US20140263851A1 - Water Vehicles - Google Patents
Water Vehicles Download PDFInfo
- Publication number
- US20140263851A1 US20140263851A1 US13/831,058 US201313831058A US2014263851A1 US 20140263851 A1 US20140263851 A1 US 20140263851A1 US 201313831058 A US201313831058 A US 201313831058A US 2014263851 A1 US2014263851 A1 US 2014263851A1
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- US
- United States
- Prior art keywords
- uav
- float
- wpv
- water
- wave
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 53
- 238000000034 method Methods 0.000 claims abstract description 19
- 238000011084 recovery Methods 0.000 claims description 23
- 238000004891 communication Methods 0.000 claims description 15
- 238000012544 monitoring process Methods 0.000 claims description 6
- 239000000463 material Substances 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000004615 ingredient Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000003071 parasitic effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/50—Vessels or floating structures for aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H19/00—Marine propulsion not otherwise provided for
- B63H19/02—Marine propulsion not otherwise provided for by using energy derived from movement of ambient water, e.g. from rolling or pitching of vessels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C19/00—Aircraft control not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/38—Adjustment of complete wings or parts thereof
- B64C3/56—Folding or collapsing to reduce overall dimensions of aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/04—Ground or aircraft-carrier-deck installations for launching aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/22—Ground or aircraft-carrier-deck installations for handling aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/22—Ground or aircraft-carrier-deck installations for handling aircraft
- B64F1/221—Ground or aircraft-carrier-deck installations for handling aircraft for handling seaplanes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/25—Fixed-wing aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/50—Foldable or collapsible UAVs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/10—Wings
- B64U30/12—Variable or detachable wings, e.g. wings with adjustable sweep
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
- B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
- B64U30/293—Foldable or collapsible rotors or rotor supports
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U60/00—Undercarriages
- B64U60/10—Undercarriages specially adapted for use on water
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
- B64U70/30—Launching, take-off or landing arrangements for capturing UAVs in flight by ground or sea-based arresting gear, e.g. by a cable or a net
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
- B64U70/50—Launching from storage containers, e.g. from submarine missile tubes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
- B64U70/70—Launching or landing using catapults, tracks or rails
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U80/00—Transport or storage specially adapted for UAVs
- B64U80/70—Transport or storage specially adapted for UAVs in containers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U80/00—Transport or storage specially adapted for UAVs
- B64U80/80—Transport or storage specially adapted for UAVs by vehicles
- B64U80/84—Waterborne vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T70/00—Maritime or waterways transport
- Y02T70/50—Measures to reduce greenhouse gas emissions related to the propulsion system
- Y02T70/5218—Less carbon-intensive fuels, e.g. natural gas, biofuels
- Y02T70/5236—Renewable or hybrid-electric solutions
Definitions
- This invention relates to autonomous water vehicles.
- Liquid Robotics, Inc. has developed particularly useful water vehicles (“Wave Gliders”®), 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.
- Wave Gliders water vehicles
- 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.
- UAV unmanned aerial vehicle
- this invention makes use of equipment and methods which combine the use of wave powered vehicles and unmanned aerial vehicles (UAVs or drones).
- UAV unmanned aerial vehicles
- 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.
- This invention relates to:—
- a WPV which comprises a float according to the first aspect of the invention.
- a WPV which comprises means for recovering a UAV which is floating in the water.
- 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.
- 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).
- 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.
- 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;
- 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;
- FIG. 3A is a side view
- FIG. 3B is a front view
- FIG. 3C is a top view
- FIG. 3D is a perspective view, of a UAV which has unfolded after being launched from a tube;
- FIG. 4 is a view of a WPV having a recovery cable extending from the float for recovering a UAV;
- 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;
- FIG. 6 illustrates a float which can be part of a WPV and which he comprises means for launching a UAV;
- 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.
- 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).
- 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).
- the float 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).
- 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.
- 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.
- 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.
- the auxiliary float is connected to the float by a cable.
- 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.
- the tube is equipped with components which can receive a signal from the WPV to launch the AUV.
- the tube is set at an angle to the horizontal, for example an angle of 30-60°, e.g., about 45°, so that the UAV is ejected from the tube clear of the water.
- 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.
- 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.
- tubes there can be a battery of such tubes, e.g., 4-8 tubes.
- 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.
- the launch tube is preferably cylindrical and has sealable end caps so that it can keep the drone dry.
- the second aspect of the invention provides a WPV which comprises a float according to the first aspect of the invention.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- the recovery cable is ejected from a tube from which an AUV has been ejected, and the recovered AUV is reinstalled in the tube.
- 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.
- 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.
- 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.
- 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).
- a remote location for example a receiving station on land or on another vessel (including another WPV).
- 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.
- 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.
- the vessel may be, for example, 3-40 miles, for example 10-25 miles, from one or both of the WPVs.
- 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.
- 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.
- 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.
- a disposable or single-use AUV would have sufficient capability.
- 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.
- 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.
- 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 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.
- RF radio frequency
- GPS GPS
- 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.
- the WPV may extend an appendage to one side or the other to capture the AUV.
- 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.
- a spring which may be a disposable spring
- 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.
- 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.
- 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.
- 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.
- FIG. 2 shows a tube 3 with a collapsed UAV 2 within it.
- FIG. 3A is a side view
- FIG. 3B is a front view
- FIG. 3C is a top view
- 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 .
- 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.
- 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.
- some communication means e.g., a recovery beacon or Wi-Fi and GPS
- the hook is closed.
- 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.
- 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.
- 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.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Remote Sensing (AREA)
- Transportation (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Traffic Control Systems (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
Priority Applications (10)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US13/831,058 US20140263851A1 (en) | 2013-03-14 | 2013-03-14 | Water Vehicles |
PCT/US2014/020853 WO2014158914A1 (en) | 2013-03-14 | 2014-03-05 | Water vehicles |
BR112015022756A BR112015022756A8 (pt) | 2013-03-14 | 2014-03-05 | aparelhos, e, método executado por um veículo aquático autônomo (awv) e um veículo aéreo não tripulado (uav) |
US14/775,489 US10640180B2 (en) | 2006-01-20 | 2014-03-05 | Water vehicles |
CN201480015227.1A CN105121274A (zh) | 2013-03-14 | 2014-03-05 | 水上载具 |
MYPI2015702996A MY198207A (en) | 2013-03-14 | 2014-03-05 | Water vehicles |
KR1020157029113A KR102193176B1 (ko) | 2013-03-14 | 2014-03-05 | 수상 운송체 |
CL2015002613A CL2015002613A1 (es) | 2013-03-14 | 2015-09-11 | Vehículos acuáticos. |
HK16106212.1A HK1218283A1 (zh) | 2013-03-14 | 2016-06-01 | 水上載具 |
US16/820,512 US11453466B2 (en) | 2013-03-14 | 2020-03-16 | Water vehicles |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US13/831,058 US20140263851A1 (en) | 2013-03-14 | 2013-03-14 | Water Vehicles |
Related Child Applications (2)
Application Number | Title | Priority Date | Filing Date |
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US9353725B2 (en) | 2011-06-28 | 2016-05-31 | Liquid Robotics, Inc. | Watercraft and electricity generator system for harvesting electrical power from wave motion |
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US10019000B2 (en) | 2012-07-17 | 2018-07-10 | Elwha Llc | Unmanned device utilization methods and systems |
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Also Published As
Publication number | Publication date |
---|---|
KR102193176B1 (ko) | 2020-12-21 |
US10640180B2 (en) | 2020-05-05 |
BR112015022756A2 (pt) | 2017-07-18 |
CL2015002613A1 (es) | 2016-07-29 |
US20160023725A1 (en) | 2016-01-28 |
US11453466B2 (en) | 2022-09-27 |
MY198207A (en) | 2023-08-11 |
CN105121274A (zh) | 2015-12-02 |
HK1218283A1 (zh) | 2017-02-10 |
BR112015022756A8 (pt) | 2019-11-26 |
US20200283104A1 (en) | 2020-09-10 |
WO2014158914A1 (en) | 2014-10-02 |
KR20150130512A (ko) | 2015-11-23 |
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