Autonomous wave-powered vessels and fleets for managing fish stock

• US 9,802,681 B1
• Filed: 03/04/2014
• Issued: 10/31/2017
• Est. Priority Date: 03/17/2011
• Status: Active Grant

• Current Assignee: Liquid Robotics, Inc. (The Boeing Co.)
• Original Assignee: Liquid Robotics, Inc. (The Boeing Co.)
• Inventors: Hine, Roger G.
• Primary Examiner(s): MOTT, GENNA M
• Application Number:
  US14/197,091
• Publication Number:
  US 20170295759A1
• Time in Patent Office: 1,337 Days
• Field of Search: None
• CPC Class Codes: A01K 61/00 Culture of aquatic animals receptacles for live fish, e.g. aquaria, A01K63/00
• CPC Class Codes: A01K 61/20 of zooplankton, e.g. water fleas or Rotatoria
• CPC Class Codes: A01K 61/80 Feeding devices
• CPC Class Codes: A01K 61/90 Sorting, grading, counting or marking live aquatic animals, e.g. sex determination
• CPC Class Codes: B63B 2035/007 autonomously operating
• CPC Class Codes: B63B 2035/008 remotely controlled
• 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 2209/18 solar energy
• CPC Class Codes: B63B 2211/02 Oceanography
• CPC Class Codes: B63B 35/00 Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
• CPC Class Codes: B63G 2008/007 by means of a physical link to a base, e.g. wire, cable or umbilical
• CPC Class Codes: B63G 2008/425 for transporting cargo, e.g. submersible barges for fluid cargo
• CPC Class Codes: B63H 1/32 Flaps, pistons, or the like, reciprocating in propulsive direction
• 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 2021/171 making use of photovoltaic energy conversion, e.g. using solar panels
• 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 21/17 by electric motor
• CPC Class Codes: B63H 25/04 automatic, e.g. reacting to compass
• CPC Class Codes: B63J 2003/002 by using electric power
• CPC Class Codes: G01N 33/1886 using probes, e.g. submersible probes, buoys
• CPC Class Codes: G01S 19/49 : whereby the further system is an inertial position system, e.g. loosely-coupled
• CPC Class Codes: G05D 1/0206 : specially adapted to water vehicles
• CPC Class Codes: Y02A 40/81 : Aquaculture, e.g. of fish
• CPC Class Codes: Y02P 60/20 : Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
• CPC Class Codes: Y02P 60/60 : Fishing; Aquaculture; Aquafarming
• CPC Class Codes: Y02T 70/5236 : Renewable or hybrid-electric solutions

Abstract

This disclosure provides wave-powered vessels equipped for fish stock management. The vessels have observational sensors for monitoring fish, a positional sensor to determine the geographical location of the vessel, and a transmitter for sending data to a central control unit. The observational sensors may be deployed on a tow body pulled behind the vessel, or the tow body may relay information from sensors located on a separate unit on the bottom or at a defined depth. The control unit communicates with each of the monitor vessels to direct navigation and obtain data from the sensors. Substance distribution vessels in the fleet are equipped to distribute fish food in target area for the purpose of fish farming.

Claims

1. A fleet configured for fish stock assessment, the fleet comprising:

(a) a plurality of autonomous wave-powered monitor vessels, each comprising;

one or more observational sensor(s) configured for recognizing and monitoring fish in a body of water in which the vessel is situated;

a positional sensor configured to determine the geographical location of the vessel; and

a transmitter configured to transmit data wirelessly from the observational and the positional sensors to a central control unit;

(b) said central control unit, which is configured and programmed to communicate with each of the monitor vessels to direct navigation and to receive and compile data regarding fish being monitored by the monitor vessel; and

(c) one or more autonomous wave-powered substance distribution vessels, wherein each of the substance distribution vessels is configured to distribute fish food in a body of water in which the substance distribution vessel is situated under command of the central control unit, in accordance with data received from the monitor vessels.

2. The fleet of claim 1, wherein at least some of the monitoring vessels comprise a tow body attached to and pulled behind the vessel, upon which one or more of the observational sensors are deployed.

3. The fleet of claim 1, further comprising one or more stationary units comprising sensor(s) configured for recognizing and monitoring fish,

wherein each of said stationary units is configured to be deployed at or near the bottom of the body of water, or suspended at a fixed position at a defined depth in the body of water, and

wherein the one or more vessels in the fleet is a relay vessel that is equipped to receive data regarding fish being monitored by the stationary unit(s) and to convey the data to the central control unit.

4. The fleet of claim 3, wherein the relay vessel(s) comprise a tow body equipped with a modern configured to receive data from the stationary unit(s).

5. The fleet of claim 1, wherein the central control unit is land-based, and the fleet further comprises a satellite that is equipped to relay data from the monitor vessels to the central control unit.

6. The fleet of claim 1, wherein the central control unit is situated on board an autonomous vessel or manned ship.

7. The fleet of claim 1, wherein the monitor vessels each comprise:

a float that is buoyed to travel on or near the surface of a body of water;

a swimmer that is weighted to travel in the water below the float, the swimmer comprising fin surfaces that mechanically provide forward thrust when actuated by rising and falling of the swimmer in the water; and

one or more tethers connecting the float to the swimmer, arranged so that the swimmer pulls the float by way of the tether(s) when the vessel is in wave-bearing water.

8. The fleet of claim 1, wherein the monitor vessels are configured to generate electrical power from wave motion.

9. The fleet of claim 1, wherein at least one of the observational sensors produces image or video data.

10. The fleet of claim 1, wherein at least one of the observational sensors is a fish counting sonar or an acoustic fish tag receiver.

11. The fleet of claim 1, wherein at least one of the vessels in the fleet comprises a tow body configured to contain and release fish food.

12. The fleet of claim 1, wherein at least some of the vessels in the fleet are dual purpose vessels that serve as both monitor vessels and substance distribution vessels.

13. The fleet of claim 1, wherein the central control unit is aboard one of the monitor vessels or substance distribution vessels.

14. A method of assessing fish stock, comprising operating a fleet according to claim 1 such that the monitor vessels recognize and monitor fish in a body of water, and the central control unit receives and compiles data regarding the fish being monitored.

15. A method of fish farming, comprising operating a fleet according to claim 1 such that:

the monitor vessels recognize and monitor fish in a body of water,

the central control unit receives and compiles data regarding the fish being monitored and makes decisions as to where it is appropriate to distribute fish food; and

the substance distribution vessel(s) distribute the fish food in the body of water under command of the central control unit.

16. A fleet configured for fish stock assessment, the fleet comprising:

(a) a plurality of autonomous wave-powered monitor vessels, each comprising;

one or more observational sensor(s) configured for recognizing and monitoring fish in a body of water in which the vessel is situated;

a positional sensor configured to determine the geographical location of the vessel; and

a transmitter configured to transmit data wirelessly from the observational and the positional sensors to a central control unit; and

(b) said central control unit, which is configured and programmed to communicate with each of the monitor vessels to direct navigation and to receive and compile data regarding fish being monitored by the monitor vessel;

wherein the monitor vessels comprise at least one sensor that detects an identifying ingredient of fish food in the form of pellets or powders containing food palatable and nutritious to fish.

17. An autonomous wave powered vessel configured for fish stock assessment, the vessel comprising:

a float that is buoyed to travel on or near the surface of a body of water;

a swimmer that is weighted to travel in the water below the float, the swimmer comprising fin surfaces that mechanically provide forward thrust when actuated by rising and falling of the swimmer in the water; and

one or more tethers connecting the float to the swimmer, arranged so that the swimmer pulls the float by way of the tether(s) when the vessel is in wave-bearing water;

a positional sensor configured to determine the geographical location of the vessel;

a tow body configured to be attached to and pulled behind the swimmer, upon which is deployed an observational sensor configured to recognize and monitor or assess fish in a body of water in which the vessel is situated and to monitor or assess the fish, or a modem configured to receive data from such a sensor that is deployed on a stationary unit at or near the bottom of the body of water or suspended at a defined depth; and

a transmitter configured to wirelessly transmit to a central control unit data from the observational sensor regarding fish being monitored by the vessel, and data from the positional sensor regarding the geographical location of the vessel;

wherein the tow body is configured to contain and release fish food.

18. A fleet configured for fish stock assessment, the fleet comprising:

(a) a plurality of autonomous wave-powered monitor vessels, each comprising;

one or more observational sensor(s) configured for recognizing and monitoring fish in a body of water in which the vessel is situated;

a positional sensor configured to determine the geographical location of the vessel; and

a transmitter configured to transmit data wirelessly from the observational and the positional sensors to a central control unit; and

(b) said central control unit, which is configured and programmed to communicate with each of the monitor vessels to direct navigation and to receive and compile data regarding fish being monitored by the monitor vessel;

wherein the central control unit is programmed to compile data from the monitor vessels, and to determine therefrom how much fish food is to be dispensed and where vessels distributing fish food should travel.

19. The fleet of claim 18, wherein the data includes data obtained from counting equipment aboard the monitor vessels for fish of a desired size.