U.S. patent application number 13/831058 was filed with the patent office on 2014-09-18 for water vehicles.
The applicant listed for this patent is Liquid Robotics, Inc.. Invention is credited to Derek L. Hine, Roger G. Hine.
Application Number | 20140263851 13/831058 |
Document ID | / |
Family ID | 51523296 |
Filed Date | 2014-09-18 |
United States Patent
Application |
20140263851 |
Kind Code |
A1 |
Hine; Roger G. ; et
al. |
September 18, 2014 |
Water Vehicles
Abstract
Equipment and methods which combine the use of wave powered
vehicles and unmanned aerial vehicles (UAVs or drones). A UAV can
be launched from a wave-powered vehicle, observe another vessel and
report the results of its observation to the wave-powered vehicle
and the waves-powered vehicle can report the results of the
observation to a remote location. The UAV can land on water and can
then be recovered by the wave-powered vehicle.
Inventors: |
Hine; Roger G.; (Menlo Park,
CA) ; Hine; Derek L.; (Portola Valley, CA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Liquid Robotics, Inc. |
Sunnyvale |
CA |
US |
|
|
Family ID: |
51523296 |
Appl. No.: |
13/831058 |
Filed: |
March 14, 2013 |
Current U.S.
Class: |
244/4R ;
244/110R; 244/49; 244/63; 440/9 |
Current CPC
Class: |
B63B 35/00 20130101;
B64C 2201/102 20130101; B64C 2201/08 20130101; B64F 1/04 20130101;
B64C 2201/141 20130101; B64C 19/00 20130101; B63B 35/50 20130101;
B64C 2201/084 20130101; B63H 19/02 20130101; B64C 2201/021
20130101; B64C 2201/201 20130101; B64F 1/221 20130101; B64C 39/024
20130101; B64C 2201/205 20130101; Y02T 70/5236 20130101 |
Class at
Publication: |
244/4.R ; 244/63;
440/9; 244/110.R; 244/49 |
International
Class: |
B63H 19/02 20060101
B63H019/02; B64C 3/56 20060101 B64C003/56; B64C 39/02 20060101
B64C039/02; B64F 1/04 20060101 B64F001/04; B64F 1/22 20060101
B64F001/22 |
Claims
1. A float which comprises means for launching an unmanned aerial
vehicle (UAV).
2. A wave-powered vehicle (WPV) as hereinbefore defined which
comprises a float according to claim 1.
3. A wave-powered vehicle (WPV) which comprises means for
recovering an unmanned aerial vehicle (UAV) which is floating in
the water.
4. A float which comprises means for recovering an unmanned aerial
vehicle (UAV) which is floating in the water.
5. A method, performed by a wave-powered vehicle (WPV) having
communications equipment, of monitoring vessels which are floating
in water, the method comprising: receiving communications from an
unmanned aerial vehicle (UAV) on the communications equipment of
the WPV; and transmitting corresponding communications to a
receiving station at a remote location.
6. A method of monitoring a vessel which is floating in water, the
method comprising: correlating signals received by a plurality of
WPVs to identify the location of the vessel; and launching a UAV
from a WPV according to claim 2.
7. An unmanned aerial vehicle (UAV) which, when it lands on water,
sinks below the surface of water except for a recovery means which
remains above the surface of the water.
8. An unmanned aerial vehicle (UAV) which can be converted between
(1) a collapsed form in which it can be stowed in a tube and (2) an
unfolded form which can operate as a UAV and which the UAV adopts
automatically when it is released from the tube.
9. A float comprising: a hull; a launch tube mounted to the hull
for storing a UAV according to claim 8 when the UAV is in its
collapsed form; and means for ejecting the collapsed UAV from the
launch tube whereupon the UAV, when ejected, adopts its unfolded
form.
10. The float of claim 9, and further comprising elements for
providing wave-powered propulsion to the float so that the float is
a component of a wave-powered vehicle (WPD).
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is related to the following U.S. and
International patents and patent applications [0002] U.S. patent
application Ser. No. 11/436,447, filed May 18, 2006, now U.S. Pat.
No. 7,371,136, [0003] U.S. patent application Ser. No. 12/082,513,
now U.S. Pat. No. 7,641,524, [0004] International Patent
Application No. PCT/US 07/01139, filed Jan. 18, 2007, published
Aug. 2, 2007, as WO 2007/087197, [0005] International Patent
Application No. PCT/US 2008/002703, filed Feb. 29, 2008, published
Sep. 12, 2008, as WO 2008/109002, [0006] U.S. patent application
Ser. No. 13/424,156, filed Mar. 19, 2012, [0007] U.S. patent
application Ser. No. 13/424,170, filed Mar. 19, 2012, [0008] U.S.
patent application Ser. No. 13/424,312, filed Mar. 19, 2012, [0009]
U.S. patent application Ser. No. 13/536,935 filed Jun. 28, 2012,
[0010] U.S. patent application Ser. No. 13/621,803, filed Sep. 17,
2012, [0011] International Patent Application PCT/US 2012/029696,
filed Mar. 19, 2012, [0012] International Patent Application PCT/US
2012/029718, filed Mar. 19, 2012, [0013] International Patent
Application PCT/US 2012/044729, filed Jun. 28, 2012, [0014]
International Patent Application PCT/US 2012/055797, filed Sep. 17,
2012, [0015] U.S. Provisional Patent Application No. 60/760,893,
filed Jan. 20, 2006, [0016] U.S. Provisional Patent Application No.
60/904,647, filed Mar. 2, 2007, [0017] U.S. Provisional Patent
Application No. 60/841,834 filed Sep. 1, 2006, [0018] U.S.
Provisional Patent Application No. 60/904,647, filed Mar. 2, 2007,
[0019] U.S. Provisional Patent Application No. 61/453,871, filed
Mar. 17, 2011, [0020] U.S. Provisional Patent Application No.
61/453,862, filed Mar. 17, 2011, [0021] U.S. Provisional Patent
Application No. 61/502,279, filed Jun. 28, 2011, [0022] U.S.
Provisional Patent Application No. 61/535,116, filed Sep. 15, 2011,
[0023] U.S. Provisional Patent Application No. 61/573,755, filed
Sep. 12, 2011, [0024] U.S. Provisional Patent Application No.
61/585,229, filed Jan. 10, 2012, and [0025] U.S. Provisional Patent
Application No. 61/600,556, filed Feb. 17, 2012. The entire
disclosure of each of those patents, applications and publications
is incorporated herein by reference for all purposes.
BACKGROUND OF THE INVENTION
[0026] This invention relates to autonomous water vehicles.
[0027] As a wave travels along the surface of water, it produces
vertical motion, but no net horizontal motion, of water. The
amplitude of the vertical motion decreases with depth; at a depth
of about half the wave length, there is little vertical motion. The
speed of currents induced by wind also decreases sharply with
depth. A number of proposals have been made to utilize wave power
to provide useful results. Reference may be made, for example, to
the patents and applications incorporated by reference above, and
to U.S. Pat. Nos. 986,627, 1,315,267, 2,520,804, 3,312,186,
3,453,981, 3,508,516, 3,845,733, 3,872,819, 3,928,967, 4,332,571,
4,371,347, 4,389,843, 4,598,547, 4,684,350, 4,842,560, 4,968,273,
5,084,630, 5,577,942, 6,099,368 and 6,561,856, U.S. Publication
Nos. 2003/0220027 and 2004/0102107, WO 94/10029 and WO 87/04401.
The entire disclosure of each of those patents, patent applications
and publications is incorporated herein by reference for all
purposes.
[0028] Liquid Robotics, Inc. has developed particularly useful
water vehicles ("Wave Gliders".RTM.), as described for example in
U.S. Pat. Nos. 7,641,524 and 8,043,133, which are autonomous (i.e.
which do not carry a human being) and which can traverse the oceans
for long periods of time under the direction of signals sent to the
vehicle from a control location, while gathering useful information
which can be communicated to a reception location and/or
recorded.
SUMMARY OF THE INVENTION
[0029] The term wave-powered vehicle (often abbreviated to WPV) is
used in this specification to denote an autonomous water vehicle
which comprises [0030] (1) a float which can float on or near the
surface of water, [0031] (2) a swimmer, [0032] (3) a flexible or
rigid tether connecting the float and the swimmer, [0033] (4) a
computer system, [0034] (5) a satellite-referenced position sensor
on the float, [0035] (6) a horizontal sensor which senses direction
in a horizontal plane, [0036] (7) a steering actuator, [0037] (8)
means for converting solar energy and/or wind power and/or wave
power into electrical power, [0038] (9) batteries which can be
charged by the means for converting solar energy and/or wind power
and/or wave power into electrical power, and [0039] (10)
communications equipment for receiving and/or sending signals from
a remote location, for example a location on land or on another
water vehicle; the computer system (i) being linked to the position
sensor, the horizontal sensor and the steering actuator, and (ii)
containing, or being 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 an additional sensor (i.e. a sensor which is
not the position sensor or the horizontal sensor); and the float,
swimmer and tether being such that [0040] (A) when the vehicle is
in still water and the float is on or near the surface of the
water, the swimmer is submerged below the float, and the tether is
under tension; and [0041] (B) when the vehicle is in wave-bearing
water and the float is on or near the surface of the water, the
swimmer interacts with the water to generate forces which move the
float in a direction having a horizontal component (hereinafter
referred to simply as "in a horizontal direction" or
"horizontally").
[0042] A WPV can comprise a single one of each of the named
components (1)-(10), or two or more of one or more of the named
components; for example, there can be two or more floats (as in a
catamaran) and/or two or more tethers. The means for converting
solar energy and/or wind power and/or wave power into electrical
power can for example include one or more of (a) solar panels
(photovoltaic cells), (b) a wind mill, and (c) use of forward
motion of the vehicle to turn a water mill connected to a
generator.
[0043] The term UAV is used in this specification to denote an
unmanned aerial vehicle (UAVs are often referred to as drones).
[0044] In various ways, as described in detail below, this
invention makes use of equipment and methods which combine the use
of wave powered vehicles and unmanned aerial vehicles (UAVs or
drones). A UAV can be launched from a wave-powered vehicle, observe
another vessel and report the results of its observation to the
wave-powered vehicle and the wave-powered vehicle can report the
results of the observation to a remote location. The UAV can land
on water and can then be recovered by the wave-powered vehicle.
SUMMARY OF THE DIFFERENT ASPECTS OF THE INVENTION
[0045] This invention relates to:--
[0046] In a first aspect, a float which comprises means for
launching a UAV. Some of the floats of the first aspect of the
invention are equipped with some or all of the components (4)-(10)
listed above. Others are suitable for use in WPVs only after they
have been equipped with equipment which makes the float suitable
for use in a WPV. Others are designed to be towed behind a WPV.
[0047] In a second aspect, a WPV which comprises a float according
to the first aspect of the invention.
[0048] In a third aspect, a WPV which comprises means for
recovering a UAV which is floating in the water.
[0049] In a fourth aspect, a float which comprises means for
recovering a UAV which is floating in the water. Some of the floats
of the fourth aspect of the invention are equipped with some or all
of the components (4)-(10) listed above. Others are suitable for
use in WPVs only after they have been equipped with equipment which
makes the float suitable for use in a WPV.
[0050] In a fifth aspect, this invention provides a method of
monitoring vessels which are floating in water, the method
comprising receiving communications from a UAV on the
communications equipment of the WPV, and transmitting corresponding
communications to a receiving station at a remote location, for
example a receiving station on land or on another vessel (including
another WPV).
[0051] In a sixth aspect, this invention provides a method of
monitoring a vessel which is floating in water, the method
comprising correlating signals received by a plurality of WPVs to
identify the location of the vessel, and launching a UAV from a WPV
according to the first aspect of the invention to the location of
the vessel.
[0052] In a seventh aspect, this invention provides a UAV which,
when it lands on water, sinks below the surface of water except for
a recovery means which remains above the surface of the water.
[0053] In an eighth aspect, this invention provides a UAV which can
be converted between (1) a collapsed form in which it can be stowed
in a tube and (2) an unfolded form which can operate as a UAV and
which the UAV adopts automatically when it is released from the
tube.
BRIEF DESCRIPTION OF THE DRAWINGS
[0054] The invention is illustrated in the accompanying drawings,
which are included by way of example only, and are diagrammatic and
not to scale. In the drawings:--
[0055] FIG. 1 is a perspective view of a WPV having a recovery
cable extending from the swimmer for recovering a UAV which is
floating in water;
[0056] FIG. 2 is a side view of a tube and a UAV in a collapsed
form which is stowed in the tube; in FIG. 2, the tube, which would
not normally be transparent, is shown as transparent in the
interests of clarity;
[0057] FIG. 3A is a side view, FIG. 3B is a front view, FIG. 3C is
a top view, and FIG. 3D is a perspective view, of a UAV which has
unfolded after being launched from a tube;
[0058] FIG. 4 is a view of a WPV having a recovery cable extending
from the float for recovering a UAV;
[0059] FIG. 5 illustrates how a UAV which has landed in the ocean
and which is below the surface of the water except for a hook which
can engage a recovery cable extending from a WPV;
[0060] FIG. 6 illustrates a float which can be part of a WPV and
which he comprises means for launching a UAV; and
[0061] FIG. 7 illustrates a float which can be part of a WPV and an
auxiliary float which comprises means for launching a UAV and which
is connected to and pulled behind the WPV.
DETAILED DESCRIPTION OF THE INVENTION
[0062] In the Summary of the Invention above, in the Detailed
Description of the Invention below, and in the accompanying
drawings, reference is made to particular features (including for
example components, ingredients, elements, devices, apparatus,
systems, groups, ranges, method steps, test results, etc.) of the
invention. It is to be understood that the disclosure of the
invention in this specification includes all possible combinations
of such particular features. For example, where a particular
feature is disclosed in the context of a particular aspect or a
particular embodiment, that feature can also be used in combination
with other particular aspects and embodiments, and in the invention
generally, except where the context excludes that possibility. The
invention disclosed herein include embodiments not specifically
described herein and can for example make use of features which are
not specifically described herein, but which provide functions
which are the same, equivalent or similar to, features specifically
disclosed herein.
[0063] The term "comprises" and grammatical equivalents thereof are
used herein to mean that, in addition to the features specifically
identified, other features are optionally present. For example, a
composition or device "comprising" (or "which comprises")
components A, B and C can contain only components A, B and C, or
can contain not only components A, B and C but also one or more
other components. The term "consisting essentially of" and
grammatical equivalents thereof is used herein to mean that, in
addition to the features specifically identified, other features
may be present which do not materially alter the claimed invention.
The term "at least" followed by a number is used herein to denote
the start of a range beginning with that number (which may be a
range having an upper limit or no upper limit, depending on the
variable being defined). For example "at least 1" means 1 or more
than 1, and "at least 80%" means 80% or more than 80%. The term "at
most" followed by a number is used herein to denote the end of a
range ending with that number (which may be a range having 1 or 0
as its lower limit, or a range having no lower limit, depending
upon the variable being defined). For example, "at most 4" means 4
or less than 4, and "at most 40%" means 40% or less than 40%. When
a range is given as "(a first number) to (a second number)" or "(a
first number)-(a second number)", this means a range whose lower
limit is the first number and whose upper limit is the second
number. The terms "plural", "multiple", "plurality" and
"multiplicity" are used herein to denote two or more than two
features.
[0064] Where reference is made herein to a method comprising two or
more defined steps, the defined steps can be carried out in any
order or simultaneously (except where the context excludes that
possibility), and the method can optionally include one or more
other steps which are carried out before any of the defined steps,
between two of the defined steps, or after all the defined steps,
except where the context excludes that possibility. Where reference
is made herein to "first" and "second" features, this is generally
done for identification purposes; unless the context requires
otherwise, the first and second features can be the same or
different, and reference to a first feature does not mean that a
second feature is necessarily present (though it may be present).
Where reference is made herein to "a" or "an" feature, this
includes the possibility that there are two or more such features
(except where the context excludes that possibility). Where
reference is made herein to two or more features, this includes the
possibility that the two or more features are replaced by a lesser
number or greater number of features providing the same function,
except where the context excludes that possibility. The numbers
given herein should be construed with the latitude appropriate to
their context and expression; for example, each number is subject
to variation which depends on the accuracy with which it can be
measured by methods conventionally used by those skilled in the
art.
[0065] If any element in a claim of this specification is
considered to be, under the provisions of 35 USC 112, an element in
a claim for combination which is expressed as a means or step for
performing a specified function without the recital of structure,
material, or acts in support of thereof, and is, therefore,
construed to cover the corresponding structure, material, or acts
described in the specification and equivalents thereof, then the
corresponding structure, material, or acts in question include such
structure, material, or acts described in the US patent documents
incorporated by reference herein and the equivalents of such
structure, material, or acts.
[0066] When reference is made herein to a plan view, a side view,
or an end view, or to a cross-section of a float, or to a component
of a float being at an angle to the horizontal or to the vertical,
the float is being viewed in its normal horizontal position when it
is floating on still water (i.e. water which is free from
waves).
[0067] This specification incorporates by reference all documents
referred to herein and all documents filed concurrently with this
specification or filed previously in connection with this
application, including but not limited to such documents which are
open to public inspection with this specification.
(A) The First Aspect of the Invention.
[0068] The first aspect of the invention is a float which comprises
means for launching a UAV. The means for launching the UAV
preferably comprises a launch tube which contains a collapsed UAV
according to the eighth aspect of the invention or into which a
collapsed UAV according to the eighth aspect of the invention can
be loaded. The tube contains a mechanism which will eject a
collapsed UAV from the tube. The mechanism can for example comprise
one or more of a pre-loaded spring, bungee elastic, compressed air,
or a pyrotechnic.
[0069] In one embodiment, the means for launching the UAV is part
of a float which can be connected by a tether to a swimmer and
which is optionally equipped with some or all of the components
(4)-(10) listed above. In another embodiment, the means for
launching the UAV is part of an auxiliary float which is designed
to be connected to and pulled behind a float which is part of a
WPV. In use, the auxiliary float is connected to the float by a
cable. Preferably the cable contains components through which a
signal can be sent to the tube(s) on the auxiliary vessel to launch
a collapsed AUV from the tube. Alternatively, the tube is equipped
with components which can receive a signal from the WPV to launch
the AUV.
[0070] The tube is set at an angle to the horizontal, for example
an angle of 30-60.degree., e.g., about 45.degree., so that the UAV
is ejected from the tube clear of the water. When the tube is
mounted on the WPV itself, it is preferably mounted at the front of
the float, so that when the UAV is launched, it does not collide
with any antenna or other component above the top surface of the
float. When the tube is mounted on an auxiliary float, it can be
mounted anywhere on the auxiliary float which ensures that the
launched AUV does not collide with any part of the WPV itself, for
example pointing directly away from the WPV. The tube can comprise
components which compensate for movement of the WPV or auxiliary
float away from the horizontal, either purely mechanically or
through a combination of mechanical and software components.
[0071] There can be a battery of such tubes, e.g., 4-8 tubes. For
example, 6 tubes may be arranged 2 wide by 3 deep, all angled at
about 45 degrees away from the superstructure on the WPV float, so
that the launch path of the drone stays clear of the antennae of
the float.
[0072] The launch tube is preferably cylindrical and has sealable
end caps so that it can keep the drone dry.
(B) The Second Aspect of the Invention.
[0073] The second aspect of the invention provides a WPV which
comprises a float according to the first aspect of the invention.
As noted above, the float can be a float which is connected by a
tether to a swimmer or an auxiliary float which is towed behind
that float.
(C) The Third Aspect of the Invention.
[0074] The third aspect of the invention is a WPV which comprises
means for recovering a UAV, particularly a UAV which is floating in
the water. Preferably the WPV is equipped with a recovery cable
which can be released (from the float or the swimmer) and which
comprises a terminal portion which will float on the surface of the
water. The terminal portion has a length of, for example, 10-100 m.
After the recovery cable has been released, the WPV is directed to
move in a partial or complete circle (or other generally closed
figure) around the UAV which is floating in the water. The terminal
portion of the recovery cable moves in a corresponding but smaller
route, and thus contacts the floating UAV. Having orbited the UAV
with its recovery cable sweeping over the AUV, the WPV can continue
on its previous heading and a force sensing switch on a winch
connected to the recovery cable can detect a successful hook
engagement and start the winch. Another sensor could detect the
arrival of the UAV at the WPV to stop the winch.
[0075] Either or both of the terminal portion and the UAV comprise
components which cause the terminal portion and the UAV to be
connected to each other. The recovery cable is then reeled in so
that the UAV can be secured to the WPV. The amount of information
that can be transmitted from an AUV to a WPV (or other receiving
station) is less than the amount of information that can be stored
on the AUV itself. It is, therefore, useful to be able to recover
the AUV, not only to reuse the AUV (if that is possible) but also
to recover the information which is stored in it. Thus, data can be
collected on flash drives or by cameras or by other sensors on an
AUV at much higher rates than can be effectively transmitted via
radio links. For example, an AUV can shoot very high resolution
video and store it on micro SD cards with many GB capacity. This
data may be very valuable to collect, but is very difficult to
transmit wirelessly to a WPV because it takes a long time and lots
of power to transmit via wife.
[0076] In one embodiment, the recovery cable is ejected from a tube
from which an AUV has been ejected, and the recovered AUV is
reinstalled in the tube.
[0077] In another alternative, the wings of the AUV have hooks on
their forward edges. The AUV is deliberately flown into a mast or
line projecting from the float of the WPV. The hooks engage the
mast or line and the AUV circles around the mast or line until it
lands on the float.
[0078] The ability to recover the AUV after it has made a crash
landing on the water means that the AUV can use nearly all of its
battery power on its mission (it doesn't need a reserve to make
multiple landing attempts). Weather and sea conditions may be poor,
but because the WPV does not run out of power, it can make several
attempts (which may take a very long time--months even) to recover
the AUV.
(D) The Fourth Aspect of the Invention.
[0079] The fourth aspect of the invention is a float which
comprises means for recovering a UAV which is floating in the
water. The means is preferably a recovery cable as disclosed in the
discussion of the third aspect of the invention. Some of the floats
of the fourth aspect of the invention are equipped with some or all
of the components (4)-(10) listed above. Others are suitable for
use in WPVs only after they have been equipped with equipment which
makes the float suitable for use in a WPV.
(E) The Fifth Aspect of the Invention.
[0080] The fifth aspect of the invention is a method of monitoring
vessels which are floating in water, the method comprising
receiving communications from a UAV on the communications equipment
of the WPV, and transmitting corresponding communications from the
WPV to a receiving station at a remote location, for example a
receiving station on land or on another vessel (including another
WPV). It is of course possible to make an AUV which will fly over
long distances and receive and transmit information from and to
distant locations. However, such AUVs are expensive. The present
invention makes it possible to employ relatively cheap AUVs, since
the AUV is not released until it is relatively close to the target
to be observed, and can make use of relatively cheap communications
equipment which can supply information to the WPV from which the
AUV has been released. A highly effective AUV could comprise
low-cost cameras and RC hobby type components, which are rapidly
gaining in sophistication and capability. The WPV, which is
equipped with more robust communications equipment, can then
transmit the information to a distant location.
(F) The Sixth Aspect of the Invention.
[0081] The sixth aspect of the invention is a method of monitoring
a vessel which is floating in water, the method comprising
correlating signals received by a plurality of WPVs to identify the
location of the vessel, and launching a UAV from a WPV according to
the first aspect of the invention to observe the vessel. In this
method, two or more WPVs receive signals which indicate the
presence of the vessel, and the equipment on the WPVs makes it
possible to determine the location of the vessel. Depending upon
the signals received by the WPVs, for the vessel may be, for
example, 3-40 miles, for example 10-25 miles, from one or both of
the WPVs.
[0082] Thus, a WPV may carry acoustic sensors that detect the
presence and bearing of a target (like an illegal fishing boat or
possible smuggler) that may be several miles--perhaps 20 miles
away. Multiple wave gliders may work together and from the
intersection of two bearing lines, determine the location of a
target. Even in foul weather and under the cover of night, cloud
and rain, such WPVs could collect acoustic data suggesting the
presence and location of a hostile or illegal target in an area
that is otherwise difficult to patrol by ship, plane or satellite.
Similarly, wave gliders may collect radio signals e.g., from a
ship's radar and determine the bearing of a ship that may be many
miles away and even over the horizon. However, it will often be
impossible to determine the identity or purpose of such a target
from acoustic and RF information alone. This invention makes it
possible to send relatively inexpensive AUV to observe the target
and obtain further information which can be sent back to the WPV.
This is much less expensive and time consuming than investigation
by manned water vehicles and/or long range UAVs launched from
shore.
[0083] For civilian applications in particular (such as Marine
Protected Area enforcement), a disposable or single-use AUV would
have sufficient capability.
(G) The Seventh Aspect of the Invention.
[0084] The seventh aspect of the invention is a UAV which, when it
lands on water, sinks below the surface of water except for a
recovery means which remains above the surface of the water. The
recovery means can be a hook or other engagement mechanism. The
hook can for example be attached to the front or back of the body
of the AUV when the AUV is in-flight, or it can be released only
after the AUV has contacted the water. In one embodiment, the AUV,
after it has contacted the water, ejects a lifeline which
terminates in a buoy which remains on the surface of the water and
which can transmit signals to identify its location. Preferably the
float comprises means for engaging a line which contacts the float.
When the line brushes by the AUV, the hook or other engagement
means snaps shut and grips the line. The AUV itself, or the buoy
ejected from it, may have a beacon (RF, acoustic or light beacon)
or may be able to send a GPS (or similar) message on its location
so that the WPV can home in on the UAV.
[0085] In one embodiment, a retrieval hook attaches to the inboard,
aft corners of each wing root and to the middle of over-center
links which maintain the wings are in the correct flying position.
As a result, when the hook is pulled forward in the course of the
recovery of the AUV, the wings fold backwards together, minimizing
the cross section of the AUV. Similarly the propeller folds as soon
as the engine stops. Similarly the propeller folds as soon as the
engine stops.
[0086] Instead of towing a recovery line, the WPV may extend an
appendage to one side or the other to capture the AUV.
(H) The Eighth Aspect of the Invention.
[0087] The eighth aspect of the invention is an UAV which can be
converted between (1) a collapsed form in which it can be stowed in
a tube and (2) an unfolded form which can operate as a UAV and
which the UAV adopts automatically when it is released from the
tube. The UAV preferably fits inside a tube which generally, but
not necessarily, has a substantially circular cross-section. The
wings of the UAV can then fold and stack near the center-line of
the tube so that the wing chord length can be maximized for a given
diameter of tube. When the AUV is ejected from the tube, a spring
(which may be a disposable spring) unfolds the AUV and spreads its
wings to their flying configuration, which is maintained by
over-center links. [These over-center links may be disabled during
recovery of the AUV so that the wings can fold during retrieval].
The propeller automatically unfolds to provide thrust when rotated
by a motor which is timed to start after the wings have unfolded.
The UAV then navigates towards its first heading and altitude.
[0088] In one embodiment, the UAV comprises over-lapping wings that
pivot horizontally backwards on the same centerline, vertical axis
hinge. The advantage of this design is a reduction in the diameter
of the folded package (tube) while maximizing the wing area
available. The fact that the wings are vertically displaced by one
wing root thickness is of no significant consequence at the low
airspeeds on the UAVs which are preferably employed in this
invention. Careful fairing of the wing to fuselage shape is
preferably employed to minimize parasitic drag at this
junction.
[0089] In some embodiments, there are downward sloping fins on the
wingtips, each having a controllable elevator/rudder that can be
moved via control cables from wing root actuators. Such downward
sloping fins minimize interference with the tow line and its hooks
during retrieval and will help guide the tow line to slide over the
AUV until it catches the retrieval hook.
[0090] Referring now to the drawings, FIG. 1 shows a WPV 1
comprising a float 11, a swimmer 12 and a tether 13 connecting the
float and swimmer. The float includes a satellite-referenced
position sensor 15 extending upwards from the float, antenna 119
extending upwards from the float, solar cells 18 exposed on the top
of the float, and under the solar cells, and not visible in the
FIG., a computer system 14, a horizontal sensor which senses
direction in a horizontal plane 16, batteries 19 which can be
charged by the solar cells, and communications equipment 110. The
swimmer includes a recovery cable 120 having a terminal portion 121
which will float on the surface of water.
[0091] FIG. 2 shows a tube 3 with a collapsed UAV 2 within it.
[0092] FIG. 3A is a side view, FIG. 3B is a front view, FIG. 3C is
a top view, and FIG. 3D is a perspective view, of a UAV which has
unfolded after being launched from a tube. The UAV comprises wings
21 which have unfolded from the collapsed configuration shown in
FIG. 2 in which they are aligned over each other. The UAV also
comprises a propeller 22 which has unfolded from the collapsed
configuration of the UAV shown in FIG. 2.
[0093] FIG. 4 shows a float 1 which includes a recovery cable 120
having a terminal portion 121 which will float on the surface of
water.
[0094] FIG. 5 shows a UAV which, after landing in the ocean (for
example crash landing after becoming nearly out of batteries), has
reverted to a collapsed configuration so that it has sunk below the
surface of the water except for a hook 23 which extends above the
surface of the water. The UAV is equipped with some communication
means (e.g., a recovery beacon or Wi-Fi and GPS) which enables the
UAV to be located by a WPV. When contact with the recovery cable
120 is detected, the hook is closed. In FIG. 6, the hook is shown
adjacent to, and ready to engage, the recovery cable extending from
the WPV, so that the UAV can be recovered by the WPV.
[0095] FIG. 6 shows a float which can be part of a WPV and which
includes a battery 50 having tubes 55 for launching a collapsed UAV
from the float.
[0096] FIG. 7 shows a float which can be part of a WPV, and an
auxiliary float 60 which is connected to the WPV by a cable 61 and
which includes a battery 50 having tubes 55 for launching a
collapsed UAV from the auxiliary float.
* * * * *