Wave power

• US 8,043,133 B2
• Filed: 01/18/2007
• Issued: 10/25/2011
• Est. Priority Date: 01/20/2006
• Status: Active Grant

• Current Assignee: Liquid Robotics, Inc. (The Boeing Co.)
• Original Assignee: Liquid Robotics, Inc. (The Boeing Co.)
• Inventors: Kiesow, Kurt A. F., Hine, Derek L., Burcham, Robert, Rizzi, Joseph D., Stutz, William A., Hine, Roger G.
• Primary Examiner(s): Olson; Lars A
• Application Number:
  US12/087,961
• Publication Number:
  US 20090311925A1
• Time in Patent Office: 1,741 Days
• Field of Search: 114/293, 440/3, 440/9, 440/13, 440/17, 440/18, 440/19, 440/20
• US Class Current: 440/9
• CPC Class Codes: B63B 2035/006 Unmanned surface vessels, e.g. remotely controlled
• CPC Class Codes: B63B 2035/008 remotely controlled
• CPC Class Codes: B63B 2213/02 using satellite radio beacon positioning systems, e.g. the Global Positioning System GPS
• CPC Class Codes: B63B 35/00 Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
• CPC Class Codes: B63H 1/36 swinging sideways, e.g. fishtail type
• CPC Class Codes: B63H 19/02 by using energy derived from movement of ambient water, e.g. from rolling or pitching of vessels
• CPC Class Codes: B63H 19/04 propelled by water current
• CPC Class Codes: B63H 2025/028 using remote control means, e.g. wireless control; Equipment or accessories therefor
• CPC Class Codes: B63H 2025/045 making use of satellite radio beacon positioning systems, e.g. the Global Positioning System [GPS]
• CPC Class Codes: B63H 25/02 Initiating means for steering , for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
• CPC Class Codes: B63H 25/04 automatic, e.g. reacting to compass
• CPC Class Codes: Y02E 10/30 Energy from the sea, e.g. using wave energy or salinity gradient
• CPC Class Codes: Y02T 70/5236 Renewable or hybrid-electric solutions

Abstract

A wave-powered water vehicle includes a surface float, a submerged swimmer, and a tether which connects the float and the swimmer, so that the swimmer moves up and down as a result of wave motion. The swimmer includes one or more fins which interact with the water as the swimmer moves up and down, and generate forces which propel the vehicle forward. The vehicle, which need not be manned, can carry communication and control equipment so that it can follow a course directed by signals sent to it, and so that it can record or transmit data from sensors on the vehicle.

Claims

1. A fin system comprising

(1) a frame having a longitudinal axis,

(2) a plurality of fins, each fin (i) being mounted to the frame, and (ii) being rotatable about an axis of rotation which is transverse to the longitudinal axis of the frame, and

(3) at least one elastically deformable component which (i) is not part of a fin, (ii) is linked to at least one fin and (iii) changes shape as the fin rotates about the axis of rotation and thus controls or helps to control the rotation of the fin.

2. A fin system according to claim 1 wherein the frame comprises a rigid bar, and each of the fins is a generally laminar fin which extends transversely on both sides of the rigid bar.

3. A fin system according to claim 1 which comprises a plurality of said elastically deformable components, and each elastically deformable component is linked to the frame and to a single fin.

4. A fin system according to claim 3 wherein each elastically deformable component extends from a fixed point on the frame to a fixed point on one of the fins.

5. A fin system according to claim 4 wherein each elastically deformable component extends from (i) a fixed point on the frame behind the transverse axis of rotation of the fin to which it is linked to (ii) a fixed point on the fin to which it is linked behind the transverse axis of rotation of the fin to which it is linked.

6. A fin system according to claim 1 wherein the elastically deformable component comprises a component which is one or more of the group consisting of metal coil springs, metal leaf springs and metal torsion bars.

7. A fin system according to claim 1 wherein the elastically deformable component is a spring which resists rotation of at least one fin in either direction from a rest position.

8. A fin system according to claim 1 which comprises 3 to 10 substantially identical generally laminar fins.

9. A fin system according to claim 1 wherein each of the fins is generally laminar and elastically deformable, and has a leading edge which comprises (i) a relatively rigid central section, and (ii) relatively deformable outboard sections.

10. A fin system according to claim 1 wherein each of the fins is at least in part substantially rigid.

11. A wave-powered water vehicle according to fin system according to claim 1 which comprises 3 to 10 substantially identical generally laminar fins.

12. A fin system comprising

(1) a rigid bar having a longitudinal axis,

(2) 3-10 fins, each fin (i) being generally laminar, (ii) being mounted to the rigid bar, (iii) being rotatable about an axis of rotation which is transverse to the longitudinal axis of the rigid bar, and (iv) extending transversely on both sides of the rigid bar, and

(3) a plurality of elastically deformable components, each elastically deformable component (i) not being part of a fin, (ii) being linked to the bar and to a fin, and (iii) resisting rotation of the fin in either direction from a rest position.

13. A fin system according to claim 12 wherein each elastically deformable component extends from (i) a fixed point on the rigid bar behind the transverse axis of rotation of the fin to which it is linked to (ii) a fixed point on the fin to which it is linked behind the transverse axis of rotation of the fin to which it is linked.

14. A fin system according to claim 12 wherein each of the fins is elastically deformable, and has a leading edge which comprises (i) a relatively rigid central section, and (ii) relatively deformable outboard sections.

15. A fin system according to claim 12 wherein each of the fins is at least in part substantially rigid.

16. A wave-powered water vehicle which comprises (1) a float, (2) a swimmer, and (3) a tether connecting the float and the swimmer;

the float, swimmer and tether being such that, when the vehicle is in still water, (i) the float is on or near the surface of the water, (ii) the swimmer is submerged below the float, and (iii) the tether is under tension; and

the swimmer comprising (i) a swimmer body having a longitudinal axis, and (ii) a fin system which is secured to the swimmer body,

wherein the fin system comprises

(1) a frame having a longitudinal axis,

(2) a plurality of fins, each fin (i) being mounted to the frame, and (ii) being rotatable about an axis of rotation which is transverse to the longitudinal axis of the frame, and

(3) at least one elastically deformable component which (i) is not part of a fin, (ii) is linked to at least one fin and (iii) changes shape as the fin rotates about the axis of rotation and thus controls or helps to control the rotation of the fin.

17. A wave-powered water vehicle according to claim 16 wherein (1) the frame comprises a rigid bar, (2) each fin is a generally laminar fin which extends transversely on both sides of the rigid bar, and (3) the fin system comprises a plurality of said elastically deformable components, each elastically deformable component being linked to the frame and to a single fin.

18. A wave-powered water vehicle according to claim 17 wherein each elastically deformable component extends from (i) a fixed point on the rigid bar behind the transverse axis of rotation of the fin to which it is linked to (ii) a fixed point on the fin to which it is linked behind the transverse axis of rotation of the fin to which it is linked.

19. A wave-powered water vehicle according to claim 18 wherein each elastically deformable component is a spring which resists rotation of the fin to which it is linked in either direction from a rest position.

20. A wave-powered water vehicle according to claim 17 wherein (1) the float comprising a satellite-based position sensor, and (2) the swimmer comprises (a) a horizontal sensor which senses direction in a horizontal plane, and (b) a steering actuator;

and the vehicle further comprises a computer system which (a) is linked to the position sensor, the horizontal sensor and the rudder, and (b) contains, or is programmable to contain, instructions to control the steering actuator in response to signals received from the position sensor and the horizontal sensor, or in response to signals received from a sensor on the vehicle.

21. A method of controlling a function of a water-powered vehicle as defined in claim 20 which comprises sending signals to the vehicle.