stiffeners or gradients of material parameters embedded in the keel 4 structure for a controlled change in shape at the indicated deformation of the lower part 17. The result, for example, for a board with such a keel, is the possibility of movement on water, much similar to movement on a roller skateboard, when the change in the position of the torso of a person and the transfer of the center of gravity provoke movement, the parameters of which in this case largely depend on the settings of the electric crown control unit (controller 7). We also note that the presence of propulsors 6 does not exclude additional propulsors longitudinally located along the axis of motion, mounted on the rear of the keel or on the body of the swimming means and intended for its translational movement. In addition, as the keel can be considered the lower part of the hull of a small or individual swimming means of any shape, equipped with transverse or side propulsion 6, which in its sense performs the function of active stabilization. It is also possible that there are several active keels on the boat, including those located at a certain angle to the axis of movement.

 For movement in shallow water, a folding, split keel is also used.

(Fig. 11 - 13) or keel with petals 18, 19 (Fig. 6). At the same time, at whatever angle (acute or straight) the petals 18, 19 of the keel 4 with the movers 6 mounted on them are fixed and fixed, the latter create a moment that keeps the swimming tool from heeling. This is due to the fact that the petals 18, 19 are bred so that the propulsors 6, located at a fixed distance from the longitudinal axis of the swimming means 1, create a stream, all or part of which is directed from the surface of the water, up or down. When moving at a depth of the reservoir, the folding keel, on the contrary, can be extended and deepened, thereby achieving an increase in torque and an additional improvement in stabilization.

 The keel 4 can also be made with fixed horizontal plates 21, 22 (Fig. 9, 10), on which additional movers 6 are located, which can function similarly to movers 6 mounted on rods 2, as described above.

The controller 7 can be configured to change the transmission coefficient of the channel "angular position sensor 9 - mover 6". This channel is a tracking system that supports the roll of a floating vehicle near zero or a given deviation value, while both the operator’s sensations and the degree of his participation in this process depend on the transmission coefficient and timing control parameters, so setting the coefficients on one or another level and choice of algorithm (mode) allow you to expand the scope of the system, adapting it to different tasks. As a result, the battery consumption, for example, is entirely determined, on the one hand, by such settings, and on the other hand, by the athlete’s experience, since in the absence of the need for additional stabilization, the movers 6 can be turned off.

 In a more complex case, the controller 7 can take into account weather conditions, excitement, and other external data coming to its inputs from the corresponding sensors, in this case, the algorithm and / or the degree of change of the transmission coefficient of the channel "angular position sensor 9 - mover 6" and control delays can be calculated taking into account external conditions, hydrodynamics of the swimming means 1 and the mode selected by the operator. In the case of the location of the propulsors 6 on the lateral surfaces of the keel, their coordinated work can also give some compensation of the roll "aft" and pitching. Moreover, in all cases, the position of the operator’s center of gravity and the dynamics of its movement can be monitored by sensors (for example, pressure or displacement) located on the surface of the swimming means, which allows predicting the displacement of the general center of gravity and reducing the reaction time during stabilization.

 An important point is the ability to temporarily connect several swimming equipment (for example, SUP boards) by means of mechanical fasteners (as well as electrical connections) into a single collective swimming device with a coordinated stabilization mode. In addition to the possibilities, for example, of “donor” recharging of unacceptably discharged batteries of one of the swimming aids from “colleagues”, as well as joint movement, this configuration allows even in conditions of excitement to create an economical version of the “collective” stabilization mode with low energy consumption, excluding, including , the occurrence of oscillations in such a system, which is also taken into account in the operating modes of the controller 7.

With an increase in speed and a decrease in the height of the waves, the stability of a swimming means with a keel increases, as a result of which under such conditions it is advisable to displace water from the cavity 20 (Fig. 6), for example, with compressed air from a minicompressor or a mechanical piston if the cavity shape is cylindrical, etc. . Due to this, the keel buoyancy increases, the draft of the floating means decreases and the resistance to its movement decreases. This also provides the opportunity to adjust the parameters of the keel for the weight of the athlete, which, like the entire stabilization system as a whole, eliminates discrimination for massive and bulky people in the case of narrow surfers and boards (i.e. when the resulting center of gravity is raised too high, and balancing difficulties arise without a stabilization mode).

 It should be noted that when the stabilization mode is switched off (for example, emergency), the behavior of a floating vehicle with such a keel changes too sharply, which can be dangerous. The consequence of this may be the immediate filling of the cavities 20 with water to increase stability and the corresponding indication (for example, on the remote control 8). You can also use an additional security system in the form of two or more inflatable bags on the sides of the swimming means to maintain the necessary lateral stability when the energy sources of the propulsors 6 are exhausted or in case of failure of the latter. The system responds to engine breakdowns or battery discharge so that it uses the latest battery energy to inflate these bags with air, increasing the area of the craft, its lateral stability and safety. The same system may be useful in elementary school.

 The keel can also be equipped with a transport safety system that prevents, for example, accidental inclusion without being placed in the water, as well as at angles close to the horizontal (which can be important during transportation and as a precaution for pranks of children).

 Due to the fact that the presence of a stabilization system dramatically improves the stability of a swimming means, it becomes possible for an athlete to perform a variety of regular motor activities, for example: pressing the pedals of an additional water jet mounted on a swimming means, a pedal or other device for converting muscular energy into electrical energy to recharge batteries or directly movement of a swimming means, as well as the implementation of other useful activities without the risk of rocking Does turning side.

 The presence of a stabilization system does not exclude, as described above, the use of muscular energy to recharge batteries, drive propulsion when rowing, as well as in the form of pedals, a treadmill, an arc or a mast as a lever for arm effort, etc.

Claims

CLAIM
1. The system of active stabilization of a small swimming means (1), designed for movement and balancing on the surface of the water, characterized in that it contains at least one mover (6), remote from the body of the specified swimming means (1) in the direction perpendicular to the axis of heel or swinging of the swimming means, so that in working condition the entire mover (6) or its working part is in the underwater position, while the mover (6) is directed with the possibility of creating acting on the specified swimmer nd means torque whose vector is opposite to the vector of list or pitching.
 2. The system according to claim 1, characterized in that it contains a controller (7) and a sensor (9) of the angular position of the swimming means, while the input and output of the controller (7) are connected to the specified sensor (9) and to the control input at least one mover (6), respectively.
 3. The system according to claim 2, characterized in that it is additionally equipped with a sensor (10) of the position of the center of gravity of the swimming means (1), and / or a sensor (11) of the derivatives of the angular position of the indicated floating means, and / or a sensor (12) of external conditions , while the controller (7) is made with additional information inputs connected to these sensors.
 4. The system according to any one of pl. 2 or 3, characterized in that it further comprises a control panel (8) connected to the controller (7).
 5. The system according to claim 4, characterized in that the controller (7) is configured to change the transmission coefficient of the channel "angle sensor - propulsion" from the remote control (8).
 6. The system according to claim 3, characterized in that the controller (7) is configured to change the transmission coefficient of the channel "angle sensor - propulsion" depending on external conditions, hydrodynamics of the floating means, the position of the operator's center of gravity and the mode selected by him.
7. The system according to p. 1, characterized in that at least one mover (6) is removed from the body of the swimming means (1) in a direction that provides a non-zero projection on a direction perpendicular to the axis roll or pitching of the swimming means by means of a rod (2) fixed to the body of the swimming means (1).
 8. The system according to claim 1, characterized in that at least one mover (6) is mounted on the keel (4) or in the cavity made to the keel, while the mover (6) is installed with the possibility of creating traction in the direction perpendicular to the longitudinal and vertical axes of the swimming means (1).
 9. The system according to claim 8, characterized in that the keel (4) is removable.
10. The system according to claim 8, characterized in that it is equipped with dampers (14, 15) installed with the possibility of diverting the jet created by the propulsors (6) in the direction opposite to the specified direction of movement of the swimming means (1).
 11. The system according to claim 8, characterized in that the rear and / or lower part (16, 17) of the keel (4) is made flexible.
12. The system according to claim 8, characterized in that the keel (4) is made with lower petals (18, 19), on which at least two propulsors (6, 1 ) are respectively placed, wherein said petals (18, 19 ) are made with the possibility of their fixation in a horizontal, inclined or vertical position.
 13. The system according to claim 8, characterized in that the keel (4) is made with side plates (21, 22) on which the respective propulsors (6) are mounted.
 14. The system according to claim 8, characterized in that at least one cavity (20) is made in the keel (4) for its controlled filling with water or air.
 15. The system according to claim 8, characterized in that at least two propulsors are installed on the keel (4) (6.6% directed at an obtuse angle to the given direction of movement of the swimming vehicle (1).
 16. The system according to any one of paragraphs. 1 to 15, characterized in that the mover or movers (6, 6 ') are made reversible.
 17. The system according to any one of paragraphs. 1 - 16, characterized in that as a small-sized swimming means (1) used: surfboard, or SUP, or skimboard, including those made with a decrease in width and / or with a lack of passive means of maintaining balance.
PCT/RU2015/000604 2014-09-25 2015-09-24 System for actively stabilizing a small floating craft WO2016048196A1 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
RU2014138622 2014-09-25
RU2014138624 2014-09-25
RU2014138624/11A RU2570924C1 (en) 2014-09-25 2014-09-25 Active appliance for motion of water composed by keel (versions)
RU2014138622/11A RU2570998C1 (en) 2014-09-25 2014-09-25 System for active stabilisation of small-size craft

Publications (2)

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WO2016048196A1 true WO2016048196A1 (en) 2016-03-31
WO2016048196A4 WO2016048196A4 (en) 2016-05-26

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FR2306872A1 (en) * 1975-04-11 1976-11-05 Tran Dinh Can Stabiliser for ship consisting of single motor driven propeller - is maintained in vertical plane to oppose rise and fall of vessel
US5474012A (en) 1993-09-07 1995-12-12 Nissan Motor Co., Ltd. Automatic control for trim tabs
US5787832A (en) 1996-02-12 1998-08-04 Spinka; Harold Method and apparatus to stabilize marine vessels
WO2002076822A1 (en) * 2001-03-27 2002-10-03 Robert Allen Marine propulsion device
US20030167991A1 (en) 2002-03-06 2003-09-11 Stan Namanny Motorized surfboard and method of assisting surfer in paddling out to waves
WO2006022847A2 (en) 2004-03-25 2006-03-02 Exxonmobil Upstream Research Company Hydrogyro ship stabilizer and method for stabilizing a vessel
JP4133893B2 (en) 2004-02-03 2008-08-13 Toto株式会社 Massage nozzle and massage device
RU2384457C2 (en) 2008-04-25 2010-03-20 Василий Николаевич Храмушин Active stabiliser of pitching and rolling motion of ship - stormy emergency propeller
FR2940781A1 (en) 2009-01-07 2010-07-09 Georges Cascarino Automatic heel correcting device for craft i.e. monohull sail boat, has connection units constituting torque reduction unit for reducing resistive torque between upper and lower ends, where connection units connect upper and lower ends
EP2338786A2 (en) * 2009-12-23 2011-06-29 Brunswick Corporation Systems and methods for orienting a marine vessel to minimise pitch or roll
US20120167812A1 (en) 2010-12-31 2012-07-05 Walker Shawn M Wake Shaping System
US8215252B1 (en) * 2009-07-14 2012-07-10 Lockheed Martin Corporation System and method for dynamic stabilization and navigation in high sea states

Patent Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1325986A (en) * 1972-04-14 1973-08-08 Andersson R B Reducing losses of effective power pitching rolling and resistance to motion of a propeller driven vessel
FR2306872A1 (en) * 1975-04-11 1976-11-05 Tran Dinh Can Stabiliser for ship consisting of single motor driven propeller - is maintained in vertical plane to oppose rise and fall of vessel
US5474012A (en) 1993-09-07 1995-12-12 Nissan Motor Co., Ltd. Automatic control for trim tabs
US5787832A (en) 1996-02-12 1998-08-04 Spinka; Harold Method and apparatus to stabilize marine vessels
WO2002076822A1 (en) * 2001-03-27 2002-10-03 Robert Allen Marine propulsion device
US20030167991A1 (en) 2002-03-06 2003-09-11 Stan Namanny Motorized surfboard and method of assisting surfer in paddling out to waves
JP4133893B2 (en) 2004-02-03 2008-08-13 Toto株式会社 Massage nozzle and massage device
WO2006022847A2 (en) 2004-03-25 2006-03-02 Exxonmobil Upstream Research Company Hydrogyro ship stabilizer and method for stabilizing a vessel
RU2384457C2 (en) 2008-04-25 2010-03-20 Василий Николаевич Храмушин Active stabiliser of pitching and rolling motion of ship - stormy emergency propeller
FR2940781A1 (en) 2009-01-07 2010-07-09 Georges Cascarino Automatic heel correcting device for craft i.e. monohull sail boat, has connection units constituting torque reduction unit for reducing resistive torque between upper and lower ends, where connection units connect upper and lower ends
US8215252B1 (en) * 2009-07-14 2012-07-10 Lockheed Martin Corporation System and method for dynamic stabilization and navigation in high sea states
EP2338786A2 (en) * 2009-12-23 2011-06-29 Brunswick Corporation Systems and methods for orienting a marine vessel to minimise pitch or roll
US20120167812A1 (en) 2010-12-31 2012-07-05 Walker Shawn M Wake Shaping System

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