U.S. patent application number 10/923999 was filed with the patent office on 2005-01-27 for autonomous surface watercraft.
Invention is credited to Benedict, Sarah, Bennett, Matthew, Cardoza, Miguel A., Hughes, J. Clark, Mayoral, Anne, Tucker, Donald.
Application Number | 20050016430 10/923999 |
Document ID | / |
Family ID | 29250693 |
Filed Date | 2005-01-27 |
United States Patent
Application |
20050016430 |
Kind Code |
A1 |
Cardoza, Miguel A. ; et
al. |
January 27, 2005 |
Autonomous surface watercraft
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.
Inventors: |
Cardoza, Miguel A.; (Round
Rock, TX) ; Benedict, Sarah; (Austin, TX) ;
Mayoral, Anne; (Austin, TX) ; Bennett, Matthew;
(Austin, TX) ; Hughes, J. Clark; (Austin, TX)
; Tucker, Donald; (Austin, TX) |
Correspondence
Address: |
CHALKER FLORES, LLP
12700 PARK CENTRAL, STE. 455
DALLAS
TX
75251
US
|
Family ID: |
29250693 |
Appl. No.: |
10/923999 |
Filed: |
August 23, 2004 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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10923999 |
Aug 23, 2004 |
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10411071 |
Apr 10, 2003 |
|
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60371513 |
Apr 10, 2002 |
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Current U.S.
Class: |
114/144A |
Current CPC
Class: |
B63B 22/18 20130101;
B63B 35/00 20130101; B63B 2035/007 20130101; B63C 11/42
20130101 |
Class at
Publication: |
114/144.00A |
International
Class: |
B63H 021/21 |
Goverment Interests
[0002] This invention was made with Government support under
Contract # N00039-96-D-0051-5-48, Contract # N00039-96-D-0051-5-65,
Contract # N00039-96-D-0051-5-96, and Contract #
N00039-96-D-0051-5-121 each under the project entitled "Navy Mobile
Instrumentation System, PILS II," awarded by the U.S. Navy. The
Government has certain rights to this invention.
Claims
1-83. (Canceled)
84. An autonomous surface watercraft comprising: a vertical foil
hull assembly comprising a top, a bottom, a port side, a starboard
side and an interior region; and one or more propulsion mechanisms
connected to the vertical foil hull assembly.
85. The apparatus of claim 84, wherein the one or more propulsion
mechanisms are connected operatively to the port side, the
starboard side, or both the port side and the starboard side of the
vertical foil hull assembly.
86. The apparatus of claim 84, wherein each of the one or more
propulsion mechanisms are controlled independently.
87. The apparatus of claim 84, further comprising a roll
stabilization apparatus connected to the vertical foil hull
assembly.
88. The apparatus of claim 87, wherein the roll stabilization
apparatus includes one or more pontoons.
89. The apparatus of claim 84, wherein the interior region further
comprises one or more of the following: one or more sensor modules,
one or more communications modules, one or more scuttle ports, one
or more power management modules, one or more water detector
devices, one or more batteries, one or more navigation modules, one
or more control modules, one or more sensors, one or more rudder
modules, one or more GPS receiver modules, one or more hydrogen
sensors, one or more command modules, one or more radio frequency
detectors, one or more radio frequency transmitter modules, one or
more radio frequency receiver modules, one or more signal
processing modules, one or more deployable probe modules, one or
more memory modules, one or more storage modules, one or more data
acquiring modules, one or more data transferring modules, one or
more battery charging modules or combination thereof.
90. An autonomous surface watercraft comprising: a hull assembly
shaped substantially as depicted in FIG. 1; and one or more
propulsion devices connected to the hull assembly.
91. An autonomous surface watercraft having a hydrodynamic shape
comprising: a substantially watertight vertical hull assembly
comprising a fore end, an aft end, a top, a bottom, an interior
region, a longitudinal axis extending between the fore end and the
aft end, wherein the vertical hull assembly has a generally tear
drop shaped cross sectional profile extending along the
longitudinal axis; and one or more propulsion devices connected to
the vertical hull assembly.
92. The one or more propulsion devices of claim 91, comprising one
or more motors attached to the hull, wherein each of the one or
more motors are connected to one or more power sources and
operatively attached to one or more propeller blades and arranged
to project outwardly.
93. The one or more propulsion devices of claim 92, wherein the one
or more motors are controllable independently.
94. The one or more propulsion devices of claim 91, comprising one
or more motors located in the interior region of the vertical hull
assembly, wherein the one more motors are connected to one or more
shafts extending through the hull and attached operatively to one
or more propeller blades project outwardly.
95. The one or more propulsion devices of claim 94, wherein the one
or more motors are controllable independently.
96. An autonomous substantially watertight rudderless watercraft
comprising: a vertical hull assembly comprising a generally tear
drop shaped cross sectional profile extending in the direction of
travel and an interior region; and a propulsion system connected to
the vertical hull assembly.
97. The apparatus of claim 96, wherein the propulsion system
comprises one or more power sources linked to one or more internal
motors connected to one or more shafts extending through the
vertical hull assembly and operatively attached to one or more
propeller blades.
98. The apparatus of claim 97, wherein each of the one or more
internal motors are controlled independently, wherein the one or
more internal motors control both a directional and a forward
motion of the autonomous surface watercraft.
99. The apparatus of claim 96, wherein the propulsion system
comprises one or more motors articulateably positioned on the
vertical hull assembly, wherein the one or more motors are
connected to one or more power sources and one or more
propellers.
100. The apparatus of claim 96, wherein each of the one or more
motors are articulated independently, wherein the articulation
controls both a directional and a forward motion of the autonomous
surface watercraft.
101. The apparatus of claim 99, wherein the one or more motors are
encased in a housing.
102. The apparatus of claim 96, wherein the propulsion system
comprises one or more thrusters coupled to the vertical hull
assembly.
103. The apparatus of claim 96, wherein the propulsion system is
connected to one or more modules.
104. The apparatus of claim 96, wherein the propulsion system
comprises one or more differential thrusters coupled to the
vertical hull assembly, whereby the one or more differential
thrusters control both a directional and a forward motion of the
autonomous surface watercraft.
105. The apparatus of claim 96, wherein the propulsion system
comprises one or more independently controlled thrusters, wherein
the one or more independently controlled thrusters control
movement.
106. The apparatus of claim 96, wherein the propulsion system
comprises one or more independently controlled impellers.
107. The apparatus of claim 96, further comprising a navigation
module internally mounted and connected controllably to the
propulsion system.
108. The apparatus of claim 107, wherein the navigation module
receives one or more signals from a global positioning system
module and determines the positioning coordinate from a global
positioning system.
109. A program embodied in a computer readable medium for use in a
navigation device: a code sequence for gathering one or more
signals; a code sequence for processing the one or more signals;
and a code sequence for communicating with a propulsion system in
response to the processed signal.
110. A navigation system comprising: a multi connection interface
communicatively connecting two or more modules, whereby allowing
communication between the two or more modules, wherein the two or
more modules include one or more sensor modules, one or more
communications modules, one or more scuttle ports, one or more
power management modules, one or more water detector devices, one
or more batteries, one or more navigation modules, one or more
control modules, one or more sensors, one or more rudder modules,
one or more GPS receiver modules, one or more hydrogen sensors, one
or more command modules, one or more radio frequency detectors, one
or more radio frequency transmitter modules, one or more radio
frequency receiver modules, one or more signal processing modules,
one or more deployable probe modules, one or more memory modules,
one or more storage modules, one or more data acquiring modules,
one or more data transferring modules, one or more battery charging
modules or combination thereof; and a propulsion system operatively
connected to the multi connection interface.
111. The navigation system of claim 110, wherein the navigation
system is used for a foil shaped, rudderless, surface watercraft.
Description
PRIORITY CLAIM
[0001] This application claims the benefit of the U.S. Provisional
Patent Application Ser. No. 60/371,513 entitled "AUTONOMOUS SURFACE
WATERCRAFI," to Cardoza et al. and filed Apr. 10, 2002.
BACKGROUND OF THE INVENTION
[0003] 1. Field of the Invention
[0004] Embodiments presented herein generally relate to surface
watercraft. More specifically, embodiments relate to autonomous
surface watercraft and data gathering using said watercraft.
[0005] 2. Description of the Relevant Art
[0006] Some areas of the world's bodies of water remain
inhospitable, remote, and/or otherwise unsuitable for direct human
research (e.g., gathering sensor readings over large areas).
Additionally, using large research vessels to take sensor readings
over an area of interest may be time and cost prohibitive. It may,
therefore, be advantageous to provide a system and method to
remotely gather sensor data from such areas.
SUMMARY OF THE INVENTION
[0007] Embodiments disclosed herein generally relate to autonomous
watercraft. More specifically, embodiments relate to autonomous
watercraft usable as station keeping buoys. For example, certain
embodiments relate to autonomous watercraft capable of navigating
to a station point, maintaining a position relative to the station
point, and gathering sensor data. In certain embodiments, the
watercraft may navigate to multiple station points for data
gathering and/or gather sensor data over an area of interest.
[0008] In an embodiment, an autonomous surface watercraft may
include, but is not limited to, a communications module, a
navigation module, a power management module, and/or a control
module disposed within a hull assembly. In an embodiment, the hull
assembly may include a substantially watertight seal. A propulsion
system, including one or more thrusters, may be coupled to the
hull. The thrusters may be mounted such that differential thrust
may be used to both propel and steer the watercraft. The hull may
further include one or more sensor module coupling points. In
certain embodiments, a sensor module coupling point may allow a
sensor module to be coupled to the hull assembly without opening
the substantially watertight seal of the hull assembly. In such
embodiments, a sensor module attachment point may be configured to
mechanically and electrically couple a sensor module to the
watercraft. The hull assembly may have a foil shape. A number of
laterally mounted pontoons may provide roll stability to the
watercraft. The watercraft may also be provided with one or more
lifting assemblies to aid in retrieval of the watercraft.
[0009] In an embodiment, the watercraft may include at least one
rechargeable power supply. For example, at least one rechargeable
power supply may include one or more batteries. In certain
embodiments, the watercraft may be configured such that at least
one rechargeable power supply may be recharged without opening a
substantially watertight seal of the hull assembly.
[0010] In an embodiment, the watercraft may determine a course
heading for navigation to station points and/or for station
keeping. For example, the watercraft may receive input
corresponding to a location of a station point. The watercraft may
determine a course required to reach the station point. Determining
a course heading may include determining the speed and direction of
a current. Determining the course heading may also include
minimizing power expenditures. After reaching a station point, the
watercraft may determine a course required for station keeping
(e.g., based on wind direction and speed and/or current direction
and speed). In certain embodiments, the watercraft may receive
input corresponding to an area of interest (e.g., an area over
which sensor data should be collected). The watercraft may
determine a course to reach the area of interest. Additionally, the
watercraft may determine one or more locations for sensor data
gathering within the area of interest.
[0011] In an embodiment, the watercraft may include a
communications module. For example, the communications module may
include a radio modem for receiving mission parameters (e.g.,
sensor data gathering time, location, and duration). Additionally,
the communications module may transmit sensor data, system
diagnostic data, etc. to a control center. The control center may
analyze, filter and/or store the transmitted data. For example,
sensor data transmitted by a plurality of watercraft may be
presented to a control center operator in real-time. The control
center may also remotely provide mission parameters to each
watercraft.
[0012] It is believed that providing small, autonomous surface
watercraft to take sensor readings over large areas may save
researchers time and money. An advantage of such watercraft may be
that their small size and low cost may allow fleets of the
watercraft to be deployed in an area to take sensor readings,
thereby significantly reducing time required to gather sensor
data.
BRIEF DESCRIPTION OF THE DRAWINGS
[0013] Other objects and advantages of the invention will become
apparent upon reading the following detailed description and upon
reference to the accompanying drawings in which:
[0014] FIG. 1A depicts an exploded perspective view of a first
embodiment of an autonomous surface watercraft;
[0015] FIG. 1B depicts an assembled perspective view of the first
embodiment of the autonomous surface watercraft of FIG. 1A;
[0016] FIG. 2 depicts a perspective view of a second embodiment of
an autonomous watercraft;
[0017] FIG. 3 depicts a perspective view of the autonomous surface
watercraft of FIG. 1A with the skin of the hull assembly
removed;
[0018] FIG. 4 depicts a perspective view of the autonomous surface
watercraft of FIG. 2 with the skin of the hull assembly
removed;
[0019] FIG. 5 depicts a schematic view showing the relationships
between various watercraft components according to one
embodiment;
[0020] FIG. 6 depicts an embodiment of a control system
architecture for an autonomous watercraft;
[0021] FIG. 7 depicts the angle .theta. between a heading and a
course set;
[0022] FIG. 8 depicts a schematic view of a control center in
relation to a plurality of autonomous watercraft; and
[0023] FIG. 9 depicts a perspective bottom view of a sensor
module.
[0024] While the invention is susceptible to various modifications
and alternative forms, specific embodiments thereof are shown by
way of example in the drawings and will herein be described in
detail. It should be understood that the drawing and detailed
description thereto are not intended to limit the invention to the
particular form disclosed, but on the contrary, the intention is to
cover all modifications, equivalents and alternatives falling
within the spirit and scope of the present invention as defined by
the appended claims.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0025] Embodiments disclosed herein relate to methods and systems
for remote data gathering using autonomous surface watercraft. The
watercraft may independently control navigation to station points
and station keeping relative to established station points. As used
herein, a "station point" refers to a specific location or area to
which a craft has been assigned (e.g., for data gathering,
retrieval, etc.). As used herein, "station keeping" refers to
maintaining a position within a relatively small area around a
station point. While navigating or station keeping, a watercraft
may gather sensor data. The sensor data may be combined with
location data and stored in memory onboard the watercraft and/or
transmitted to a control center. A control center may communicate
with a plurality of watercraft to direct them to various station
points within an area of interest, to receive sensor data and to
process and/or store the sensor data.
[0026] As used herein, "autonomous" refers to automatically
controlling various mission activities. For example, watercraft
disclosed herein may automatically determine course headings,
control propulsion systems, deploy and retrieve sensor devices,
control power management functions, etc. As used herein,
"automatically" may generally refer to an action taken without
requiring manual steps on the part of an operator. Although a
control center may provide minimal input, such as but not limited
to station point coordinates, data gathering locations, data
gathering durations, etc., control center operators generally need
not steer the watercraft or manually control the watercraft
systems.
[0027] In an embodiment, an autonomous surface watercraft 100 may
include a hull assembly 102 as depicted in FIGS. 1A and 1B. In an
embodiment, hull assembly 102 may include a plurality of hull
panels coupled to an internal structural skeleton 301 (shown in
FIG. 3). In such embodiments, skeleton 301 may provide mounting
points for internal components. Hull assembly 102 may be configured
to internally house a number of components of a data gathering
system. For example, a power source (e.g., batteries 303), control
module 305, communications module 307, and power management module
309 may be housed inside hull assembly 102. In certain embodiments,
damping devices (e.g., spring-mass dampers) may at least partially
isolate the system components from motion of hull assembly 102.
Hull assembly 102 may include a substantially watertight seal to
protect data gathering system components from moisture, and to
preserve buoyancy. Hull assembly 102 may include a number of
coupling points 107. Coupling points 107 may include electrical
and/or mechanical connectors, as appropriate for a device to be
coupled to the coupling point. Hull penetrations associated with
coupling points 107 (e.g., electrical connections) may include a
substantially watertight seal. Commercially available connectors,
which may be suitable for watertight installation, are available
from Burton Electrical Engineering of Gardena, Calif. Such
embodiments may be configured to be deployed and recovered multiple
times without the need to open the watertight seal. That is, no
access may be required to the interior of hull assembly 102 for
preparing the watercraft for deployment (e.g., charging the power
source, setting mission parameters, attaching desired sensors,
etc.) or for recovering the watercraft (e.g., recovering the
watercraft from the water, downloading sensor data, checking
watercraft electronic systems, checking the integrity of the
watertight seal, etc.). It is believed that such a configuration
may minimize the exposure of electronic components within the
watercraft to potentially corrosive environments (e.g., sea
air).
[0028] In certain embodiments, a water detector 202 (as shown in
FIG. 2) may be provided to detect and provide an indication of the
presence of water inside hull assembly 102. For example, water
detector 202 may provide a visual and/or an electrical indication
of water inside hull assembly 102. In an embodiment, an electrical
indication may be stored in an onboard memory such that when sensor
data from the memory is accessed, the indication is also accessed
(e.g., a warning is provided to a user of a computer accessing the
sensor data). In an embodiment, a visual indication may be provided
by a water detector having a window visible through and/or
projecting through a portion of hull assembly 102. For example, a
window of water detector 202 may project through lid 106. An
example of a water detector which provides a visual indication is
the humidity detector commercially available from Halkey-Roberts of
St. Petersburg, Fla. The indication of water inside hull assembly
102 may allow a user to assess the seaworthiness of the watercraft
without opening the watertight seal. In an embodiment, a water
collector (e.g., a desiccant) may be provided in the hull assembly.
Suitable desiccants are commercially available, for example, from
W. A. Hammond Drierite, Co. of Xenia, Ohio.
[0029] Referring back to FIGS. 1A and 1B, in an embodiment, hull
assembly 102 may have a foil shape. In various embodiments, hull
assembly 102 may have a substantially flat bottom or a rounded or
otherwise contoured bottom. A substantially flat bottom may provide
a relatively stable base for the watercraft during handling and/or
storage of the watercraft (e.g., while onboard a ship). A rounded
or otherwise contoured bottom may provide increased operational
efficiency for the watercraft during operation (e.g., during
navigation and/or station keeping). A foil shape may have a low
drag coefficient, which may require less power for station keeping
and navigation. A foil shape may also be beneficial to provide a
stable platform for sensor data gathering, navigation and/or
station keeping. The relatively large surface area of the foil
shape when viewed along the x-axis (as shown in FIG. 1a) may
provide the watercraft with yaw stability (i.e., resistance to
rotation about the z-axis), roll stability (i.e., resistance to
rotation about the y-axis) and stability along the x-axis.
Additionally, the foil shape may help the watercraft to remain
properly oriented with respect to a current or wind so that station
keeping is efficient. In certain embodiments, additional stability
may be provided by adding one or more pontoons 104 to the hull
assembly. Additional stability may be desired for example, if the
watercraft is to operate in a relatively unpredictable area or a
body of water with a relatively rough surface. Pontoons 104 may be
mounted laterally on hull assembly 102 (e.g., parallel to the foil
shaped hull and at some distance from the hull along the x-axis).
In an embodiment, pontoons 104 may be configured to be easily
coupled to or removed from a coupling point on the watercraft. The
stability of watercraft 100 may be increased by laterally mounted
pontoons 104. For example, pontoons 104 may increase the pitch
stability of the watercraft (i.e., resistance to rotation about the
x-axis), the role stability of the watercraft, and the resistance
to translation along the z-axis. In some embodiments, pontoons 104
may be configured to provide no net buoyancy to watercraft 100
except in wash-over situations. In certain embodiments, watercraft
100 may be self-righting during use. Thus, if the watercraft
becomes inverted (e.g., during deployment from a ship or a
wash-over situation), the watercraft buoyancy distribution may
cause the watercraft to right itself in the water.
[0030] Hull assembly 102 may include a lid 106 coupled to the upper
portion of the hull assembly. Lid 106 may include coupling points
for various components. For example, a mast 108 may be coupled to
lid 106. Mast 108 may include a communications antenna. Mast 108
may also aid in increasing the visibility of the watercraft. For
example, a flag 116, light 118 or reflector may be coupled to the
mast. Mast 108 and/or other elongated members extending from the
watercraft may be configured to be strong and flexible to withstand
high sea states. For example, mast 108 may include a fiberglass
core encased in an epoxy medium within a stainless steel tube. One
or more visual aids may be coupled to lid 106 (e.g., high
visibility tape or paint). Lid 106 may also include other devices,
such as one or more valves (e.g., for safety devices or pressure
testing); one or more switches, indicators and/or electrical
connections for interfacing with internal components; one or more
recovery aids (e.g., lifting ring 110); a GPS antenna 114 (depicted
in FIG. 1B), etc. In certain embodiments, a sensor module may be
coupled to lid 106. For example, referring to FIG. 2, an antenna
204 of an RF sensor may be coupled to lid 106.
[0031] In an embodiment, hull assembly 102 may include a coupling
point for a power supply charger. The power supply charger coupling
point 512 (shown in FIG. 5) may allow a charging device to be
electrically coupled to a rechargeable power supply 510 within hull
assembly 102. Such embodiments may allow watercraft power supply
510 to be recharged without opening the substantially watertight
seal of hull assembly 102. For example, in an embodiment, power
supply 510 may include one or more batteries 303. Certain batteries
may release hydrogen during recharging (e.g., lead acid batteries).
Batteries may be selected to minimize the risk of hydrogen buildup.
For example, valve regulated lead acid batteries may be less prone
to release hydrogen during recharging; however, the risk of
hydrogen release does not appear to be completely eliminated even
with the use of valve regulated lead acid batteries. To minimize
the risk of hydrogen buildup within hull assembly 102, a hydrogen
collector 404 may be provided within the hull assembly. Examples of
suitable hydrogen collectors are commercially available from Vacuum
Energy, Inc. of Cleveland, Ohio. In certain embodiments, one or
more hydrogen detectors 406 may be provided in the hull assembly.
Hydrogen detector 406 may be configured to provide an indication if
a potentially dangerous buildup of hydrogen within hull assembly
102 is detected. For example, hydrogen detector 406 may provide an
indication of hydrogen buildup if the concentration of hydrogen
within hull assembly 102 exceeds a threshold value. The threshold
value may be configurable or fixed. For example, the threshold
value may be set to the lower detection limit of the hydrogen
detector, to the lower explosive limit of hydrogen (e.g., about 4%
in air), or to some fraction of the lower explosive limit of
hydrogen (e.g., 1/2 of the lower explosive limit). A charger
configured to interface with the watercraft for recharging the
power supply and/or the power management module of the watercraft
may be configured to respond to the indication of hydrogen
detection by stopping the battery charging process. In certain
embodiments, an audible or visual alert may be provided to notify a
user of the hydrogen detection. Hydrogen detectors may include
metal oxide semiconductor sensors and/or catalytic combustion
sensors. For example, the 652450 Transmitter commercially available
from Argus Group of Roseville, Mich. may be suitable. Certain
hydrogen detectors may be harmed by exposure to chemicals other
than hydrogen. For example, catalytic combustion sensors may be
damaged by exposure to silicone or silicone vapors. In embodiments
where a catalytic combustion sensor is used, non-silicone
containing products may be favorably selected for use within the
hull assembly. For example, silicone free heat sink compounds,
grease, etc. may be utilized.
[0032] In an embodiment, passive scuttling methods may be employed
to inhibit watercraft 100 from becoming a navigational hazard in
the event that communications are lost between a control center and
watercraft 100 and the watercraft cannot be recovered. For example,
one or more water-soluble plugs may be placed in a scuttling port
120 (shown in FIG. 1A) of watercraft 100. The water-soluble plugs
may be selected to dissolve through over a period of exposure to
water. Thus, if the watercraft is deployed and not retrieved before
the soluble plugs dissolve, the plugs may dissolve sufficiently to
allow water into hull assembly 102 through scuttling port 120. In
certain embodiments, watercraft 100 may also be configured to
implement a scuttling process based on a command signal received
from the control center. For example, scuttling port 120 may
include a valve that may be opened by the control module upon
receipt of a scuttling command.
[0033] Watercraft 100 may include a propulsion system. In an
embodiment, the propulsion system may include a plurality of
thrusters 112 configured to provide differential thrust. In such
embodiments, the propulsion system may provide both propulsion and
directional control. For example, by controlling thrust from each
of two laterally mounted thrusters 112, both direction and speed of
the watercraft may be controlled. In an embodiment, thrusters may
include modified trolling motors. For example, the shaft of a
trolling motor may be cut and sealed. The shaft may be modified as
needed to allow the motor to be coupled to the hull assembly at a
coupling point. Electrical connections to the motor may be modified
to provide strain relief for the connection and a suitable
electrical connector to electrically couple the motor to the
watercraft.
[0034] In an embodiment, during navigation and station keeping,
control signals may be sent to the propulsion system from a control
module 305 (depicted in FIGS. 3 and 5). Control module 305 may
determine the control signals based at least in part on location
information received from a navigation module. The navigation
module may use a Global Positioning System (GPS) receiver 502 to
receive GPS signals. The GPS signal data may be used by control
module 305 to determine the location of the watercraft. In some
embodiments, the navigation module may also include a compass 504
to assist in orientation and course setting determinations. Control
module 305 may determine a course heading from a present location
to a station point based on location data and an estimate of speed
and direction of a current and/or speed and direction of the wind.
For example, an estimate of current and/or wind speed and direction
may be determined from changes in the position of watercraft 100
during periods of drifting.
[0035] Control module 305 may control other functions of the
watercraft as well. In an embodiment, control module 305 may
perform functions such as but not limited to processing sensor
data, associating sensor data with location and/or time stamps,
sending propulsion control signals to the propulsion system (or
power management module), performing system diagnostics, and
communicating with a control center. An exemplary embodiment of a
control architecture for control module 305 is depicted in FIG. 6.
In FIG. 6, control module 305 may receive input data from GPS
receiver 502, compass 504 and a communications module 307 (e.g.,
radio modem 506). The control module may use the input data to
navigate the watercraft (step 602). The navigation may include
determining a course setting for station keeping or a course
setting to reach a station point. In either case, a course setting
may be determined such that the angle .theta., between the heading
of the watercraft and the course set, (depicted in FIG. 7) is
minimized. Power usage may be optimized if the course set is
opposite to net external forces on the watercraft due to wind and
current while station keeping, or directed toward a station point.
Additionally, in station keeping mode, control module 305 may
control the propulsion system to accurately counter current motions
while ignoring short-term GPS errors.
[0036] In an embodiment, control module 305 may provide propulsion
control signals to a power management module (PMM) 309. In an
alternate embodiment, control module 305 may provide propulsion
control signals directly to the propulsion system. In embodiments
where control signals are sent to a PMM first, the PMM may process
the control signals to optimize power usage. The propulsion system
(e.g., thrusters 112) may be operated as directed by the propulsion
control signals. In some embodiments, control module 305 may also
provide control signals to one or more ancillary devices, such as a
light output to a strobe light 118. In some embodiments, control
module 305 may also implement diagnostics of various system
components (e.g., radio 506, batteries 303, etc.).
[0037] In addition to navigating watercraft 100, control module 305
may gather and/or process sensor data, as depicted at step 604. At
step 604, data may be received from a sensor module 508 by control
module 305. Control module 305 may store the sensor data in a
memory 606 onboard the watercraft. In addition to storing the
sensor data in memory, control module 305 may associate a time
stamp and/or a location stamp with the sensor data. The sensor data
may be retained onboard the watercraft (e.g., in onboard memory
606). In certain embodiments, a data processor module separate from
control module 305 may process and/or store sensor data. In some
embodiments, the sensor data may be transferred to a control center
at step 608. Transferring sensor data may reduce the amount of
memory needed for data collection on the watercraft. Additionally,
transferring the sensor data may allow a computer system at the
control center to process the data and/or correlate sensor data
received from a plurality of simultaneously operating watercraft.
In certain embodiments, sensor data may be transferred locally
(e.g., downloaded via a physical connection to the watercraft after
the watercraft is recovered). In certain embodiments, sensor data
may be transferred remotely (e.g., transmitted via a wireless
connection).
[0038] To transfer the sensor data to the control center, control
module 305 may use a communications module 307 (depicted in FIG.
3). In an embodiment, communications module 307 may include a radio
modem transceiver 506 to transmit data including but not limited to
system diagnostics, location, sensor data, and command
confirmations to the control center. Additionally, communications
module 307 may receive data from the control center. For example,
communications module 307 may receive station point coordinates,
sensor control commands, status inquiries and/or other command
signals from the control center.
[0039] Control center 800 depicted in FIG. 8, may communicate with
a plurality of watercraft 100. In an embodiment, control center 800
may include a computer system 802 and a communications system 804.
In an embodiment, computer system 802 may include a display device
806, a central processing unit 808, and a user input device 810
(e.g., a keyboard and/or cursor positioning device). In addition,
computer system 802 may include at least one uninterrupted power
supply 812. In an embodiment, computer system 802 may include at
least one GPS receiver 814 and a GPS power supply 816. For example,
a survey-grade GPS receiver may be provided to enable determination
and display of relative position of one or more watercraft 100 and
control center 800. Suitable GPS receivers may include Ashtech
brand GPS receivers available from Thales Navigation of Santa
Clara, Calif. Computer system 802 may also include a communications
panel 818. Communications panel 818 may be configured to transmit
and receive voice communication between an operator of control
center 800 and one or more individuals assisting in launching
and/or retrieving watercraft 100. As depicted in FIG. 8, computer
system 802 may include both primary and secondary devices for some
functions. For example, user input device 810 may be a primary user
input device; whereas user input device 820 may be a secondary user
input device. Other secondary devices may include, but are not
limited to secondary central processing unit 822, secondary
uninterrupted power supply 824 and/or secondary GPS receiver 826.
Secondary devices may act as backup devices in case of failure of a
primary device. In an embodiment, control center 800 may be onboard
a ship or other vessel. In an alternate embodiment, control center
800 may be located in a land-based installation. Control center 800
may be located near enough to watercraft 100 to allow direct
communication. Alternately, a communications relay device (e.g., a
satellite, or radio buoy) may be used to increase the distance
between control center 800 and watercraft 100. In an embodiment,
control center 800 may track location and sensor data for each
watercraft 100 in real-time. As used herein, "real-time" may
generally refer to a response to stimuli within some relatively
small upper limit of response time (e.g., seconds or minutes).
Tracking location and sensor data in real-time may allow control
center 800 to provide a graphical representation depicting relevant
sensor data (e.g., a map) to an operator. It is believed that such
simultaneous, real-time data processing and analysis may allow the
operator to quickly identify relevant information (e.g., locations
of interest, missing data, etc.). Additionally, having real-time
access to sensor data may allow the operator to make timely
modification to mission parameters (e.g., time, duration and
location of data collection).
[0040] In an embodiment, watercraft 100 may include a coupling
point 107 for attaching one or more sensor modules 508. Coupling
point 107 may be configured to allow one or more sensor modules 508
to be mechanically and electrically coupled to watercraft 100. In
such an embodiment, a number of interchangeable sensor modules 508
may be provided. For example, a hydrophone sensor module 900
(depicted in FIG. 9) may be provided. Hydrophone sensor module 900
may include a deployable hydrophone 902. Hydrophone 902 may be
deployed on an elongated member 904 extending from the sensor
module. Elongated member 904 may allow hydrophone 902 to be
deployed to a desired sensing depth for data gathering. After data
gathering, hydrophone 902 may be retracted into a sensor module
housing 906 for safety and/or transportation. Elongated member 904
may be coupled to sensor module housing 906 by a damping mechanism,
such as a spring-mass damper. In certain embodiments, one or more
sensors may be completely or partially enclosed within the hull
assembly. For example, a radio frequency (RF) sensor (as depicted
in FIG. 4) may include a portion disposed within the hull assembly
(e.g., a receiver 402) and a portion disposed outside the hull
assembly (e.g., an antenna 204). Sensor modules 508 may include,
but are not limited to: water analysis sensors (e.g., chemical
sensors, water temperature sensors, etc.), environmental sensors
(e.g., atmospheric temperature sensors), active sonar sensors,
magnetic sensors, electromagnetic sensors (e.g., RF sensors,
optical sensors, etc.). Sensors may be deployed and/or turned on
automatically upon deployment of the watercraft, at a predetermined
time, at a predetermined location and/or upon receipt of a sensor
control command from control center 800. In an embodiment, one or
more sensor modules may be controlled by control module 305. In
such embodiments, control module 305 may determine when to deploy a
sensor, when to initiate data gathering, when to cease data
gathering, when to retrieve a sensor, etc. For example, control
module 305 may control one or more sensor modules based on one or
more mission parameters (e.g., station point, etc.).
[0041] In an embodiment, sensor data may be analyzed and/or
filtered by an onboard data processor before storage or
transmittal. In some such embodiments, data processing and/or
filtering circuitry may be provided in control module 305. Data
processing and/or filtering parameters may also be controlled by
commands from control center 800. Thus, control center 800 may be
able to change data analysis and/or filtering parameters (e.g.,
sampling time, etc.) remotely. It is believed that remotely
controlling data analysis and/or filtering may allow the operator
to use available data transmission bandwidth efficiently.
[0042] In an embodiment, power for navigation, communication,
sensing, etc. may be provided by an onboard power source. For
example, the power source may include, but is not limited to a fuel
cell or one or more batteries 303. In such an embodiment, a power
management module (PMM) 309 (depicted in FIG. 3) may control power
conditioning, battery charging, providing power to watercraft
components, etc. PMM 309 may include but is not limited to motor
power control circuitry, fuses, cooling fans, battery charging
circuitry and battery failure protection circuitry, etc. Motor
control circuitry may provide power to one or more propulsion
system motors as directed by propulsion control signals from
control unit 305. In an embodiment, PMM 309 may incorporate pulse
width modulation into propulsion system control signals to gain
efficiency in the use of propulsion system motors. Fuses may
provide over current protection for system components (e.g., in the
event of a short circuit). Battery failure protection circuitry may
regulate power distribution such that failure of one or more
batteries 303 reduces operating duration of the watercraft rather
than affecting the performance of watercraft components. It is
envisioned that in some embodiments, system power may be derived
from or supplemented by other power sources. For example, in some
embodiments, solar power may be used to provide a trickle charge to
one or more batteries 303 to increase the operating duration of the
system. In certain embodiments, PMM 309 may be configured to
receive a hydrogen detection indication from a hydrogen detector.
In such embodiments, PMM 309 may inhibit charging of batteries 303
in response to the hydrogen detection indication so that charging
does not release additional hydrogen into hull assembly 102.
[0043] In one embodiment of a method of gathering data using at
least one autonomous watercraft, at least one autonomous watercraft
may be deployed to navigate within an area of interest. After being
deployed, the watercraft may navigate to an assigned station point.
While navigating or upon reaching the station point, the watercraft
may gather sensor data. It is envisioned that such a method of
gathering data may be useful for gathering "scanning" data (i.e.,
data gathered for the area over a period of time) over a relatively
large area with minimal cost and/or time required. Sensor modules
deployed with the watercraft may be alike (e.g., all sensor modules
may be hydrophones) or of different types.
[0044] In an alternate embodiment, at least one watercraft may be
deployed at its station point. In such an embodiment, the
watercraft may act as a station-keeping buoy. An array of such
buoys may be deployed to gather a "snap shot" of data (i.e.,
simultaneously gathering data over the entire area of
interest).
[0045] Further modifications and alternative embodiments of various
aspects of the invention may be apparent to those skilled in the
art in view of this description. Accordingly, this description is
to be construed as illustrative only and is for the purpose of
teaching those skilled in the art the general manner of carrying
out the invention. It is to be understood that the forms of the
invention shown and described herein are to be taken as the
presently preferred embodiments. Elements and materials may be
substituted for those illustrated and described herein, parts and
processes may be reversed, and certain features of the invention
may be utilized independently, all as would be apparent to one
skilled in the art after having the benefit of this description to
the invention. Changes may be made in the elements described herein
without departing from the spirit and scope of the invention as
described in the following claims. In addition, it is to be
understood that features described herein independently may, in
certain embodiments, be combined.
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