Autonomous surface watercraft

• US 20040015277A1
• Filed: 04/10/2003
• Published: 01/22/2004
• Est. Priority Date: 04/10/2002
• Status: Active Grant

• Current Assignee: Board of Regents of the University of Texas System (University of Texas System)
• Original Assignee: Board of Regents of the University of Texas System (University of Texas System)
• Inventors: Bennett, Matthew, Cardoza, Miguel A., Tucker, Donald, Hughes, J. Clark, Benedict, Sarah, Mayoral, Anne
• Granted Patent: US 6,854,406 B2
• Time in Patent Office: Days
• US Class Current: 701/21
• CPC Class Codes: B63B 2035/007 autonomously operating
• CPC Class Codes: B63B 22/18 having means to control attitude or position, e.g. reaction surfaces or tether
• CPC Class Codes: B63B 35/00 Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
• CPC Class Codes: B63C 11/42 with independent propulsion or direction control

Abstract

An autonomous surface watercraft is disclosed. The watercraft may include a control module, a communications module, a power management module, a differential thrust propulsion system, and a navigation module. One or more sensors may be provided internal to the watercraft and/or coupled to a sensor module coupling point on the watercraft. An operator may provide the watercraft with mission parameters such as but not limited to station point(s), a sensing location or area, a sensing duration, and/or a sensing time. The watercraft may determine a course heading to reach a station point or sensing area. The control module may control the propulsion system to reach the station point and for station keeping. The watercraft may gather sensor data. The sensor data may be analyzed, filtered, stored in memory and/or transmitted to a control center. The control center may receive real-time data from a plurality of such watercraft.

Claims

1. An autonomous watercraft comprising:

a hull assembly comprising at least one sensor module coupling point, wherein the hull assembly is substantially watertight, and wherein at least one sensor module coupling point is configured to allow a sensor module to be coupled to the hull assembly without opening a watertight seal of the hull assembly;

at least one control module coupled to the hull assembly; and

at least one propulsion device coupled to the hull assembly, wherein at least one propulsion device is in operative communication with at least one control module.

2. The watercraft of claim 1, further comprising at least one navigation module disposed within the hull assembly, wherein at least one navigation module is configured to provide a navigation signal to at least one control module.

3. The watercraft of claim 1, further comprising at least one navigation module disposed within the hull assembly, wherein at least one navigation module comprises a global positioning receiver.

4. The watercraft of claim 1, further comprising at least one navigation module disposed within the hull assembly, wherein at least one navigation module comprises at least one compass.

5. The watercraft of claim 1, wherein the control module is configured to estimate a speed and direction of a current.

6. The watercraft of claim 1, further comprising at least one battery.

7. The autonomous watercraft of claim 6, wherein at least one battery comprises a lead acid battery.

8. The watercraft of claim 6, wherein at least one battery comprises a valve regulated lead acid battery.

9. The watercraft of claim 6, further comprising at least one hydrogen sensor, wherein at least one hydrogen sensor is configured to send a signal indicating detection of hydrogen during charging of at least one battery.

10. The watercraft of claim 6, further comprising at least one battery charger coupled to the hull assembly.

11. The watercraft of claim 6, further comprising at least one battery charger and at least one hydrogen detector, wherein at least one battery charger is configured to inhibit charging of at least one battery if at least one hydrogen detector detects more than a threshold concentration of hydrogen.

12. The watercraft of claim 6, further comprising at least one battery charger and at least one hydrogen collector, wherein at least one hydrogen collector is configured to inhibit concentration of hydrogen within the hull assembly during battery charging from exceeding a threshold concentration.

13. The watercraft of claim 6, wherein at least one battery is configured to be recharged without opening the substantially water-tight seal of the hull assembly.

14. The watercraft of claim 6, further comprising at least one battery charger coupled to the hull assembly, wherein at least one battery charger is configured to charge at least one battery while the autonomous watercraft is deployed.

15. The watercraft of claim 6, further comprising at least one solar battery charger.

16. The watercraft of claim 1, further comprising at least one water detector device coupled to the hull assembly, wherein at least one water detector is configured to provide an indication of the presence of water inside the hull assembly.

17. The watercraft of claim 1, further comprising a power management module.

18. The watercraft of claim 1, further comprising at least one scuttle port, wherein at least one scuttle port is configured to allow water into the hull assembly if the watercraft is in water for longer than a predetermined period.

19. The watercraft of claim 1, further comprising at least one scuttle port, wherein at least one scuttle port is configured to allow water into the hull assembly upon receipt of a command.

20. The watercraft of claim 1, further comprising at least one communications module, wherein at least one communications module is configured to receive commands from a remote command station.

21. The watercraft of claim 1, further comprising at least one communications module, wherein at least one communications module is configured to send data to a remote command station.

22. The watercraft of claim 1, wherein the watercraft is configured to be self-righting during use.

23. The watercraft of claim 1, wherein at least one propulsion device comprises two or more thrusters coupled to the hull assembly, wherein two or more thrusters are configured to provide variable thrust.

24. The watercraft of claim 1, wherein at least one propulsion device comprises two or more thrusters coupled to the hull assembly, wherein two or more thrusters are configured to steer the watercraft by providing differential thrust during use.

25. The watercraft of claim 1, wherein at least one control module is configured to interact with at least one sensor module coupled to at least one sensor module coupling point to control data gathering by at least one sensor module.

26. The watercraft of claim 1, further comprising a roll stabilizing apparatus coupled to the hull assembly.

27. The watercraft of claim 1, further comprising a recovery aid coupled to the hull assembly.

28. The watercraft of claim 1, further comprising a lifting ring coupled to the hull assembly.

29. The watercraft of claim 1, further comprising at least one sensor module coupled to at least one sensor module coupling point.

30. The watercraft of claim 1, further comprising at least one sensor module coupled to at least one sensor module coupling point, wherein at least one sensor module comprises a hydrophone.

31. The watercraft of claim 1, further comprising at least one sensor module coupled to at least one sensor module coupling point, wherein at least one sensor module comprises a sonar module.

32. The watercraft of claim 1, further comprising at least one sensor module coupled to at least one sensor module coupling point, wherein at least one sensor module comprises a water analysis module.

33. The watercraft of claim 1, further comprising at least one sensor module coupled to at least one sensor module coupling point, wherein at least one sensor module comprises a radio frequency detector.

34. The watercraft of claim 1, further comprising at least one sensor module coupled to at least one sensor module coupling point, wherein at least one sensor module comprises a retractable portion.

35. The watercraft of claim 1, further comprising at least one sensor module coupled to at least one sensor module coupling point, wherein at least one sensor module is configured to deploy a sensor portion to a desired depth at a station point for data gathering and to retract the sensor portion after data gathering is complete.

36. The watercraft of claim 1, further comprising at least one memory, wherein at least one memory is configured to receive and store data gathered by at least one sensor module coupled to at least one sensor module coupling point.

37. The watercraft of claim 1, further comprising at least one data processor, wherein at least one data processor is configured to process data gathered by at least one sensor module coupled to at least one sensor module coupling point.

38. The watercraft of claim 1, wherein the hull assembly comprises a foil shaped cross-section.

39. An autonomous watercraft comprising:

a hull assembly, wherein the hull assembly is substantially watertight;

at least one rechargeable power source disposed within the hull assembly;

at least one propulsion device coupled to the hull assembly and operatively coupled to at least one rechargeable power source; and

at least one connection point on the hull assembly, wherein at least one connection point allows at least one rechargeable power source to be recharged without opening the substantially water-tight seal.

40. The watercraft of claim 39, further comprising at least one hydrogen sensor within the hull assembly, wherein at least one hydrogen sensor is configured to detect hydrogen within the hull assembly.

41. The watercraft of claim 39, further comprising at least one hydrogen collector within the hull assembly, wherein at least one hydrogen collector is configured to collect hydrogen within the hull assembly.

42. The watercraft of claim 39, further comprising at least one water detector within the hull assembly, wherein at least one water detector is configured to detect water within the hull assembly.

43. The watercraft of claim 39, further comprising at least one water detector within the hull assembly, wherein at least one water detector is configured to detect water within the hull assembly, and to provide an indication external to the hull assembly of any water detected without opening a substantially water-tight seal of the hull assembly.

44. The watercraft of claim 39, further comprising at least one control module configured to generate at least one control signal to at least one propulsion device.

45. The watercraft of claim 39, further comprising at least one navigation module disposed within the hull assembly, wherein at least one navigation module comprises at least one compass.

46. The watercraft of claim 39, further comprising at least one navigation module disposed within the hull assembly, wherein at least one navigation module comprises at least one global positioning system receiver.

47. The watercraft of claim 39, further comprising at least one navigation module configured to determine a course to a reach a desired station point.

48. The watercraft of claim 39, further comprising at least one navigation module configured to determine a course and speed to maintain a desired station point.

49. The watercraft of claim 39, further comprising at least one control module and at least one navigation module, wherein at least one navigation module is configured to send at least one navigation signal to at least one control module, and wherein at least one control module is configured to control at least one propulsion device based on at least one navigation signal.

50. The watercraft of claim 39, further comprising at least one communications module configured to receive at least one signal corresponding to at least one desired station point.

51. The watercraft of claim 39, further comprising at least one communications module configured to send at least one signal corresponding to data gathered.

52. The watercraft of claim 39, further comprising at least one navigation module, at least one communications module and at least one control module, wherein at least one control module is configured to determine a course heading based on input received from at least one navigation module and at least one communications module.

53. The watercraft of claim 39, further comprising at least one roll stabilizing apparatus coupled to the hull assembly.

54. The watercraft of claim 39, further comprising at least one power management module disposed within the hull assembly.

55. The watercraft of claim 39, further comprising at least one recovery aid coupled to the hull assembly.

56. The watercraft of claim 39, further comprising at least one lifting ring coupled to the hull assembly.

57. The watercraft of claim 39, further comprising at least one navigation system comprising at least one global positioning system receiver.

58. The watercraft of claim 39, further comprising at least one navigation system comprising at least one compass.

59. The watercraft of claim 39, wherein at least one propulsion device comprises at least one thruster.

60. The watercraft of claim 39, wherein at least one propulsion system comprises at least two thrusters, wherein at least two thrusters are configured to provide differential thrust, and wherein the watercraft is both propelled and steered by the differential thrust.

61. The watercraft of claim 39, further comprising at least one sensor module coupling point configured to receive at least one interchangeable sensor module.

62. The watercraft of claim 39, further comprising at least one sensor module configured to gather data proximate to at least one station point.

63. The watercraft of claim 39, further comprising at least one control module, wherein at least one control module is configured to estimate a speed and direction of a current.

64. The watercraft of claim 39, further comprising at least one control unit configured to provide at least one signal to the propulsion system corresponding to a course heading.

65. The watercraft of claim 39, wherein at least one rechargeable power source comprises at least one rechargeable battery.

66. The watercraft of claim 39, wherein at least one rechargeable power source comprises at least one fuel cell.

67. The watercraft of claim 39, wherein at least one rechargeable power source comprises a valve regulated lead acid battery.

68. The watercraft of claim 39, wherein at least one rechargeable power source is configured to be rechargeable while the autonomous watercraft is remotely deployed.

69. The watercraft of claim 39, further comprising at least one scuttle port, wherein at least one scuttle port is configured to allow water into the hull assembly if the watercraft is in water for longer than a predetermined period.

70. The watercraft of claim 39, further comprising at least one scuttle port, wherein at least one scuttle port is configured to allow water into the hull assembly upon receipt of a command.

71. The watercraft of claim 39, further comprising at least one communications module, wherein at least one communications module is configured to receive commands from a remote command station.

72. The watercraft of claim 39, further comprising at least one communications module, wherein at least one communications module is configured to send data to a remote command station.

73. The watercraft of claim 39, wherein the watercraft is configured to be self-righting during use.

74. The watercraft of claim 39, wherein at least one propulsion device comprises two or more thrusters coupled to the hull assembly, wherein two or more thrusters are configured to provide variable thrust.

75. The watercraft of claim 39, further comprising at least one sensor module, wherein at least one sensor module comprises a hydrophone.

76. The watercraft of claim 39, further comprising at least one sensor module, wherein at least one sensor module comprises a sonar module.

77. The watercraft of claim 39, further comprising at least one sensor module, wherein at least one sensor module comprises a water analysis module.

78. The watercraft of claim 39, further comprising at least one sensor module, wherein at least one sensor module comprises a radio frequency detector.

79. The watercraft of claim 39, further comprising at least one sensor module, wherein at least one sensor module comprises a retractable portion.

80. The watercraft of claim 39, further comprising at least one sensor module, wherein at least one sensor module is configured to deploy a sensor portion to a desired depth at a station point for data gathering and to retract the sensor portion after data gathering is complete.

81. The watercraft of claim 39, further comprising at least one memory, wherein at least one memory is configured to receive and store data gathered by at least one sensor module.

82. The watercraft of claim 39, further comprising at least one data processor, wherein at least one data processor is configured to process data gathered by at least one sensor module.

83. The watercraft of claim 39, wherein the hull assembly comprises a foil shaped cross-section.