WO2018174866A1

WO2018174866A1 - Anti-roll system and method

Info

Publication number: WO2018174866A1
Application number: PCT/US2017/023556
Authority: WO
Inventors: Federico Pignatelli
Original assignee: Floating Studios Llc
Priority date: 2017-03-22
Filing date: 2017-03-22
Publication date: 2018-09-27

Abstract

An anti-roll system for a water vessel is configured for stabilizing the water vessel from rolling about its longitudinal axis. The anti-roll system has a sensor configured for sensing information within a field of view of the sensor surrounding the vessel, and a controller operatively connected to the sensor. The controller is configured to receive the sensed information, determine whether the sensed information contains data indicative of a wave moving toward the vessel, and issue a turning instruction to a turning mechanism of the vessel when the wave is sensed. Execution of the turning instruction by the turning mechanism turns the vessel from a first position, where the longitudinal axis of the vessel is acute or obtuse relative to a major longitudinal axis of the wave, to a second position, where the longitudinal axis of the vessel is substantially perpendicular with the major longitudinal axis of the wave.

Description

ANTI-ROLL SYSTEM AND METHOD

BACKGROUND OF THE INVENTION

Field of the Invention

[0001] The present invention relates generally to a system and method for stabilizing water vessels, and in particular, to a system and method for stabilizing water vessels from rolling about a longitudinal axis due to forces of waves hitting the hull.

Description of the Related Art

[0002] Rolling movement of a water vessel about its longitudinal axis can be unsettling to the vessel and its passengers alike. Such rolling movement can be caused by a wake created by another vessel passing nearby. If these waves hit the hull of the vessel at an angle other than 90 relative to the longitudinal axis of the vessel, a rolling movement of the vessel ensues. Such rolling movement can continue even after the initial wave has passed.

[0003] As is known in the art, there exist various anti-roll systems for reducing the rolling movement of the vessel. Some of these anti-roll systems utilize one or more fins extending laterally from the hull of the vessel. These fins may be movable in a manner to displace water in a direction that counteracts the direction of movement of the vessel as the result of the wave hitting the hull. In other examples, anti-roll systems may have a gyroscopic stabilizer. In such systems, a flywheel is rotated about a vertical spin axis. When the vessel rolls, a gyroscopic torque is imposed about the roll axis to counteract the roll. In both of these examples, the existing anti-roll systems are complicated, heavy, and expensive to install and maintain. In addition, existing anti-roll systems are reactive to a wave that impacts the hull without an ability to proactively counteract the roll before such impact occurs.

[0004] While a variety of anti-roll systems exist in the art for reducing the rolling movement of the vessel about its longitudinal axis, there is a continued need in the art for improved anti-roll systems. For example, there is a need for an improved anti-roll system that eliminates the weight and complexity of existing anti-roll systems. There is a further need in the art for improved anti-roll systems that can proactively counteract a rolling movement of the vessel before the wave impacts the hull.

SUMMARY OF THE INVENTION

[0005] Generally, provided is an improved anti-roll system and method for use in water vessels to counteract a rolling movement due to waves hitting the hull. The improved anti-roll system and method is configured to overcome the deficiencies associated with the complicated, heavy, and expensive existing anti-roll systems. The improved anti-roll system and method can be configured to proactively counteract a rolling movement of the vessel before the wave impacts the hull.

[0006] An anti-roll system for a water vessel may be configured for stabilizing the water vessel from rolling about a longitudinal axis. The anti-roll system may have a sensor configured for sensing information within a field of view of the sensor surrounding the water vessel; and a controller operatively connected to the sensor. The controller may be configured to receive the sensed information, determine whether the sensed information contains data indicative of a wave moving toward the water vessel, and issue a turning instruction to at least one turning mechanism of the water vessel when the wave is sensed. Execution of the turning instruction by the at least one turning mechanism may turn the water vessel from a first position, where the longitudinal axis of the water vessel is acute or obtuse relative to a major longitudinal axis of the wave, to a second position, where the longitudinal axis of the water vessel is perpendicular or substantially perpendicular with the major longitudinal axis of the wave, such that the wave strikes a bow of the water vessel.

[0007] The sensor may be an array of sensors configured to have a 360" field of view around the water vessel. The sensor may be an optical sensor configured for taking at least still or video images within the field of view of the sensor. The sensor may be an ultrasonic sensor having a transmitter for emitting ultrasonic waves and a receiver for receiving a portion of the ultrasonic waves reflected from objects within the field of view of the sensor. The sensor may be a radar sensor having a transmitter for emitting radio waves and a receiver for receiving at least a portion of the radio waves reflected from objects within the field of view of the sensor. The sensor may be a LIDAR sensor having a transmitter for emitting electromagnetic waves in a light spectrum and a receiver for receiving at least a portion of the electromagnetic waves reflected from objects within the field of view of the sensor. The sensor may be operated intermittently or continuously.

[0008] An anti-roll system for a water vessel may be configured for stabilizing the water vessel from rolling about a longitudinal axis. The anti-roll system may have a sensor configured for sensing information within a field of view of the sensor surrounding the water vessel; and a controller operatively connected to the sensor. The controller may be configured to receive the sensed information, determine whether the sensed information contains data indicative of a wave moving toward the water vessel, and issue a turning instruction when the wave is sensed. The anti-roll system may further have at least one turning mechanism operatively connected to the controller to receive the turning instructions and execute a turning maneuver. The at least one turning mechanism may be configured to turn the water vessel from a first position, where the longitudinal axis of the water vessel is acute or obtuse relative to a major longitudinal axis of the wave, to a second position, where the longitudinal axis of the water vessel is perpendicular or substantially perpendicular with the major longitudinal axis of the wave, such that the wave strikes a bow of the water vessel.

[0009] The at least one turning mechanism may turn or rotate the water vessel about a vertical axis. The at least one turning mechanism may rotate the water vessel in a clockwise or a counterclockwise direction relative to the vertical axis. The at least one turning mechanism may have at least one rotatable pod attached to a side of the water vessel. The at least one rotatable pod may have a propeller. The at least one turning mechanism may have a propulsion member and a steering mechanism.

[0010] A method for stabilizing a water vessel from rolling about a longitudinal axis due to a wave hitting a hull of the water vessel may include obtaining, using a sensor, information within a field of view of the sensor surrounding the water vessel. The method may further include determining, using a controller, whether the sensed information contains data indicative of a wave moving toward the water vessel. The method may further include issuing, using the controller, a turning instruction to at least one turning mechanism of the water vessel that, when executed, turns the vessel from a first position, where the longitudinal axis of the water vessel is acute or obtuse relative to a major longitudinal axis of the wave, to a second position, where the longitudinal axis of the water vessel is perpendicular or substantially perpendicular with the major longitudinal axis of the wave, such that the wave strikes a bow of the water vessel. The method may further include issuing, using the controller, a stopping instruction to the at least one turning mechanism that stops operation of the at least one turning mechanism when the water vessel is in the second position.

[0011] The sensor may be an array of sensors configured to have a 360 field of view around the water vessel. The sensor may be an optical sensor configured for taking at least still or video images within the field of view of the sensor. The sensor may be an ultrasonic sensor having a transmitter for emitting ultrasonic waves and a receiver for receiving a portion of the ultrasonic waves reflected from objects within the field of view of the sensor. The sensor may be a radar sensor having a transmitter for emitting radio waves and a receiver for receiving at least a portion of the radio waves reflected from objects within the field of view of the sensor. The sensor may be a LIDAR sensor having a transmitter for emitting electromagnetic waves in a light spectrum and a receiver for receiving at least a portion of the electromagnetic waves reflected from objects within the field of view of the sensor. [0012] These and other features and characteristics of the present disclosure, as well as the methods of operation and functions of the related elements of structures and the combination of parts and economies of manufacture, will become more apparent upon consideration of the following description and the appended claims with reference to the accompanying drawings, all of which form a part of this specification, wherein like reference numerals designate corresponding parts in the various figures. It is to be expressly understood, however, that the drawings are for the purpose of illustration and description only and are not intended as a definition of the limits of the invention.

BRIEF DESCRIPTION OF THE DRAWINGS

[0013] FIG. 1 is a side view of a water vessel having an anti-roll system in accordance with the present invention;

[0014] FIG. 2A is a top schematic view of a stationary water vessel having the anti-roll system shown in a first position;

[0015] FIG. 2B is a top schematic view of a stationary water vessel having the anti-roll system shown in a second position;

[0016] FIG. 3 is a flow chart of steps for turning the water vessel of FIGS. 2A-2B from the first position to the second position;

[0017] FIG. 4A is a top schematic view of a stationary water vessel having the anti-roll system shown in a first position;

[0018] FIG. 4B is a top schematic view of a stationary water vessel having the anti-roll system shown in a second position; and

[0019] FIG. 5 is a flow chart of steps for turning the water vessel of FIGS. 4A-4B from the first position to the second position.

DETAILED DESCRIPTION OF THE PREFERRED EXAMPLES

[0020] For purposes of the description hereinafter, the terms "end", "upper", "lower", "right", "left", "vertical", "horizontal", "top", "bottom", "lateral", "longitudinal" and derivatives thereof shall relate to the invention as it is oriented in the drawing figures. However, it is to be understood that the invention may assume various alternative variations, except where expressly specified to the contrary. It is also to be understood that the specific devices and processes illustrated in the attached drawings, and described in the following specification, are simply exemplary embodiments of the invention. Hence, specific dimensions and other physical characteristics related to the examples disclosed herein are not to be considered as limiting. [0021] As used in the specification and the claims, the singular form of "a", "an", and "the" include plural referents unless the context clearly dictates otherwise. As used in the specification and the claims, the term "end" refers to the extreme distal portion or the area near or adjacent that portion. The terms "therewith", "therein", and "thereon" are used interchangeably in the context of the present description.

[0022] As used in the specification and the claims, the term "substantially parallel" means a relative angle as between two objects (if extended to theoretical intersection), such as elongated objects and including reference lines, that is from 0° to 5°, or from 0° to 3°, or from 0° to 2°, or from 0° to 1°, or from 0° to 0.5°, or from 0° to 0.25°, or from 0° to 0.1°, inclusive of the recited values.

[0023] As used in the specification and the claims, the term "substantially perpendicular" means a relative angle as between two objects (if extended to theoretical intersection), such as elongated objects and including reference lines, that is from 85° to 95°, or from 87° to 93°, or from 89° to 91°, or from 89.5° to 90.5°, or from 89.9° to 90.1°, inclusive of the recited values.

[0024] As used in the specification and the claims, all ranges or ratios disclosed herein are to be understood to encompass any and all subranges or sub-ratios subsumed therein. For example, a stated range or ratio of "1 to 10" should be considered to include any and all subranges between (and inclusive of) the minimum value of 1 and the maximum value of 10; that is, all sub-ranges or sub-ratios beginning with a minimum value of 1 or more and ending with a maximum value of 10 or less, such as but not limited to, 1 to 6.1, 3.5 to 7.8, and 5.5 to 10.

[0025] As shown in FIG. 1, the present disclosure is directed to an anti-roll system 100 configured for use with a water vessel 102 (hereinafter referred to as "vessel 102"), such as a non-commercial leisure vessel, including, but not limited to a yacht, or a motor sailor, or a sail boat.. The vessel 102 has a hull 104 that defines an exterior shape of the vessel 102. The hull 104 has an under- water portion and an above- water portion, and is generally 3-4 times longer that it is wide. The under-water portion is submerged under water when the vessel 102 is floating, while the above-water portion extends above the surface of the water. The hull 104 may be at least partially hollow to define an interior 106 of the vessel 102. The interior 106 may be configured as passenger space, cargo space, or a combination thereof. The vessel 102 further has a deck 108 on an upper surface thereof to at least partially enclose the hull interior 106. The deck 108 may have a control tower 110 for controlling various operations of the vessel 102. For example, the control tower 110 may have one or more control elements 112 for controlling propulsion, guidance and navigation, radar, and other systems. In some examples, the vessel 102 may be a yacht, a motor sailor, or a sail boat less than 120 ft in length.

[0026] With continued reference to FIG. 1, the vessel 102 may have a power system 114, such as a motor, a turbine, or a generator, for generating motive power for propelling the vessel 102 through the water. The power system 114 may be located inboard within the interior 106 of the hull 104, or outboard outside the interior 106 of the hull 104. In some examples, the vessel 102 may have two or more power systems 114 that may be operated individually or simultaneously. The power system 114 is operatively connected to a propulsion member 116, such as a propeller, by a drive shaft 118. Rotation of the propulsion member 116 generates the motive force for propelling the vessel 102 through the water. The vessel 102 further has a steering mechanism 120, such as a rudder, for controlling a direction of movement of the vessel 102 through the water. In some examples, the propulsion member 116 may be mounted on a rotatable pod (not shown) to control the direction of movement of the vessel 102 without the need for the steering mechanism 120.

[0027] With continued reference to FIG. 1, the hull 104 has a bow 122 at a front portion thereof and a stern 124 at a rear portion thereof, with a longitudinal axis 126 of the vessel 102 extending between the bow 122 and the stern 124. At least one anchor 128 may be provided at the bow 122 and/or the stern 124 of the hull 104. The at least one anchor 128 is deployable between a stowed position and a deployed position, wherein the at least one anchor 128 is connected to an underwater bed to prevent movement of the vessel 102 due to water current and/or wind.

[0028] With continued reference to FIG. 1, the vessel 102 has an anti-roll system 100 for stabilizing the vessel 102 from rolling about the longitudinal axis 126 due to forces of waves hitting the hull 104 at an incident angle other than 90° (i.e., perpendicular) relative to the longitudinal axis 126 of the hull 104. The waves may be generated by another vessel, or by weather, such as wind. Waves that strike the hull 104 at an angle that is substantially perpendicular to the longitudinal axis 126 of the hull 104, such as waves the strike the bow 122 head-on, will generally result in vertical movement of the vessel 102 (in the direction of arrow Z in FIG. 1) without any rolling movement about the longitudinal axis 126 (i.e., side-to-side movement). However, waves that strike the hull 104 at an angle other than perpendicular to the longitudinal axis 126 of the hull 104 will generally result in a vertical movement of the vessel 102 combined with a rolling movement about the longitudinal axis 126 (i.e., side-to-side movement). The amplitude of rolling movement increases with a decrease in the incident angle, with the maximum being when the wave is substantially parallel to the longitudinal axis 126. Furthermore, the amplitude of the rolling movement is further increased when multiple waves sequentially strike the hull 104 at an angle other than perpendicular to the longitudinal axis 126 of the hull 104.

[0029] The anti-roll system 100 is configured to detect an incoming wave and cause instructions that result in a movement of the vessel 102 from a first position, where the longitudinal axis 126 of the hull 104 is not substantially perpendicular with a major longitudinal axis of a wave, to a second position, where the longitudinal axis 126 of the hull 104 is substantially perpendicular with the major longitudinal axis of the wave, such that the wave strikes the bow 122 of the vessel 102. As discussed herein, the anti-roll system 100 may be configured to detect waves and orient the vessel 102 to minimize or eliminate rolling movement of the vessel 102 about its longitudinal axis 126 whether the vessel 102 is moving or stationary, such as when anchored in open sea, a bay, or at a port. Furthermore, the anti-roll system 100 may be configured to proactively predict that a wave may be generated by another vessel that is passing nearby the vessel 102 and result in a movement of the vessel 102 from the first position to the second position before the wave impacts the vessel 102.

[0030] With continued reference to FIG. 1, the anti-roll system 100 has a sensor or detector 132 (hereinafter referred to as "sensor 132") for sensing/detecting a variation of water surface that is indicative of an incoming wave or sensing/detecting a moving object passing by the vessel 102 that may generate an incoming wave as it passes by. The sensor 132 is operatively connected to a controller 134 that receives information collected by the sensor 132, analyzes this information for the presence of a predetermined object, such as an incoming wave, and issues instructions to one or more systems when such predetermined object is sensed to result in a movement of the vessel 102 from the first position to the second position. For example, the controller 134 may be operatively connected to one or more turning mechanisms 136 configured for turning the vessel 102 to change the direction of the longitudinal axis 126 of the vessel 102 relative to the incoming wave. In other examples, the controller 134 may be operatively connected with one or more of the power system 114 and the propulsion member 116 to turn the vessel 102 to change the direction of the longitudinal axis 126 of the vessel 102 relative to the incoming wave.

[0031] In FIG. 1, the turning mechanism 136 is illustrated as a conventional bow thruster. It is to be understood that the vessel 102 may contain multiple turning mechanisms 136, such as one or more bow thrusters or one or more stern thrusters (illustrated in dotted lines in FIG. 1). If multiple turning mechanisms 136 are present, the turning mechanisms 136 may be operated individually or simultaneously to turn or rotate the vessel 102. [0032] The sensor 132 may be mounted on the vessel 102 in such manner as to be capable of sensing a variation in the surface of the water that is indicative of a wave moving in the direction toward the vessel 102. The sensor 132 may be operated continuously, or intermittently, such as in pre-determined active intervals separated by pre-determined inactive intervals. The sensor 132 may be an optical sensor, such as an optical imaging camera configured for taking at least still or video images. In other examples, the sensor 132 may be an ultrasonic sensor, such as an ultrasonic transmitter for emitting ultrasonic waves and a receiver for receiving ultrasonic waves reflected from objects. In further examples, the sensor 132 may be a RADAR (radio detection and ranging) sensor having a transmitter for emitting radio waves and a receiver for receiving radio waves reflected from objects. In some examples, the sensor 132 may be a LIDAR (light sensor and ranging) sensor having a light emitter for emitting electromagnetic waves in the light spectrum and a receiver for receiving electromagnetic waves reflected from objects. One of ordinary skill in the art will understand that the sensor 132 may be a single sensor, or an array of two or more sensors described hereinabove. For example, the sensor 132 may use one or more of optical-, ultrasonic-, radio wave-, and light-based technologies for sensing objects. In each instance, the sensor 132 is configured for sensing an object having certain pre-defined characteristics from an environment having one or more additional objects without such pre-defined characteristics. For example, the pre-determined characteristics may include the shape, size, and/or speed and direction of movement of the object. In some examples, the pre-determined characteristics may be selected to correspond to a shape of a wave generated by an object, such as another vessel, passing by the vessel 102. For example, the pre-determined characteristics of the object may include a height of the object relative to the surface of the water, width of the object, speed and direction of movement of the object relative to the vessel 102. Desirably, the sensor 132 is configured to detect desired objects regardless of environmental conditions surrounding the vessel 102. For example, detection performance of the sensor 132 should not appreciably change between day and night, sunny and cloudy conditions, and/or foggy or clear conditions.

[0033] In one example, the sensor 132 may be an optical camera configured for taking still or video images of the environment surrounding the vessel 102. The sensor 132 may be configured to visually detect objects within a field of view of the sensor 132 using one or more optical detection algorithms. A plurality of optical cameras may be combined to expand the coverage of the sensor 132. For example, a plurality of optical cameras may be arranged in an array for a complete 360 coverage around the vessel. Alternatively, or in addition, a plurality of optical cameras having different depths of view may be combined to enable detection of objects at various distances from the vessel 102.

[0034] The data obtained by the sensor 132 may be sent to the controller 134 for analyzing and determining whether the data contains any of the pre-determined characteristics of a desired object that the sensor 132 is configured to detect. Based on the characteristics of this data (i.e., whether the data contains information regarding pre-determined characteristics of the desired object), the controller 134 can instruct one or more systems to change the orientation of the vessel from a first position to a second position by, for example, turning or rotating the vessel about its vertical axis 150.

[0035] As used herein, the controller 134 includes, or is operable to execute appropriate custom-designed or conventional software to perform and implement the processing steps of the method and system of the present disclosure, thereby forming a specialized and particular computing system. The controller 134 may include a variety of discrete computer-readable media components for analyzing information sensed by the sensor 132 and for controlling the movement of the vessel 102 from the first position to the second position. For example, this computer-readable media may include any media that can be accessed by the controller 134, such as volatile media, non- volatile media, removable media, non-removable media, transitory media, non-transitory media, etc. As a further example, this computer-readable media may include computer storage media, such as media implemented in any method or technology for storage of information, such as computer-readable instructions, data structures, program modules, or other data; random access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory, or other memory technology; CD-ROM, digital video disks (DVDs), or other optical disk storage; magnetic cassettes, magnetic tape, magnetic disk storage, or other magnetic storage devices; or any other medium which can be used to store the desired information and which can be accessed by the controller 134. Further, this computer-readable media may include communications media, such as computer-readable instructions, data structures, program modules, or other data in a modulated data signal, such as a carrier wave or other transport mechanism and include any information delivery media, wired media (such as a wired network and a direct-wired connection), and wireless media (such as acoustic signals, radio frequency signals, optical signals, infrared signals, biometric signals, bar code signals, etc.). Of course, combinations of any of the above should also be included within the scope of computer-readable media. The controller 134 further may include a system memory with computer storage media in the form of volatile and non-volatile memory, such as ROM and RAM. A basic input/output system (BIOS) with appropriate computer-based routines assists in transferring information between components within the controller 134 and is normally stored in ROM. The RAM portion of the system memory typically contains data and program modules that are immediately accessible to or presently being operated on by the processing unit, e.g. , an operating system, application programming interfaces, application programs, program modules, program data, and other instruction-based computer-readable codes.

[0036] When the controller 134 determines that information sensed by the sensor 132 contains pre-determined characteristics of a desired object, such as a wave moving in a direction toward the vessel 102, the controller 134 may instruct one or more turning mechanisms 136 to turn the vessel 102, such as by rotating the vessel 102 about its vertical axis 150, to a particular orientation wherein the direction of the longitudinal axis 126 of the vessel 102 is substantially perpendicular relative to a major longitudinal axis of the incoming wave. In some examples, the one or more turning mechanisms 136 may be an azipod or a thrust mechanism capable of rotating the vessel 102 about its vertical axis 150. The one or more turning mechanisms 136 may have a propeller mounted on a rotatable pod that is rotatable to a predetermined position and operable at a particular speed and duration based on instructions received from the controller 134. In other examples, the one or more turning mechanisms 136 may be a water jet or any other propulsion system capable of turning or rotating the vessel 102 about its vertical axis. Each of the one or more turning mechanisms 136 may be independently operable of any other turning mechanism 136. In this manner, one or more turning mechanisms 136 may be individually activated to turn the vessel 102 at a desired rate and to a desired position based on the instructions sent by the controller 134. In other examples, the controller 134 may be operatively connected with one or more of the power system 114 and the propulsion member 116 and the steering mechanism 120 to turn the vessel 102, such as by rotating the vessel 102 about its vertical axis 150, to a particular orientation wherein the direction of the longitudinal axis 126 of the vessel 102 is substantially perpendicular relative to a major longitudinal axis of the incoming wave. For example, the controller 134 may cause the operation of the propulsion member 116 and the steering mechanism 120 at a desired rate and to a desired position based on the instructions sent by the controller 134.

[0037] Having described the structure of the vessel 102 and the anti-roll system 100, a method of stabilizing the vessel 102 that is stationary (such as when anchored) or free-floating in water (without motorized, wind, or other propulsion, and with or without navigation) against rolling movement about its longitudinal axis 126 (i.e., side-to-side movement) due to waves generated by another passing vessel or weather will now be described with reference to FIGS. 2A-3. The method described herein is configured to orient the vessel 102, such as by rotating the vessel, so that the incoming wave impacts the bow 122 at a substantially perpendicular angle relative to the longitudinal axis 126 of the vessel 102.

[0038] With initial reference to FIG. 2A, the vessel 102 is substantially stationary, such as when the anchor 128 (shown in FIG. 1) is in the deployed position on the underwater bed. Another vessel 142 may pass by the stationary vessel 102 at a distance A from the vessel 102 in a direction of arrow B. As the vessel 142 moves across the water, a wake 144 is generated as a result of water displacement by the bow of the vessel 142. The wake 144 forms a substantially V-shaped pattern with the vessel 142 at the vertex of the V. The wake 144 has two component waves 144a and 144b diverging from one another an angle a. For example, angle a may have a range of greater than 0 °to less than ISO. As the vessel 142 moves in the direction B, the two component wave 144a, 144b move in a direction of arrows C. Depending on the direction of travel of the vessel 142 relative to the stationary vessel 102, one of the two component waves 144a, 144b will reach the vessel 102. Once one of the two component waves 144a reaches the vessel 102, the wave 144a will strike the hull 104 of the vessel 102. As described herein, if the wave 144a, along its major longitudinal axis 146, strikes the hull 104 at an angle other than 90 ° (i.e., at an acute or obtuse angle) relative to the direction of the longitudinal axis 126 of the vessel 102 (see angle β in FIG. 2A), a rolling movement of the vessel 102 ensues. The rolling movement increases as the angle β between the longitudinal axis 126 of the vessel 102 and the major longitudinal axis 146 of the wave 144a increases/decreases from 90 °.

[0039] In order to reduce or eliminate such rolling movement, the anti-roll system 100 is configured to detect the wave 144a, using the sensor 132, and issues instructions to one or more systems, using the controller 134, to result in a movement of the vessel 102 from the first position (FIG. 2A), wherein the longitudinal axis 126 of the vessel 102 is oriented at an angle other than substantially perpendicular to the major longitudinal axis 146 of the wave 144a, to a second position (FIG. 2B), wherein the longitudinal axis 126 of the vessel 102 is oriented at an angle substantially perpendicular to the major longitudinal axis 146 of the wave 144a such that the wave 144a impacts the bow 122 of the vessel 102. In some examples, the vessel 102 may be rotated, such as in a clockwise or a counterclockwise direction about its vertical axis 150, between the first position and the second position using one or more turning mechanisms 136 and/or the power system 114 and the propulsion member 116. [0040] With reference to FIG. 3, the sensor 132 may be configured to collect information in its field of view 148 surrounding the vessel 102 (block 200). As described herein, information collected by the sensor 132 may be still or video images, ultrasonic signal, radar signal, or electromagnetic signal, such as a light signal. The information collected by the sensor 132 is sent to the controller 134, which analyzes this information and determines whether the information contains data regarding a pre-determined object having the physical characteristics of the wave 144a (block 210). If no such data is sensed, the controller 134 continues to monitor for such data 134. If data regarding the pre-determined object having the physical characteristics of the wave 144a is sensed, the controller 134 issues instructions for a turning maneuver of the vessel 102 (block 220). For example, the controller 134 may activate one or more turning mechanisms 136 to reposition the vessel 102 from the first position (FIG. 2A) to the second position (FIG. 2B). Alternatively, or in addition, the controller 134 may activate one or more of the power system 114, the propulsion member 116, and the steering mechanism 120 to reposition the vessel 102 from the first position (FIG. 2A) to the second position (FIG. 2B). The controller 134 may have an algorithm configured to decide whether to rotate the vessel 102 in a clockwise or a counterclockwise direction in order to minimize the amount of time and/or angular rotation necessary to execute the turning maneuver where the bow 122 is perpendicular to the major longitudinal axis 146 of the wave 144a. The controller 134 may monitor information from the sensor 134 to determine the position of the vessel 102 relative to the incoming wave 144a (i.e., whether the longitudinal axis 126 of the vessel 102 is oriented substantially perpendicular to the major longitudinal axis 146 of the incoming wave 144a (block 230). The controller 134 maintains the turning maneuver until the longitudinal axis 126 of the vessel 102 is oriented substantially perpendicular to the major longitudinal axis 146 of the incoming wave 144a. In some examples, the controller 134 may control the rate of rotation of the vessel 102. When the longitudinal axis 126 of the vessel 102 is oriented substantially perpendicular to the major longitudinal axis 146 of the incoming wave 144a, the controller 134 may terminate the turning maneuver (block 240). In this manner, the vessel 102 is oriented such that the incoming wave 144a strikes the bow 122 of the vessel 102 without causing any rotational movement of the vessel 102 about its longitudinal axis 126.

[0041] In some examples, the anti-roll system 100 may be configured to predict whether a passing object, such as the vessel 142, will generate a wake 144 that may cause a rolling movement of the vessel 102. In such examples, the anti-roll system 100 may be configured to detect a passing vessel 142, using the sensor 132, and issue instructions to one or more systems, using the controller 134, to result in a movement of the vessel 102 from the first position (FIG. 2A), wherein the longitudinal axis 126 of the vessel 102 is oriented at an angle other than substantially perpendicular to the major longitudinal axis 146 of the wave 144a, to a second position (FIG. 2B), wherein the longitudinal axis 126 of the vessel 102 is oriented at an angle substantially perpendicular to the major longitudinal axis 146 of the wave 144a such that the wave 144a impacts the bow 122 of the vessel 102. The controller 134 may analyze the information sensed by the sensor 132 within its field of view 148 and determine whether the information contains data regarding a pre-determined object having the physical characteristics of a passing vessel 142. The controller 134 may determine the size of the vessel 142, direction of heading, speed, and/or distance of the passing vessel 142 relative to the stationary vessel 102. Based on this information, the controller 134 may, using a pre-determined algorithm sequence, determine whether the passing vessel 142 will generate a wave 144a that will travel toward the stationary vessel 102 and impact the stationary vessel 102 at an angle other than perpendicular relative to the longitudinal axis 126 of the vessel 102. If no such determination is made, the controller 134 continues to monitor for data. If data regarding the pre-determined object having the physical characteristics of the passing vessel 142 that may generate a wave 144a that will impact the stationary vessel 102 is sensed, the controller 134 may activate a turning maneuver of the vessel 102, as described herein.

[0042] With reference to FIGS.4A-5, a method of sensing a wave 144a already generated by another object, such as another vessel 142, passing the vessel 102 that is in motion (with or without navigation), and at least temporarily changing the direction of travel of the vessel 102 such that the longitudinal axis 126 thereof is oriented substantially perpendicular to the incoming wave will now be described. The method described herein is configured to at least temporarily change the direction of travel of the vessel 102, such as by turning the vessel 102, to position the vessel 102 so that the incoming wave 144a impacts the bow 122 at a substantially perpendicular angle relative to the longitudinal axis 126 of the vessel 102.

[0043] With initial reference to FIG. 4A, the vessel 102 may be moving in a direction of arrow D at a constant or changing speed (such as accelerating or decelerating). Another vessel 142 may pass by the moving vessel 102 at a distance A' from the vessel 102 in a direction B' in a direction that is substantially parallel to the direction of travel D of the vessel 102 or such that the travel paths of the two vessels are at an intersecting course. Vessel 142 may be behind the vessel 102 and may travel at a higher speed relative to the vessel 102 such that it eventually passes the vessel 102. Alternatively, vessel 102 may be behind the vessel 142 and travel at a higher speed relative to the vessel 142 such that it eventually passes the vessel 142. As a further alternative, the two vessels 102, 142 may travel at a same speed, with the vessel 142 being in front of the vessel 102. As the vessel 142 moves across the water, the wake 144 is generated as a result of water displacement by the bow of the vessel 142. As discussed herein, the wake 144 forms a substantially V-shaped pattern with the vessel 142 at the vertex of the V and two component waves 144a and 144b diverging from one another an angle a. For example, angle a may have a range of greater than 0 ° to less than 180°. Depending on the direction of travel and the speed of the two vessels 102, 142 relative to one another, one of the two component waves 144a, 144b may reach the vessel 102. Once one of the two component waves 144a (or 144b) reaches the vessel 102, the wave 144a will strike the hull 104 of the vessel 102. As described herein, if the wave 144a, along its major longitudinal axis 146, strikes the hull 104 at an angle other than 90 "relative to the direction of the longitudinal axis 126 of the vessel 102, a rolling movement of the vessel 102 ensues. The rolling movement increases as the angle between the longitudinal axis 126 of the vessel 102 and the major longitudinal axis 146 of the wave 144a increases/decreases from 90 °.

[0044] In order to reduce or eliminate such rolling movement, the anti-roll system 100 is configured to detect the wave 144a, using the sensor 132, and issue instructions to one or more systems, using the controller 134, to result in a movement of the vessel 102 from the first direction of travel D (FIG. 4A), wherein the longitudinal axis 126 of the vessel 102 is oriented at an angle other than substantially perpendicular to the major longitudinal axis 146 of the wave 144a, to a second direction of travel D' (FIG. 4B), wherein the longitudinal axis 126 of the vessel 102 is oriented at an angle substantially perpendicular to the major longitudinal axis 146 of the wave 144a such that the wave 144a impacts the bow 122 of the vessel 102. In some examples, the direction of travel and/or the speed of the vessel 102 may be changed using one or more turning mechanisms 136 and/or the power system 114 and the propulsion member 116.

[0045] With reference to FIG. 5, the sensor 132 may be configured to collect information in its field of view 148 surrounding the vessel 102 (block 300). As described herein, information collected by the sensor 132 may be still or video images, ultrasonic signal, radar signal, or electromagnetic signal, such as a light signal. The information collected by the sensor 132 is sent to the controller 134, which analyzes this information and determines whether the information contains data regarding a pre-determined object having the physical characteristics of the wave 144a (block 310). If no such data is sensed, the controller 134 continues to monitor for such data. If data regarding the pre-determined object having the physical characteristics of the wave 144a is sensed, the controller 134 issues instructions to one or more turning mechanisms 136 to activate a turning maneuver of the vessel 102 (block 320), where the direction of travel and/or the speed of the vessel 102 are altered to position the bow 122 of the vessel 102 substantially perpendicular to the major longitudinal axis 146 of the wave 144a. For example, the controller 134 may activate one or more turning mechanisms 136 to change the direction of travel of the vessel 102 from the first direction of travel D (FIG. 4A) to the second direction of travel D' (FIG. 4B). Alternatively, or in addition, the controller 134 activate one or more of the power system 114, the propulsion member 116, and the steering mechanism 120 to reposition the vessel 102 from the first direction of travel D (FIG. 4A) to the second direction of travel D' (FIG. 4B). The controller 134 may have an algorithm configured to decide whether to change the direction of travel of the vessel 102 in a clockwise or a counterclockwise direction in order to minimize the amount of time and/or angular rotation necessary to execute the turning maneuver where the bow 122 is perpendicular to the major longitudinal axis 146 of the wave 144a. The controller 134 may monitor information from the sensor 132 to determine the position of the vessel 102 relative to the incoming wave 144a (i.e., whether the longitudinal axis 126 of the vessel 102 is oriented substantially perpendicular to the major longitudinal axis 146 of the incoming wave 144a (block 340). The controller 134 maintains the turning maneuver until the longitudinal axis 126 of the vessel 102 is oriented substantially perpendicular to the major longitudinal axis 146 of the incoming wave 144a. In some examples, the controller 134 may control the rate of rotation of the vessel 102 and/or the speed of the vessel 102. When the longitudinal axis 126 of the vessel 102 is oriented substantially perpendicular to the major longitudinal axis 146 of the incoming wave 144a, the controller 134 may terminate the turning maneuver (block 340). In this manner, the vessel 102 is oriented such that the incoming wave 144a strikes the bow 122 of the vessel 102 without causing any rotational movement of the vessel 102 about its longitudinal axis 126. When no additional waves 144a are sensed, the controller 134 may instruct one or more systems, such as one or more turning mechanisms 136 and/or the power system 114 and the propulsion member 116, to change the direction of travel of the vessel 102 from the second direction of travel D' (FIG. 4B) to the first direction of travel D (FIG. 4A) (block 350).

[0046] In some examples, the anti-roll system 100 may be configured to predict whether a passing object, such as the vessel 142, will generate a wake 144 that may cause a rolling movement of the vessel 102. In such examples, the anti-roll system 100 may be configured to detect a passing vessel 142, using the sensor 132, and issue instructions to one or more systems, using the controller 134, to result in a movement of the vessel 102 from the first direction of travel D (FIG. 4A), wherein the longitudinal axis 126 of the vessel 102 is oriented at an angle other than substantially perpendicular to the major longitudinal axis 146 of the wave 144a, to a second direction of travel D' (FIG. 4B), wherein the longitudinal axis 126 of the vessel 102 is oriented at an angle substantially perpendicular to the major longitudinal axis 146 of the wave 144a such that the wave 144a impacts the bow 122 of the vessel 102. The controller 134 may analyze the information sensed by the sensor 132 within its field of view 148 and determine whether the information contains data regarding a pre-determined object having the physical characteristics of a passing vessel 142. The controller 134 may determine the size of the vessel 142, direction of heading, speed, and/or distance of the passing vessel 142 relative to the vessel 102. Based on this information, the controller 134 may, using a pre-determined algorithm sequence, determine whether the passing vessel 142 will generate a wave 144a that will travel toward the vessel 102 and impact the stationary vessel 102 at an angle other than perpendicular relative to the longitudinal axis 126 of the vessel 102. If no vessel 142 and/or wave 144a is sensed, the controller 134 continues to monitor for any such vessel 142 and/or wave 144a. If data regarding the pre-determined object having the physical characteristics of the passing vessel 142 that may generate a wave 144a that will impact the stationary vessel 102 is sensed, the controller 134 may activate a turning maneuver of the vessel 102, as described herein.

[0047] Further preferred and non-limiting examples will now be set forth in the following numbered clauses.

[0048] Clause 1. An anti-roll system for a water vessel configured for stabilizing the water vessel from rolling about a longitudinal axis, the anti-roll system comprising:

a sensor configured for sensing information within a field of view of the sensor surrounding the water vessel; and

a controller operatively connected to the sensor to receive the sensed information, determine whether the sensed information contains data indicative of a wave moving toward the water vessel, and issue a turning instruction to at least one turning mechanism of the water vessel when the wave is sensed,

wherein execution of the turning instruction by the at least one turning mechanism turns the water vessel from a first position, where the longitudinal axis of the water vessel is acute or obtuse relative to a major longitudinal axis of the wave, to a second position, where the longitudinal axis of the water vessel is substantially perpendicular with the major longitudinal axis of the wave, such that the wave strikes a bow of the water vessel.

[0049] Clause 2. The anti-roll system of clause 1 , wherein the sensor is an array of sensors configured to have a 36(Xfield of view around the water vessel. [0050] Clause 3. The anti-roll system of clause 1 or clause 2, wherein the sensor is an optical sensor configured for taking at least still or video images within the field of view of the sensor.

[0051] Clause 4. The anti-roll system of any of clauses 1-3, wherein the sensor is an ultrasonic sensor having a transmitter for emitting ultrasonic waves and a receiver for receiving a portion of the ultrasonic waves reflected from objects within the field of view of the sensor.

[0052] Clause 5. The anti-roll system of any of clauses 1-4, wherein the sensor is a radar sensor having a transmitter for emitting radio waves and a receiver for receiving at least a portion of the radio waves reflected from objects within the field of view of the sensor.

[0053] Clause 6. The anti-roll system of any of clauses 1-5, wherein the sensor is a LIDAR sensor having a transmitter for emitting electromagnetic waves in a light spectrum and a receiver for receiving at least a portion of the electromagnetic waves reflected from objects within the field of view of the sensor.

[0054] Clause 7. The anti-roll system of any of clauses 1-6, wherein the sensor is operated intermittently or continuously.

[0055] Clause 8. An anti-roll system for a water vessel configured for stabilizing the water vessel from rolling about a longitudinal axis, the anti-roll system comprising:

a sensor configured for sensing information within a field of view of the sensor surrounding the water vessel;

a controller operatively connected to the sensor to receive the sensed information, determine whether the sensed information contains data indicative of a wave moving toward the water vessel, and issue a turning instruction when the wave is sensed; and

at least one turning mechanism operatively connected to the controller to receive the turning instructions and execute a turning maneuver,

wherein the at least one turning mechanism is configured to turn the water vessel from a first position, where the longitudinal axis of the water vessel is acute or obtuse relative to a major longitudinal axis of the wave, to a second position, where the longitudinal axis of the water vessel is substantially perpendicular with the major longitudinal axis of the wave, such that the wave strikes a bow of the water vessel.

[0056] Clause 9. The anti-roll system of clause 8, wherein the at least one turning mechanism rotates the water vessel about a vertical axis.

[0057] Clause 10. The anti-roll system of clause 8 or clause 9, wherein, the at least one turning mechanism rotates the water vessel in a clockwise or a counterclockwise direction. [0058] Clause 11. The anti-roll system of any of clauses 8-10, wherein the at least one turning mechanism has at least one rotatable pod attached to a side of the water vessel.

[0059] Clause 12. The anti-roll system of clause 11, wherein the at least one rotatable pod has a propeller.

[0060] Clause 13. The anti-roll system of any of clauses 8-12, wherein the at least one turning mechanism has a propulsion member and a steering mechanism.

[0061] Clause 14. A method for stabilizing a water vessel from rolling about a longitudinal axis due to a wave hitting a hull of the water vessel, the method comprising: obtaining, using a sensor, information within a field of view of the sensor surrounding the water vessel;

determining, using a controller, whether the sensed information contains data indicative of a wave moving toward the water vessel; and

issuing, using the controller, a turning instruction to at least one turning mechanism of the water vessel that, when executed, turns the vessel from a first position, where the longitudinal axis of the water vessel is acute or obtuse relative to a major longitudinal axis of the wave, to a second position, where the longitudinal axis of the water vessel is substantially perpendicular with the major longitudinal axis of the wave, such that the wave strikes a bow of the water vessel.

[0062] Clause 15. The method of clause 14, further comprising issuing, using the controller, a stopping instruction to the at least one turning mechanism that stops operation of the at least one turning mechanism when the water vessel is in the second position.

[0063] Clause 16. The method of clause 14 or clause 15, wherein the sensor is an array of sensors configured to have a 360^° field of view around the water vessel.

[0064] Clause 17. The method of any of clauses 14-16, wherein the sensor is an optical sensor configured for taking at least still or video images within the field of view of the sensor.

[0065] Clause 18. The method of any of clauses 14- 17, wherein the sensor is an ultrasonic sensor having a transmitter for emitting ultrasonic waves and a receiver for receiving a portion of the ultrasonic waves reflected from objects within the field of view of the sensor.

[0066] Clause 19. The method of any of clauses 14-18, wherein the sensor is a radar sensor having a transmitter for emitting radio waves and a receiver for receiving at least a portion of the radio waves reflected from objects within the field of view of the sensor.

[0067] Clause 20. The method of any of clauses 14-19, wherein the sensor is a LIDAR sensor having a transmitter for emitting electromagnetic waves in a light spectrum and a receiver for receiving at least a portion of the electromagnetic waves reflected from objects within the field of view of the sensor.

[0068] Although the invention has been described in detail for the purpose of illustration based on what is currently considered to be the most practical and preferred examples, it is to be understood that such detail is solely for that purpose and that the invention is not limited to the disclosed examples, but, on the contrary, is intended to cover modifications and equivalent arrangements that are within the spirit and scope of the appended claims. For example, it is to be understood that the present invention contemplates that, to the extent possible, one or more features of any example can be combined with one or more features of any other example.

Claims

What is claimed is:

1. An anti-roll system for a water vessel configured for stabilizing the water vessel from rolling about a longitudinal axis, the anti-roll system comprising:

2. The anti-roll system of claim 1, wherein the sensor is an array of sensors configured to have a 360° field of view around the water vessel.

3. The anti-roll system of claim 1, wherein the sensor is an optical sensor configured for taking at least still or video images within the field of view of the sensor.

4. The anti-roll system of claim 1, wherein the sensor is an ultrasonic sensor having a transmitter for emitting ultrasonic waves and a receiver for receiving a portion of the ultrasonic waves reflected from objects within the field of view of the sensor.

5. The anti-roll system of claim 1, wherein the sensor is a radar sensor having a transmitter for emitting radio waves and a receiver for receiving at least a portion of the radio waves reflected from objects within the field of view of the sensor.

6. The anti-roll system of claim 1, wherein the sensor is a LIDAR sensor having a transmitter for emitting electromagnetic waves in a light spectrum and a receiver for receiving at least a portion of the electromagnetic waves reflected from objects within the field of view of the sensor.

7. The anti-roll system of claim 1, wherein the sensor is operated intermittently or continuously.

8. An anti-roll system for a water vessel configured for stabilizing the water vessel from rolling about a longitudinal axis, the anti-roll system comprising:

a controller operatively connected to the sensor to receive the sensed information, determine whether the sensed information contains data indicative of a wave moving toward the water vessel, and issue a turning instruction when the wave is sensed; and at least one turning mechanism operatively connected to the controller to receive the turning instructions and execute a turning maneuver,

9. The anti-roll system of claim 8, wherein the at least one turning mechanism rotates the water vessel about a vertical axis.

10. The anti-roll system of claim 8, wherein, the at least one turning mechanism rotates the water vessel in a clockwise or a counterclockwise direction.

11. The anti-roll system of claim 8, wherein the at least one turning mechanism has at least one rotatable pod attached to a side of the water vessel.

12. The anti-roll system of claim 11, wherein the at least one rotatable pod has a propeller.

13. The anti-roll system of claim 8, wherein the at least one turning mechanism has a propulsion member and a steering mechanism.

14. A method for stabilizing a water vessel from rolling about a longitudinal axis due to a wave hitting a hull of the water vessel, the method comprising: obtaining, using a sensor, information within a field of view of the sensor surrounding the water vessel;

15. The method of claim 14, further comprising issuing, using the controller, a stopping instruction to the at least one turning mechanism that stops operation of the at least one turning mechanism when the water vessel is in the second position.

16. The method of claim 14, wherein the sensor is an array of sensors configured to have a 360 field of view around the water vessel.

17. The method of claim 14, wherein the sensor is an optical sensor configured for taking at least still or video images within the field of view of the sensor.

18. The method of claim 14, wherein the sensor is an ultrasonic sensor having a transmitter for emitting ultrasonic waves and a receiver for receiving a portion of the ultrasonic waves reflected from objects within the field of view of the sensor.

19. The method of claim 14, wherein the sensor is a radar sensor having a transmitter for emitting radio waves and a receiver for receiving at least a portion of the radio waves reflected from objects within the field of view of the sensor.

20. The method of claim 14, wherein the sensor is a LIDAR sensor having a transmitter for emitting electromagnetic waves in a light spectrum and a receiver for receiving at least a portion of the electromagnetic waves reflected from objects within the field of view of the sensor.