Wave-powered devices configured for nesting

• US 9,151,267 B2
• Filed: 03/19/2012
• Issued: 10/06/2015
• Est. Priority Date: 05/18/2006
• Status: Active Grant

• Current Assignee: Liquid Robotics, Inc. (The Boeing Co.)
• Original Assignee: Liquid Robotics, Inc. (The Boeing Co.)
• Inventors: Hine, Roger G., Hine, Derek L.
• Primary Examiner(s): Bomberg, Kenneth
• Assistant Examiner(s): MIAN, SHAFIQ A
• Application Number:
  US13/424,170
• Publication Number:
  US 20120285160A1
• Time in Patent Office: 1,296 Days
• Field of Search: 604/97, 605/01, 605/04, 114/243, 114/244, 114/248, 290/42, 290/53, 440/9, 440 13- 16
• US Class Current: 1/1
• CPC Class Codes: B63B 2035/007 autonomously operating
• CPC Class Codes: B63B 21/66 Equipment specially adapted for towing underwater objects or vessels, e.g. fairings for tow-cables paravanes for dragging fishing nets A01K73/02; salvaging underwater vessels or objects B63C7/00; towed underwater vessels B63G8/42
• CPC Class Codes: B63B 2211/02 Oceanography
• 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: F03B 13/1885 and the wom is tied to the rem
• CPC Class Codes: F03B 13/20 wherein both members , i.e. wom and rem are movable relative to the sea bed or shore
• CPC Class Codes: F05B 2240/931 which is a vehicle
• CPC Class Codes: F05B 2260/02 Transport, e.g. specific adaptations or devices for conveyance transport of wind turbines or equipments therefore F03D13/40
• CPC Class Codes: G05D 1/0206 specially adapted to water vehicles
• 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) a first component which is a float that travels on or near the water surface; b) a second component which is wave actuated and travels below the first component; and c) a means whereby the first component engages the second component and/or the second component engages the first component; wherein the engagement means provides lateral support of one component for the other, and thereby minimizes lateral movement of one against the other when the components are fitted together.

Claims

1. A wave-powered device (WPD) comprising:

(1) a float;

(2) a wave-actuated component formed with an aperture;

(3) a closure component associated with one or both of the float and the wave-actuated component, the closure component having a first state in which it secures the float and the wave-actuated component together as an assembly that can be moved as a unit and a second state that permits the wave-actuated component to move away from the float;

(4) a tether having a first end connected to the float and a second end connected to the wave-actuated component, such that

when the closure component is in the second state and the float is placed on or near the surface of still water, the float floats on or near the surface of the still water, the tether extends downwards from the float and under tension, and the wave-actuated component is submerged below the float, and

when the closure component is in the second state and the float is placed on or near the surface of wave-bearing water, the float floats on or near the surface of the wave-bearing water, the tether extends downwards from the float, and the wave-actuated component is submerged below the float, and interacts with the water to generate forces that are transmitted to the tether; and

(5) a winch mounted on the float above the aperture in the wave-actuated component for raising and/or lowering a load through the aperture.

2. The WPD of claim 1 wherein the float has top, bottom, and side surfaces, and comprises float side components that extend downwards generally parallel to the side surfaces to create a space defined by the bottom surface and the float side components, and the wave-actuated component is at least partially within that space.

3. The WPD of claim 1 wherein the wave-actuated component comprises components that extend upwards from the wave-actuated component and that interact with components of the float to locate the wave-actuated component in a fixed position in relation to the float, and/or the float comprises components that extend downwards and that interact with components of the wave-actuated component to locate the wave-actuated component in a fixed position in relation to the float.

4. The WPD of claim 1 wherein:

the wave-actuated component comprises fins that, when the WPD is in wave-bearing water, rotate about an axis to generate the forces that are transmitted to the tether; and

the wave-actuated component includes members that extend downwards from the wave-actuated component and that, when the closure component is in the first state and the assembly is placed on a horizontal surface, separate the fins from the horizontal surface.

5. The WPD of claim 1 wherein the tether has at least one of the following characteristics:

(1) the tether has a substantially flat configuration with an average thickness of 1-3 mm;

(2) the tether is free from components that carry electrical currents and/or is free from components that carry signals of any kind;

(3) the tether comprises a plurality of round tensile members;

(4) the tether is a flat webbing constructed of a synthetic polymer;

(5) the tether is a flat webbing that is tensioned only along the leading edge thereof, thus reducing fluttering and bowing;

(6) the tether is attached to the float at a hinge point that comprises a shaft and bushing arrangement such that the tether is not required to flex against its wide axis (pitch);

(7) at the float, the tether is guided through a 90°

twist, and then flexes in the pitch axis over a pulley with its axis level and perpendicular to the longitudinal axis of the float;

(8) at the float, the tether is guided through a 90°

twist, and then flexes in the pitch axis over a pulley with its axis level and perpendicular to the longitudinal axis of the float, wherein the pulley is crowned to increase the tension on the center of the tether to lessen the effect of the 90°

twist increasing the tension of the outer parts of the tether, relative to the center of the tether.

6. The WPD of claim 1 wherein the float comprises a rudder near the aft end of the float.

7. The WPD of claim 1, and further comprising:

(1) wireless communications equipment;

(2) a computer system;

(3) a satellite-referenced position sensor;

(4) a horizontal direction sensor that senses direction in a horizontal plane; and

(5) a steering actuator;

the computer system,

(a) being linked to the communications equipment, the position sensor, the horizontal sensor and the steering actuator, and

(b) containing, or being programmable to contain, instructions to control the steering actuator in response to signals received from the communications equipment, or from the position sensor and the horizontal direction sensor, or from signals received from another sensor on the vehicle.

8. A method for controlling a function of the WPD of claim 1, the method comprising sending signals to the device.

9. A method of obtaining information, the method comprising receiving signals from, or recorded by, the WPD of claim 1.

10. A wave-powered device comprising:

(1) a float;

(2) a wave-actuated component;

(3) a closure component associated with one or both of the float and the wave-actuated component, the closure component having a first state in which it secures the float and the wave-actuated component together as an assembly that can be moved as a unit and a second state that permits the wave-actuated component to move away from the float;

(4) a tether having a first end connected to the float and a second end connected to the wave-actuated component, such that

when the closure component is in the second state and the float is placed on or near the surface of still water, the float floats on or near the surface of the still water, the tether extends downwards from the float and under tension, and the wave-actuated component is submerged below the float, and

when the closure component is in the second state and the float is placed on or near the surface of wave-bearing water, the float floats on or near the surface of the wave-bearing water, the tether extends downwards from the float, and the wave-actuated component is submerged below the float, and interacts with the water to generate forces that are transmitted to the tether; and

(5) a winch mounted on the float that can be operated to retract the tether from an extended position to a position where the wave-actuated component is drawn into contact with the float;

wherein the winch comprises wiping elements that clean the tether when the tether is drawn through the winch.

11. A wave-powered device comprising:

(1) a float;

(2) a wave-actuated component;

(3) a closure component associated with one or both of the float and the wave-actuated component, the closure component having a first state in which it secures the float and the wave-actuated component together as an assembly that can be moved as a unit and a second state that permits the wave-actuated component to move away from the float;

(4) a tether having a first end connected to the float and a second end connected to the wave-actuated component, such that

when the closure component is in the second state and the float is placed on or near the surface of still water, the float floats on or near the surface of the still water, the tether extends downwards from the float and under tension, and the wave-actuated component is submerged below the float, and

when the closure component is in the second state and the float is placed on or near the surface of wave-bearing water, the float floats on or near the surface of the wave-bearing water, the tether extends downwards from the float, and the wave-actuated component is submerged below the float, and interacts with the water to generate forces that are transmitted to the tether; and

(5) a winch mounted on the float that can be operated to retract the tether from an extended position to a position where the wave-actuated component is drawn into contact with the float;

wherein the winch is hinged in the pitch axis.

12. The WPD of claim 11 wherein:

the first-mentioned winch is relatively close to the fore end of the float, and

the float further comprises a second winch that is relatively close to the aft end of the float and a second tether attached to the second winch.

13. The WPD of claim 11 wherein the wave-actuated component is selected from one of the following two configurations:

(A) the wave-actuated component has a single substantially rigid spine, with fins extending on each side of the rigid spine, and when the WPD is in still water and the tether is in an extended position below the float, the rigid spine is at an angle of at most 40°

to the horizontal, and lies in a vertical plane that passes through the longitudinal axis of the float;

or

(B) the wave-actuated component has two substantially rigid spines, with fins extending between the rigid spines, and both the rigid spines, when the WPD is in still water and the tether is in an extended position below the float, lie in a plane at an angle of at most 40°

to the horizontal, and the rigid spines are equally spaced from a vertical plane that passes through the longitudinal axis of the float.

14. The WPD of claim 12 wherein the wave-actuated component is selected from one of the following two configurations:

(A) the wave-actuated component has a single substantially rigid spine, with fins extending on each side of the rigid spine, and when the wave-actuated component is combined with a tether and a float in the form of a WPD and the WPD is in still water and the tether is in an extended position below the float, the rigid spine is at an angle of at most 15°

to the horizontal, and lies in a vertical plane that passes through the longitudinal axis of the float;

or

(B) the wave-actuated component has two substantially rigid spines, with fins extending between the rigid spines, and both the rigid spines, when the wave-actuated component is combined with a tether and a float in the form of a WPD and the WPD is in still water and the tether is in an extended position below the float, both rigid spines lie in a plane at an angle of at most 15°

to the horizontal, and the rigid spines are equally spaced from a vertical plane that passes through the longitudinal axis of the float.

15. The WPD of claim 14 wherein, when the WPD is in still water, the fins lie side-by-side in a plane that is at an angle of at most 15°

to the horizontal.

16. A wave-powered device comprising:

(1) a float;

(2) a flexible tether;

(3) a wave-actuated component, the tether connecting the float and the wave-actuated component wherein the wave-actuated component is formed with an aperture;

the float, the tether, and the wave-actuated component being such that

(A) when the device is in still water, (i) the float is on or near the surface of the water, (ii) the wave-actuated component is submerged below the float, and (iii) the tether is under tension; and

(B) when the device is in wave-bearing water, the wave-actuated component interacts with the water to generate forces that are transmitted to the tether;

(4) a first winch that can be operated to retract the tether from an extended position to a position where the wave-actuated component is drawn into contact with the float; and

(5) a second winch mounted on the float above the aperture in the wave-actuated component for raising and/or lowering a load through the aperture.

17. A wave-powered device comprising:

(1) a float;

(2) a flexible tether; and

(3) a wave-actuated component, the tether connecting the float and the wave-actuated component wherein the wave-actuated component is formed with an aperture;

the float, the tether, and the wave-actuated component being such that

(A) when the device is in still water, (i) the float is on or near the surface of the water, (ii) the wave-actuated component is submerged below the float, and (iii) the tether is under tension; and

(B) when the device is in wave-bearing water, the wave-actuated component interacts with the water to generate forces that are transmitted to the tether;

(4) a winch mounted on the float above the aperture in the wave-actuated component for raising and/or lowering a load through the aperture.

18. A wave-powered device comprising:

(1) a float;

(2) a flexible tether; and

(3) a wave-actuated component, the tether connecting the float and the wave-actuated component;

the float, the tether, and the wave-actuated component being such that

(A) when the device is in still water, (i) the float is on or near the surface of the water, (ii) the wave-actuated component is submerged below the float, and (iii) the tether is under tension; and

(B) when the device is in wave-bearing water, the wave-actuated component interacts with the water to generate forces that are transmitted to the tether;

(4) a winch that can be operated to retract the tether from an extended position to a position where the wave-actuated component is drawn into contact with the float;

wherein the winch is hinged in the pitch axis.

19. A wave-powered water vehicle, comprising:

a) a first component that is a float that travels on or near the water surface;

b) a second component that is wave actuated and travels below the first component;

c) first and second tethers that connect the first and second components, such that the tethers can be retracted from an extended position to a position where the wave-actuated component is drawn into contact with the float, wherein the first and second tethers engage the first component at spaced positions and engage the second component at spaced positions; and

d) engagement means, associated with one or both of the first and second components, whereby the first component engages the second component and/or the second component engages the first component when the tethers are retracted;

wherein said engagement means provides lateral support of one component for the other, and thereby minimizes lateral movement of one against the other when the components are fitted together when the tethers are retracted.

21. The wave-powered water vehicle of claim 19 wherein said engagement means is a hollow in the first component configured to engage the second component.

22. The wave-powered water vehicle of claim 19, wherein the first component comprises two floating pontoons, and the second component is configured to fit between and engage said pontoons.

23. The wave-powered water vehicle of claim 19 wherein said engagement means comprises rails on the second component that extend upwards to engage both sides of the first component.

20. A wave-powered water vehicle, comprising:

a) a first component that is a float that travels on or near the water surface;

b) a second component that;

is wave actuated and travels below the first component,

comprises multiple tiers of wave actuated fins, wherein

each tier is movable and separable from any adjacent tier, and

each tier is provided with upwardly or downwardly extending structure to nest with any adjacent tier or the float; and

c) an internal securing means built into one component, the other component, or both, whereby one of said components may be secured against the other.

24. The wave-powered water vehicle of claim 20 wherein the upwardly or downwardly extending structure on the multiple tiers of wave actuated fins takes the form of a pair of longitudinally extending side beams.

25. The wave-powered water vehicle of claim 24 wherein all of said tiers nest into each other, thereby reducing height when the tiers are stacked upon each other.

26. The wave-powered water vehicle of claim 25 wherein said tiers comprise an upper tier whose side beams have upwardly protruding edges that engage the first component downwardly protruding edges that engage a tier immediately underneath the upper tier.

27. The wave-powered water vehicle of claim 20 wherein said internal securing means comprises one or more tethers joining the first component to the second component that can be drawn upwards and secured so that the second component is secured against the first component.

28. The wave-powered water vehicle of claim 20 wherein the internal securing means secures the uppermost tier of the multiple tiers to the first component, and each other tier of the multiple tiers to the tier immediately above that tier.