FIELD

[0001] The present disclosure relates to sensor assemblies configured for use in a large body of water. More particularly, the present disclosure relates to sensor assemblies configured to collect data relating to environmental conditions in the body of water while maintaining a set position in the body of water.

BACKGROUND

[0002] A large portion of the world is covered by water. Large bodies of water support various aspects of human and global health. For example, water can facilitate oxygen production and play a vital role in distributing heat across the globe. Accordingly, these areas are significant to balancing the climate. In addition, more than 80% of global trade is conducted via ocean travel by ships. However, limited information is available regarding oceans despite the criticality of oceans to health and industry.

BRIEF DESCRIPTION OF THE DRAWINGS

[0003] The accompanying drawings, which are incorporated herein and form part of the specification, illustrate embodiments and, together with the description, further serve to explain the principles of the embodiments and to enable a person skilled in the relevant art(s) to make and use the embodiments.

[0004] FIG. 1 shows a side view of a sensor assembly for use in a large body of water according to various embodiments.

[0005] FIG. 2 shows a schematic diagram of a control unit for a sensor assembly according to various embodiments.

[0006] FIG. 3 shows a schematic diagram of a base station, a control system, and a measurement swarm according to various embodiments.

[0007] FIG. 4 shows an exemplary method of operating a measurement swarm and route planning according to various embodiments. [0008] FIG. 5 shows a schematic block diagram of an exemplary computer system in which various embodiments may be implemented.

DETAILED DESCRIPTION

[0009] The present invention(s) will now be described in detail with reference to embodiments thereof as illustrated in the accompanying drawings. References to “one embodiment,” “an embodiment,” “an exemplary embodiment,” etc., indicate that the embodiment described can include a particular feature, structure, or characteristic, but every embodiment can not necessarily include the particular feature, structure, or characteristic. Moreover, such phrases are not necessarily referring to the same embodiment. Further, when a particular feature, structure, or characteristic is described in connection with an embodiment, it is submitted that it is within the knowledge of one skilled in the art to affect such feature, structure, or characteristic in connection with other embodiments whether or not explicitly described.

[0010] The following examples are illustrative, but not limiting, of the present embodiments. Other suitable modifications and adaptations of the variety of conditions and parameters normally encountered in the field, and which would be apparent to those skilled in the art, are within the spirit and scope of the disclosure.

[0011] Water conditions are difficult to determine as oceans, and other large bodies of water, such as seas, lakes, and channels, among others, are dynamic and complex. Regarding local and global trade conducted via water travel, waves and currents present route traversal and navigation risks, as water vehicles, such as ships, boats, yachts, oil tankers, and cruise ships are difficult to steer across rough water surfaces. Further, water vehicle travel consumes significant amounts of energy, incurring fuel costs and contributing to local and the world’s overall greenhouse gas emissions. Encountering waves and currents can increase energy consumption, and, therefore, greenhouse gas emissions due to the additional power required.

[0012] Existing methods of determining water conditions at predetermined locations include utilizing anchored sensors. Anchored sensors can be installed on ocean buoys that are moored to the seabed. However, anchored sensors can be expensive and difficult to preserve, particularly in deeper waters. In addition, anchored sensors can present hazards to water vehicles and marine life. Another method utilizes free drifting sensors, e.g., sensors located on free drifting water vehicles. Free drifting sensors are not fixed and move with water currents. Once free drifting sensors are deployed, they move freely and undirected. Therefore, free drifting sensors can follow an unpredictable path and do not provide consistent measurements at a specific location. Free drifting sensors must be repeatedly deployed to a predetermined location requiring measurements, which can be expensive and tedious. Further, after collecting and communicating measurements, free drifting sensors can be retrieved or can be left to sink to the ocean bottom as finding and collecting them can be prohibitively expensive. These existing types of sensors generally employ low bandwidth communication and send data infrequently, which may make the data less useful for real-time mapping of ocean conditions. Thus, there is a need in the art for sensor assemblies that can be used to determine ocean conditions in real-time and that can maintain a specific position in the water.

[0013] The system and methods described herein provide accurate measurement of water and air parameters at a predetermined location to facilitate determination of the conditions in the body of water, such as wave and current prediction. In some embodiments, a plurality of water sensor assemblies are distributed in a body of water to obtain data at predetermined locations in the body of water. Each water sensor assembly may include on-board sensors that measure wave height, slope and direction; wind speed and direction; surface current speed and direction; surface water temperature; surface air temperature; surface air pressure; salinity; humidity; and solar irradiance, among others. Collected data may be utilized in an algorithm to predict waves and currents, e.g., when a wave will be present at a predetermined location. Such predictions can be used to plan and optimize routes for travel by water vehicles. By knowing when a wave will be present at a predetermined location, water vehicles can be directed to avoid the waves, saving fuel costs and reducing greenhouse gas emissions.

[0014] One or more sensor assemblies can be deployed at predetermined locations to measure water conditions in the body of water. Each sensor assembly may include a buoyant base on which a plurality of sensors for collecting data are mounted. The sensor assembly may further include a propulsion system configured to move the sensor assembly within the body of water. In some embodiments, the propulsion system may include a sail installed on the sensor assembly, that can utilize an autonomous control algorithm to guide the sensor assembly to a predetermined location with a given accuracy. The propulsion mechanism can propel the sensor assembly forward to deploy it to a predetermined location. The sensor assemblies can also employ high bandwidth communication and transmit measured data at frequent intervals (e.g., between approximately every second to approximately every minute).

[0015] Sensor assemblies can be maintained at the predetermined location for as long as needed and despite environmental perturbations, such as waves, currents, and wind. Deploying sensor assemblies to a predetermined location, maintaining the sensor assemblies at the predetermined location by autonomously navigating around the predetermined location, and returning the sensor assemblies to the predetermined location if an environmental perturbation shifts the sensor assembly can leverage a first power source. The first power source can be hydroturbine that generates power as the sensor assembly moves through the body of water. Excess power generated by the first power source can be used to charge a second power source, which can include rechargeable batteries. The second power source can also be charged by solar panels harvesting solar energy. The second power source can store and provide energy to the sensors mounted on the sensor assembly and to a control unit, as described in further detail below. In addition, in the absence of wind, the second power source can propel the hydroturbine to move the sensor assembly. As sensor assemblies according to some embodiments can have a 20- year lifetime, little or no service is required. Sensor assemblies approaching their lifetime or that require retrieval autonomously return to an instructed location (e.g., to land, a ship, or base).

[0016] A plurality of sensor assemblies at predetermined locations in a body of water can measure the same or different parameters of the body of water. Additional sensors can be installed onto sensor assemblies to adapt data collection to different locations and applications. A large number of sensor assemblies can be deployed to measure ocean parameters, with each sensor assembly wirelessly communicating the measured data with other sensor assemblies. Accordingly, the data can be relayed sensor assembly by sensor assembly until reaching either a land base or a mobile base capable of communicating the data via broadband communication. In some embodiments, sensor assemblies can also communicate with satellites. In addition, a plurality of sensor assemblies can provide redundancy. In case of malfunction, redundant sensor assemblies can continue collecting measurements. The malfunctioning sensor assembly can autonomously travel to a location for repair. Additionally or alternatively, the malfunctioning sensor assembly can be towed by an operable sensor assembly. [0017] The plurality of sensor assemblies can form a swarm commanded by a swarm algorithm to facilitate water wave and current prediction. In addition to supporting route planning and optimization, the collected data can also further aid in understanding of unexplored water, and aid in protecting the environment and preparing for climate-related events.

[0018] Some embodiments described herein relate to a sensor assembly 100, as shown for example in FIG. 1. In some embodiments, sensor assembly 100 can operate autonomously to measure data at a predetermined location. Sensor assembly 100 may include a base 120 configured to float on a surface of the water. Base 120 may be buoyant. Base 120 may include an above-water portion 102 that is above a water line 101 and is not submerged underwater when traversing water. Above-water portion 102 can intersect air instead. Base 120 may include an in-water portion 104 that is below water line 101 and is submerged underwater when traversing water. Accordingly, base 120 can include at least parts of a buoy, hull, or keel, for example, that are submerged in water.

[0019] To measure water parameters, sensor assembly 100 can include one or more sensors, e.g., a first on-board sensor 170 and a second on-board sensor 180. The one or more sensors can measure environmental conditions, such as water conditions or air conditions. In some embodiments, measured parameters may include wind speed, wind direction, humidity, or solar irradiance, for example. In some embodiments, measured parameters can include wave height, wave slope, wave direction, surface current speed, surface current speed direction, surface water temperature, surface air temperature, surface air pressure, or salinity, for example. In some embodiments, first on-board sensor 170 and/or second on-board sensor 180 measure acceleration to determine wave and/or current parameters. In some embodiments, first on-board sensor 170 and second on-board sensor 180 can measure the same parameter. In some embodiments, first on-board sensor 170 and second on-board sensor 180 can measure different parameters. In some embodiments, first on-board sensor 170 can be at a first positon 106 on sensor assembly 100. First position 106 can be arranged on base 120 at above-water portion 102. In some embodiments, second on-board sensor 180 can be at a second positon 108. Second position 108 can be at base 120 such that second on-board sensor 180 can be at in-water portion 104. Accordingly, first on-board sensor 170 can measure parameters related to air, while second on-board sensor can measure parameters related to water. In this way, one or more parameters can be measured to facilitate wave and current prediction. In some embodiments, additional sensors can be added to sensor assembly 100 to provide data collection for additional parameters.

[0020] Sensor assembly 100 can be small in size to better withstand extreme conditions (e.g., weather conditions, or the presence of marine life or other water vehicles). In some embodiments, sensor assembly 100 can be between approximately four feet and approximately ten feet in maximum length, between approximately five feet and approximately seven feet long, or may be approximately six feet long.

[0021] Sensor assembly 100 may further include a propulsion mechanism 130 configured to allow sensor assembly 100 to move to a desired location in the body of water. In some embodiments, propulsion mechanism 130 may include a sail as shown for example in FIG. 1, such that sensor assembly 100 is propelled forward via the wind. Sail may be supported on a mast extending from base 120 to a top end 110 of a mast. In such embodiments, sensor assembly 100 may resemble a sail boat. Propulsion mechanism 130 may further include an adjustment mechanism for adjusting the position and/or orientation of the sail to direct sensor assembly 100 in the desired direction. Propulsion mechanism 130 can thus propel sensor assembly 100 forward by intercepting and harnessing wind. Propulsion mechanism 130 can facilitate moving sensor assembly 100 to a predetermined location with a given accuracy.

[0022] Sensor assembly 100 may include a first power source 140 configured to provide electrical energy to propulsion mechanism 130, and to power the sensors on-board sensor assembly 100. In some embodiments, first power source 140 is located at base 120, e.g., at the keel. In some embodiments, first power source 140 is a hydroturbine to propel sensor assembly 100 forward or to generate electricity. To move sensor assembly 100 to a predetermined, or set, location, the turbine can be disengaged to reduce drag. In addition, first power source 140 can return sensor assembly 100 to the predetermined location if a perturbation shifts sensor assembly 100 away from the predetermined location. In some embodiments, returning sensor assembly 100 can disengage first power source 140.

[0023] Sensor assembly 100 is unanchored at the predetermined location and can be maintained at the predetermined location by circling the predetermined location. Because sensor assembly 100 is maintained at the predetermined location, sensor assembly 100 may use the Eulerian method of measurement at a fixed location.

[0024] First power source 140 can be used to maintain sensor assembly 100 at the predetermined location. Excess power is generated as sensor assembly 100 does not require all of the power to maintain its position around the predetermined location. Excess power generated by first power source 140 is turned into electricity to charge a second power source 152, which can be one or more rechargeable batteries. Therefore, circling the predetermined location can charge second power source 152. Second power source 152 can power first on-board sensor 170 and second on-board sensor 180. Additionally or alternatively, second power source 152 can be charged by solar energy from one or more solar panels 144.

[0025] Sensor assembly 100 may include a control unit 160 configured to control operation of sensor assembly 100. Control unit 160 may be mounted on base 120, and may be enclosed within base 120 to protect control unit 160 from damage from environmental conditions. As shown in FIG. 2, control unit 160 may include a processor 162, a memory 164, a GPS unit 168, and a data unit 166. Control unit 160 may include memory 164 storing a predetermined location for the sensor assembly 100. Alternatively, control unit 160 may receive the predetermined location from a remote computing device in communication with control unit 160 of sensor assembly 100. In this way, sensor assembly 100 can receive an instruction to move to a new predetermined location, or to navigate to land or a ship for maintenance or replacement. Control unit 160 may store instructions for operating propulsion mechanism 130 to navigate sensor assembly 100 to the predetermined location, and may utilize data from GPS unit 168 to determine the direction of travel and to determine when sensor assembly 100 is at the predetermined location. The control unit 160 may operate propulsion mechanism 130 to cause sensor assembly 100 to remain at or return to the predetermined location and can navigate sensor assembly 100 back to the predetermined location when sensor assembly 100 is displaced by perturbations, such as by waves or by contact with ships, marine life, and other external objects.

[0026] Data unit 166 of control unit 160 can facilitate high-bandwidth communication and wireless transmission to nearby sensor assemblies 100. Data unit 166 may include a wireless transmitter or transceiver such that control unit 160 may receive information, such as information from other sensor assemblies 100 or from a remote computing device, and to send data, such as collected data.

[0027] Sensor assembly 100 can be navigated to a predetermined location 10, as shown in FIG. 3, to measure water and air parameters. In some embodiments, sensor assemblies 100 may be dropped off at predetermined location 10, and are able to maintain the location unanchored. In some embodiments, sensor assembly 100 may automatically navigate to predetermined location 10. Predetermined location 10 can be selected to provide information related to route traversal and assist in predicting waves and currents. Predetermined location 10 can be maintained through environmental perturbations, such as waves, currents, and the wind. Sensor assembly 100 can utilize GPS unit 150 (FIG. 2) to navigate to predetermined location 10. For example, sensor assembly 100 can be instructed to travel to coordinates, such as a longitude and latitude of predetermined location 10. In addition, sensor assembly 100 can be instructed to stay at predetermined location 10 for a set time period (e.g., five days).

[0028] A plurality of sensor assemblies 100 can be deployed in a body of water to measure conditions of the body of water at various locations, as shown for example in FIG. 3. Sensor assemblies 100 may be deployed in a regular pattern, such as in a grid layout. Sensor assemblies may be deployed a fixed distance apart from one another. For example, in some embodiments, sensor assemblies may be spaced at a range of approximately 0.5 miles to approximately 10 miles. The spacing may depend on the precise location of the body of water, the amount of data required, among other considerations such as maximum distances for reliable wireless communication. Each of the plurality of sensor assemblies 100 can measure the same or different parameters. Accordingly, sensor assemblies 100 can create an active measurement grid at predetermined location 10.

[0029] The plurality of sensor assemblies 100 may communicate data with one another and with a base station 500. The plurality of sensor assemblies 100 may be referred to as a “swarm.” As shown in FIG. 3, a plurality of sensor assemblies 100 can form a measurement swarm 200. In some embodiments, a large number of sensor assemblies 100 can be deployed to aid in data collection with each sensor assembly arranged at a predetermined location in the body of water.

[0030] Each sensor assembly 100 of measurement swarm 200 can wirelessly communicate with the other sensor assemblies 100 of measurement swarm 200 via data units 166. In this way, measured data can be shared and ultimately communicated to one or more base stations 500 capable of communicating the data via broadband communication. Sensor assemblies 100 and various base stations 500 can be in active communication with one another. In some embodiments, base station 500 is a land base on a shore 501. In some embodiments, base stations 500 is a mobile base that can be on the water or in the air. In some embodiments, base station 500 are satellites (e.g., Argos, Iridium, or Starlink satellite systems). Sensor assemblies 100 in measurement swarm 200 can provide redundancy such that a malfunctioning sensor assembly 100 can be supported by an operable sensor assembly 100. Accordingly, measurements of water parameters can continue as the malfunctioning sensor assembly is repaired. In some embodiments, sensor assembly 100 can autonomously travel to a location for repair. Additionally or alternatively, the malfunctioning sensor assembly can be towed by an operable sensor assembly 100.

[0031] In some embodiments, base stations 500 can include a control system 300. In some embodiments, base stations 500 can be in communication with control system 300. Control system 300 can run a swarm algorithm to facilitate water wave and current prediction based on the collected data. For example, a model may be created to predict the conditions in the body of water, such as wave patterns. Sensor fusion and machine learning algorithms may be used to improve the accuracy of the wave predictions. One of ordinary skill in the art would appreciate that data regarding water conditions can be used to predict wave patterns. The body of water can be mapped based on the collected data. The wave and current prediction can be used to plan routes for water vehicles. The algorithm can additionally determine in which areas predictions would be useful and how far in advance a prediction can be made (e.g., a wave presence can be known at an area within approximately 30 seconds).

[0032] An exemplary method 400 of operating measurement swarm 200 (FIG. 3) and route planning is shown with reference to FIG. 4. In step 410, measurement swarm 200 (FIG. 3) is provided to collect data from predetermined location 10 (FIG. 3) via one or more sensors (e.g., first on-board sensor 170 (FIG. 1) and/or second on-board sensor 180 (FIG. 1)). In step 420, data from sensor assemblies 100 of measurement swarm 200 (FIG. 3) is relayed to base station 500 (FIG. 3) such that data can be transmitted to control system 300 (FIG. 3). Control system 300 (FIG. 3) can analyze the data to determine wave and current patterns and make wave and current predictions based on the swarm algorithm in step 430. In some embodiments, the algorithm from control system 300 can instruct sensor assemblies 100 (FIG. 3) of measurement swarm 200 to travel to predetermined location 10 (FIG. 3) and the duration of measurement (e.g., approximately five days). In some embodiments, propulsion mechanism 130 (FIG. 1) can utilize an autonomous control algorithm from control system 300 to guide sensor assembly 100 (FIG. 1) to predetermined location 10 (FIG. 3) with a given accuracy. Once wave and current are predicted, route planning can be greatly simplified. In step 440, control system 300 (FIG. 3) can determine a route for a water vehicle, e.g., a ship, through body of water based on wave and current predictions.

[0033] FIG. 5 illustrates an exemplary computer system 600 in which embodiments, or portions thereof, may be implemented as computer-readable code. A control unit 160 as discussed herein may be a computer system(s) having all or some of the components of computer system 600 for implementing processes discussed herein.

[0034] If programmable logic is used, such logic may execute on a commercially available processing platform or a special purpose device. One of ordinary skill in the art may appreciate that embodiments of the disclosed subject matter may be practiced with various computer system configurations, including multi-core multiprocessor systems, minicomputers, and mainframe computers, computer linked or clustered with distributed functions, as well as pervasive or miniature computers that may be embedded into virtually any device.

[0035] For instance, at least one processor device and a memory may be used to implement the above described embodiments. A processor device may be a single processor, a plurality of processors, or combinations thereof. Processor devices may have one or more processor “cores.”

[0036] Various embodiments of the invention(s) may be implemented in terms of this example computer system 600. After reading this description, it will become apparent to a person skilled in the relevant art how to implement one or more of the invention(s) using other computer systems and/or computer architectures. Although operations may be described as a sequential process, some of the operations may in fact be performed in parallel, concurrently, and/or in a distributed environment, and with program code stored locally or remotely for access by single or multi-processor machines. In some embodiments, edge computing, cloud computing, or a combination thereof may be used. In addition, in some embodiments the order of operations may be rearranged without departing from the spirit of the disclosed subject matter.

[0037] Processor device 604 may be a special purpose or a general purpose processor device. As will be appreciated by persons skilled in the relevant art, processor device 604 may also be a single processor in a multi-core/multiprocessor system, such system operating alone, or in a cluster of computing devices operating in a cluster or server farm. Processor device 604 is connected to a communication infrastructure 606, for example, a bus, message queue, network, or multi-core message-passing scheme.

[0038] Computer system 600 also includes a main memory 608, for example, random access memory (RAM), and may also include a secondary memory 610. Secondary memory 610 may include, for example, a hard disk drive 612, or removable storage drive 614. Removable storage drive 614 may include a floppy disk drive, a magnetic tape drive, an optical disk drive, a flash memory, or the like. The removable storage drive 614 reads from and/or writes to a removable storage unit 618 in a well-known manner. Removable storage unit 618 may include a floppy disk, magnetic tape, optical disk, a universal serial bus (USB) drive, etc. which is read by and written to by removable storage drive 614. As will be appreciated by persons skilled in the relevant art, removable storage unit 618 includes a computer usable storage medium having stored therein computer software and/or data.

[0039] Computer system 600 (optionally) includes a display interface 602 (which may include input and output devices such as keyboards, mice, etc.) that forwards graphics, text, and other data from communication infrastructure 606 (or from a frame buffer not shown) for display on display unit 630.

[0040] In alternative implementations, secondary memory 610 may include other similar means for allowing computer programs or other instructions to be loaded into computer system 600. Such means may include, for example, a removable storage unit 622 and an interface 620. Examples of such means may include a program cartridge and cartridge interface (such as that found in video game devices), a removable memory chip (such as an EPROM, or PROM) and associated socket, and other removable storage units 622 and interfaces 620 which allow software and data to be transferred from the removable storage unit 622 to computer system 600.

[0041] Computer system 600 may also include a communication interface 624. Communication interface 624 allows software and data to be transferred between computer system 600 and external devices. Communication interface 624 may include a modem, a network interface (such as an Ethernet card), a communication port, a PCMCIA slot and card, or the like. Software and data transferred via communication interface 624 may be in the form of signals, which may be electronic, electromagnetic, optical, or other signals capable of being received by communication interface 624. These signals may be provided to communication interface 624 via a communication path 626. Communication path 626 carries signals and may be implemented using wire or cable, fiber optics, a phone line, a cellular phone link, an RF link or other communication channels.

[0042] In this document, the terms “computer program medium” and “computer usable medium” are used to generally refer to media such as removable storage unit 618, removable storage unit 622, and a hard disk installed in hard disk drive 612. Computer program medium and computer usable medium may also refer to memories, such as main memory 608 and secondary memory 610, which may be memory semiconductors (e.g. DRAMs, etc ).

[0043] Computer programs (also called computer control logic) are stored in main memory 608 and/or secondary memory 610. Computer programs may also be received via communication interface 624. Such computer programs, when executed, enable computer system 600 to implement the embodiments as discussed herein. In particular, the computer programs, when executed, enable processor device 604 to implement the processes of the embodiments discussed here. Accordingly, such computer programs represent controllers of the computer system 600. Where the embodiments are implemented using software, the software may be stored in a computer program product and loaded into computer system 600 using removable storage drive 614, interface 620, and hard disk drive 612, or communication interface 624.

[0044] It is to be appreciated that the Detailed Description section, and not the Summary and Abstract sections, is intended to be used to interpret the claims. The Summary and Abstract sections can set forth one or more but not all exemplary embodiments of the present invention as contemplated by the inventor(s), and thus, are not intended to limit the present invention and the appended claims in any way.

[0045] The present invention has been described above with the aid of functional building blocks illustrating the implementation of specified functions and relationships thereof. The boundaries of these functional building blocks have been arbitrarily defined herein for the convenience of the description. Alternate boundaries can be defined so long as the specified functions and relationships thereof are appropriately performed.

[0046] The foregoing description of the specific embodiments will so fully reveal the general nature of the invention that others can, by applying knowledge within the skill of the art, readily modify and/or adapt for various applications such specific embodiments, without undue experimentation, without departing from the general concept of the present invention. Therefore, such adaptations and modifications are intended to be within the meaning and range of equivalents of the disclosed embodiments, based on the teaching and guidance presented herein. It is to be understood that the phraseology or terminology herein is for the purpose of description and not of limitation, such that the terminology or phraseology of the present specification is to be interpreted by the skilled artisan in light of the teachings and guidance.

[0047] The breadth and scope of the present invention should not be limited by any of the above-described exemplary embodiments, but should be defined only in accordance with the following claims and their equivalents.