Wave power

• US 9,623,945 B2
• Filed: 05/05/2015
• Issued: 04/18/2017
• 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, III, Kurt A. F., Hine, Roger G., Hine, Derek L., Rizzi, Joseph D., Burcham, Robert, Stutz, William A.
• Primary Examiner(s): Olson, Lars A
• Application Number:
  US14/704,494
• Publication Number:
  US 20160083064A1
• Time in Patent Office: 714 Days
• Field of Search: 114293, 440 3, 440 9, 440 13, 440 17, 440 18, 440 19, 440 20
• 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 wave-powered water vehicle that travels across the surface of wave-bearing water, the vehicle comprising:

(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;

the swimmer comprising

(2a) a swimmer body having a longitudinal axis, and

(2b) a fin system which

(a) is secured to the body,

(b) comprises a fin, and

(c) when the vehicle is in wave-bearing water,

(i) has a configuration which changes as a result of the wave motion, and

(ii) interacts with the water to generate forces which tend to move the swimmer in a horizontal direction and propel the vehicle forward across the surface of the wave-bearing water.

2. The water vehicle of claim 1 in which the fin system has one or more of the following characteristics:

it comprises a fin that rotates about an axis of rotation, the axis of rotation having a spatial relationship to the swimmer body that changes when the vehicle is in wave-bearing water;

it comprises (i) a fin that rotates about an axis of rotation, and (ii) an elastic component that is not part of the fin, and that deforms elastically and thus influences changes in the configuration of the fin system when the vehicle is in wave-bearing water;

it comprises a fin having a leading edge that comprises (i) a relatively rigid central section that has a fixed spatial relationship with the swimmer body, and (ii) relatively deformable outboard sections; and

it comprises two generally laminar fins, each of which rotates about an axis of rotation generally aligned with the longitudinal axis of the swimmer body.

3. The water vehicle of claim 1 wherein the tether has the following characteristics:

it comprises an elastically deformable member; and

it comprises a component that transmits data and/or electrical power.

4. The water vehicle of claim 1 wherein the swimmer body has one or more of the following characteristics:

it has a substantially rigid fore section, a midsection that is relatively flexible in the vertical plane, and a substantially rigid aft section;

it comprises one or more components selected from electrical equipment, communications equipment, recording equipment, control electronics, steering equipment, and sensors;

it comprises a fin that influences the orientation of the swimmer body in the horizontal plane when the device is in the water-bearing water;

it comprises a generally tubular housing and the fin system comprises fins that extend either side of the housing; and

it comprises a generally tubular housing and vertical fin surfaces respectively adjacent to the leading end and the trailing end of the swimmer body.

5. The water vehicle of claim 1 wherein the fin system comprises:

(1) a plurality of fins,

(2) a rigid bar that is mounted on the swimmer body, and to which each of the fins is rotatably mounted, and

(3) an elastic component that is not part of a fin and that deforms elastically and thus influences changes in the configuration of the system when the device is in wave-bearing water.

6. The water vehicle of claim 1 wherein the fin system comprises:

(1) a rigid bar that is mounted on the swimmer body,

(2) a generally laminar fin that is mounted on the rigid bar, and

(3) an elastic component that is connected to the fin and to the rigid bar.

7. The water vehicle of claim 1 wherein the fin system comprises a generally laminar and elastically deformable fin having a leading edge that comprises

(i) a relatively rigid central section that rotates about an axis of rotation generally transverse to the longitudinal axis of the swimmer body, and

(ii) relatively deformable outboard sections.

9. The water vehicle of claim 1 wherein:

the swimmer has a center of gravity, and the tether is attached to the swimmer substantially vertically above the center of gravity;

the float has a center of buoyancy, and the tether is attached to the float substantially vertically below the center of buoyancy; and

the float has a center of drag, and the tether is attached to the float in front of the center of drag.

10. The water vehicle of claim 1, comprising means for transmitting for analysis information obtained from, or recorded by the water vehicle.

11. The water vehicle of claim 1, comprising means for controlling a function of the water vehicle in response to signals sent to the water vehicle.

12. The water vehicle of claim 1 wherein the tether comprises:

a tensile member;

electrical conductors for communicating electrical signals between the float and the swimmer; and

a streamlined polymeric jacket.

8. A wave-powered water vehicle that travels across the surface of wave-bearing water, the vehicle comprising:

(1) a float that comprises a satellite-based position sensor;

(2) a swimmer; and

(3) a tether connecting the float and the swimmer;

wherein the float, swimmer and tether are 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;

wherein the swimmer comprises

a swimmer body having a longitudinal axis, and

a fin system that

is secured to the body,

comprises a fin, and

when the vehicle is in wave-bearing water,

has a configuration which changes as a result of the wave motion, and

interacts with the water to generate forces which tend to move the swimmer in a horizontal direction and propel the vehicle forward across the surface of the wave-bearing water,

a horizontal sensor that senses direction in a horizontal plane, and

a steering actuator; and

wherein the vehicle further comprises a computer system that

(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.

13. The water vehicle of claim 8 wherein:

the vehicle comprises batteries for powering the position sensor, the horizontal sensor, the steering actuator, and the computer system; and

the float further comprises a solar panel for charging the batteries.