TECHNICAL FIELD

[0001] The present disclosure generally relates to a marine delivery vehicle powered by green energy for transporting parcels through water; and more particularly, to a marine delivery vehicle powered by green energy including wave, wind, and solar energies for carrying and transporting parcels through water environment. More particularly, the present disclosure relates to a self-controlled vehicle powered by wave, wind, and solar energies for storing, carrying, and transporting parcels in sea, ocean, and all water environments.

BACKGROUND

[0002] Transporting parcels, food packages, and materials through water environment, especially lakes, sea, and ocean is essential particularly for a long period of time without using fuels or other non-renewable sources of energy.

[0003] Although there are wave-powered vehicles that utilize wave energy to travel along water, there are limited to waters bearing waves. In other words, available wave-power vehicles may be forced to stop in still water.

[0004] While current watercrafts powered by wave energy for traveling through water may be sufficient for short travel, especially in wavy water; the traveling time may be increased particularly for long-term applications. Thereby, there is a need to develop a low-cost and highly reliable vehicle that may be autopilot, self-controlled, and environment friendly.

SUMMARY

[0005] This summary is intended to provide an overview of the subject matter of the present disclosure, and is not intended to identify essential elements or key elements of the subject matter, nor is it intended to be used to determine the scope of the claimed implementations. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to the more detailed description that is presented later. The proper scope of the present disclosure may be ascertained from the claims set forth below in view of the detailed description below and the drawings.

[0006] In one general aspect, the present disclosure may include a floating part, a swimming part, a vertical arm, and a wind receiving unit. The floating part may move along the surface of water in upward and downward directions as a result of the vertical movement of waves carried with water. The up-and-down movement of the floating part may produce a thrusting force for the forward movement of the swimming part. The swimming part may submerge below the surface of water. The wind receiving unit may convert the wind energy to mechanical energy. The wind receiving unit may not be in contact with water as the wind receiving unit may be at a distance above the surface of water. The vertical arm that connects the floating part to the swimming part is configured to transmit the movement of the floating part to the swimming part.

[0007] In an exemplary embodiment, the present disclosure may comprise a rudder coupled to the vertical arm. The present disclosure may comprise at least two fins coupled to the lateral sides of the swimming part symmetrically.

[0008] In one exemplary embodiment, the present disclosure may control the vehicle automatically by a self-controlling process in which position information of the vehicle may be recorded by a Global Navigation Satellite System (GNSS) and heading information of the vehicle may be recorded by an Attitude and Heading Reference System (AHRS).

[0009] In an exemplary embodiment, a thruster may be coupled to the swimming part which is powered by electrical energy generated by solar cells. Therefore, in still water and windless air, the thruster may provide essential pre-stored energy for the vehicle.

[00010] This Summary is provided to introduce a selection of concepts in a simplified form; these concepts are further described below in the Detailed Description. This Summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.

BRIEF DESCRIPTION OF THE DRAWINGS

[00011] The novel features which are believed to be characteristic of the present disclosure, as to its structure, organization, use, and method of operation, together with further objectives and advantages thereof, will be better understood from the following drawings in which a presently preferred embodiment of the present disclosure will now be illustrated by way of example. It is 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 present disclosure. Embodiments of the present disclosure will now be described by way of example in association with the accompanying drawings in which:

[00012] FIG. 1A illustrates a first perspective side view of a first exemplary marine delivery vehicle for transporting parcels through water, consistent with one or more embodiments of the present disclosure;

[00013] FIG. IB illustrates a second perspective side view of the first exemplary marine delivery vehicle for transporting parcels through water, consistent with one or more embodiments of the present disclosure;

[00014] FIG. 2A illustrates a first perspective side view of a second exemplary marine delivery vehicle for transporting parcels through water, consistent with one or more embodiments of the present disclosure;

[00015] FIG. 2B illustrates a second perspective side view of the second exemplary marine delivery vehicle for transporting parcels through water, consistent with one or more embodiments of the present disclosure; [00016] FIG. 3 illustrates a pictorial view of showing how a vertical wind turbine may generate downward force, consistent with one or more exemplary embodiments of the present disclosure; and

[00017] FIG. 4 illustrates a block diagram of a self-controlling process designed for controlling the marine delivery vehicle, consistent with one or more exemplary embodiments of the present disclosure.

DETAILED DESCRIPTION

[00018] In the following detailed description, numerous specific details are set forth by way of examples to provide a thorough understanding of the relevant teachings related to the exemplary embodiments. However, it should be apparent that the present teachings may be practiced without such details. In other instances, well-known methods, procedures, components, and/or circuitry have been described at a relatively high level, without detail, in order to avoid unnecessarily obscuring aspects of the present teachings.

[00019] The following detailed description is presented to enable a person skilled in the art to make and use the methods and vehicles disclosed in exemplary embodiments of the present disclosure. For purposes of explanation, specific nomenclature is set forth to provide a thorough understanding of the present disclosure. However, it will be apparent to one skilled in the art that these specific details are not required to practice the disclosed exemplary embodiments. Descriptions of specific exemplary embodiments are provided only as representative examples. Various modifications to the exemplary implementations will be plain to one skilled in the art, and the general principles defined herein may be applied to other implementations and applications without departing from the scope of the present disclosure. The present disclosure is not intended to be limited to the implementations shown, but is to be accorded the widest possible scope consistent with the principles and features disclosed herein. [00020] It must be noted that, as used in this specification, the singular forms “a,” “an,” and “the” include plural referents unless the context clearly dictates otherwise.

[00021] As used herein, the terms “comprising,” “including,” “constituting,” “containing,” “consisting of,” and grammatical equivalents thereof are inclusive or open-ended terms that do not exclude additional, unrecited elements or method steps.

[00022] Reference herein to “one embodiment,” “an embodiment,” “some embodiments,” “one or more embodiments,” “one exemplary embodiment,” “an exemplary embodiment,” “some exemplary embodiments,” and “one or more exemplary embodiments” indicate that a particular feature, structure or characteristic described in connection or association with the embodiment may be included in at least one of such embodiments. However, the appearance of such phrases in various places in the present disclosure do not necessarily refer to a same embodiment or embodiments.

[00023] The word “exemplary” is used herein to mean “serving as an example, instance, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments. Likewise, the term “embodiments of the invention” does not require that all embodiments of the invention include the discussed feature, advantage or mode of operation.

[00024] In addition, terms such as first, second and the like may be used herein to describe components. Each of these terms is not used to define an essence, order or sequence of a corresponding component but used merely to distinguish the corresponding component from other component(s).

[00025] It should also be noted that in some alternative implementations, the functions/acts noted may occur out of the order noted in the figures. For example, two operations shown in succession may in fact be executed substantially concurrently or may sometimes be executed in the reverse order, depending upon the functionality /acts involved. [00026] The terms used in this specification may generally have their ordinary meanings in the art, within the context of the disclosure, and in the specific context where each term is used. Certain terms that are used to describe the disclosure are discussed below, or elsewhere in the specification, to provide additional guidance to the practitioner regarding the description of the disclosure. It will be appreciated that a term or a phrase may be said in more than one way.

[00027] Consequently, alternative language and synonyms may be used for any one or more of the terms discussed herein. Nor is any special significance to be placed upon whether or not a term is elaborated or discussed herein. Synonyms for certain terms are provided. A recital of one or more synonyms does not exclude the use of other synonyms. The use of examples anywhere in this specification including examples of any terms discussed herein is illustrative only, and is not intended to further limit the scope and meaning of the disclosure or of any exemplified term. Likewise, the disclosure may not be limited to various embodiments given in the present specification.

[00028] The terms ” vehicle”, ” marine vehicle” and ” marine delivery vehicle” as used in the present disclosure may be used interchangeably to refer to a watercraft or a submarine which may travel through water, while storing, carrying, and transporting parcels, food packages, and any similar shipment.

[00029] The technical problem solved by the present disclosure is to provide sufficient clean and renewable energy for carrying parcels and packages through both shallow and deep seabed. The technical solution proposed by the present disclosure is at first utilizing wavepower spreading along water which may produce a vertical motion leading to move the marine vehicle toward the destination. In addition, in the present disclosure wind power generates additional energy for traveling in still water in a unique configuration. Furthermore, wind energy may speed up the velocity of the vehicle in wavy water. Besides these two above- mentioned clean renewable power sources, the present disclosure may benefit from solar energy to power, drive, and control all electronic units and the marine vehicle. Therefore, the present disclosure may produce and save clean energy for a long period of time which is an important challenging task for transporting parcels by autopilot and self-controlled vehicles through water. In addition to all the above technical mentioned aspects, the current disclosure may be economically feasible.

[00030] A number of particular aspects and embodiments are described herein, however many variations and permutations of these aspects fall within the scope of the disclosure. Although some benefits and advantages are mentioned, the scope of the present disclosure is not intended to be limited to particular benefits, uses, or objectives. Rather, aspects of the disclosure are intended to be broadly applicable to different technologies, system configurations, networks and protocols, some of which are illustrated by way of example in the figures and in the following description of the preferred aspects. The detailed description and drawings are merely illustrative of the disclosure rather than limiting, the scope of the disclosure being defined by the appended claims and equivalents thereof.

[00031] Referring now to the figures, FIG. 1A, and FIG. IB illustrate different perspective side views for marine delivery vehicle 100, consistent with one or more exemplary embodiments of the present disclosure. Marine delivery vehicle 100 may consist of a floating part, a swimming part 102, a vertical arm 103, a rigid base 105(A), and a wind turbine 106(A). The floating part may consist of a first boat 101(A), a second boat 101(B), and a connecting arm 104. The parcels may be carried by first boat 101(A) and second boat 101(B). Vertical arm 103 may be designed to connect the floating part to swimming part 102 to transmit the movement of the floating part to swimming part 102 such that the proximal end of vertical arm 103 is coupled to connecting arm 104 and the distal end of vertical arm 103 is coupled to swimming part 102. Swimming part 102 may submerge below the surface of water, while first boat 101(A) and second boat 101(B) may move along the surface of water. Therefore, first boats 101(A) and second boat 101(B) may stay on or near the surface of water and may move upward and downward by lifting force caused by wave power. The up-and-down movement of the floating part may convey to swimming part 102 through vertical arm 103 producing thrusting force for swimming part 102. Connecting arm 104 is configured to fix first boat 101(A) to second boat 101(B) such that the longitudinal axis of first boat 101(A) may be parallel with the longitudinal axis of second boat 101(B), and the surface of first boat 101(A) may be at the same level with the surface of second boat 101(B). In addition, first boat 101(A) and second boat 101(B) may move simultaneously along the surface of water.

[00032] In one exemplary embodiment, first boat 101(A) and second boat 101(B) may be made of polymeric foam which may be machinerized. Vertical arm 103 which may be inflexible comprises a hollow cylinder, a ball bearing, and a radial shaft seal, wherein the hollow cylinder may be made of stainless steel or any other rigid material, especially waterproof material or at least material which are coated with a water-resistant coating. In an exemplary embodiment, vertical arm 103 may be made of steel 316. Because of the ball bearing, vertical arm 103 may rotate in the [-30° 30°] range.

[00033] In one or more embodiment, two airfoil fins 110 may be extended from the lateral sides of swimming part 102 symmetrically. The up-and-down movement of the floating part causes two airfoil fins 110 to move upward and downward by reason of the Coanda effect resulting in lifting and thrusting force for vehicle 100. In one exemplary embodiment, the angle between each of two airfoil fins 110 and swimming part 102 may be in the [-5° 15°] range.

[00034] In this exemplary embodiment, wind turbine 106(A) may work as the wind receiving unit for marine delivery vehicle 100. Rigid base 105(A) working as a supporting base for wind turbine 106(A) is configured to fix wind receiving unit 106(A) to the topside surface of first boat 101(A) and the topside surface of second boat 101(B). Therefore, rigid base 105(A) may couple to first boat 101(A) and second boat 101(B). Therefore, the rigid base 105(A) is configured to have at least one common segment with the topside surface of the first boat 101(A) and the topside surface of second base 101(B). As wind blows, turbine generator 118 may rotate causing a rotation for turbine blades 114. The rotation of turbine blades 114 may produce a downward force because of the Magnus effect. Consequently, the floating part may move upward and downward. The up-and-down movement of the floating part may induce thrusting force for swimming part 102 leading to the forward motion of the vehicle 100, wherein the forward motion is a motion toward the destination. When marine delivery vehicle 100 is in still or weak wavy water, the wind turbine 106(A) may convert the wind energy to the mechanical energy which may work as an artificial wave for marine delivery vehicle 100 leading to the forward movement of marine delivery vehicle 100. In addition, wind turbine 106(A) may speed up the velocity of marine delivery vehicle 100 especially when wave power may not be sufficient for the movement of vehicle 100. As wind turbine 106(A) may be mounted on rigid base 105(A), wind turbine 106(A) may not be in contact with the surface of water. Therefore, wind turbine 106(A) may receive more wind. On the other hand, a large distance between the topside surface of the floating part and wind turbine 106(A) may disturb the balance of vehicle 100. Wind turbine 106(A) is configured such that the balance of vehicle 100 may be maintained while the most possible wind may be received. In one exemplary embodiment, a Savonius vertical wind turbine with a permanent magnet synchronous generator is configured to convert wind energy to mechanical energy for marine delivery vehicle 100. The permanent magnet synchronous generator may work with 10 kilowatt power for a wind velocity of 10 m/s.

[00035] In one or more exemplary embodiment, a rudder 108 may be fixed on swimming part 102; wherein the position of rudder 108 may determine the mission plan of marine vehicle 100. As rudder 108 may be coupled to vertical arm 103, rudder 108 may rotate in the [-30° 30°] range to pilot vehicle 100 toward the destination. The height of vertical arm 103 is designed such that rudder 108 may be placed under the whirlpool of sea waves to receive less drag. In an exemplary embodiment, rudder 108 is NACA4112 and the height of vertical arm 103 may be 110 cm.

[00036] In one exemplary embodiment, a rail rod 111 may be coupled to the surface of swimming part 102. Vertical arm 103 may be capable to move in rail rod 111 as the distal end of vertical arm 103 is configured to couple to rail rod 111. The movement of vertical arm 103 in rail rod 111 may be parallel to the longitudinal axis of swimming part 102. Vertical arm 103 is designed to move slightly in rail rod 111 to adjust the center of mass of marine delivery vehicle 100 precisely in the center.

[00037] As an exemplary embodiment, marine vehicle 100 may be stabilized with a first blade 107A and second blade 107B. First blade 107A may be coupled to the underside surface of first boat 101(A) and second blade 107B may be coupled to the underside surface of second boat 101(B), vertically. Furthermore, the vibration caused by the lateral wave reached to vehicle 100 may be reduced significantly. In one exemplary embodiment, first blade 107A and second blade 107B are NACA0012 with 55 cm in length.

[00038] As an exemplary embodiment, a microprocessor, a GNSS, a battery, an autopilot system, a power management board, a motor of rudder 108, and a motor driver are embedded in a first waterproof box 109. First waterproof box 109 may be attached to the underside of connecting arm 104. Vertical arm 103 and first waterproof box 109 are configured such that the data and power cables may be passed through the hollow space inside vertical arm 103.

[00039] In one exemplary embodiment, a suspension system 117 may be configured to fix first waterproof box 109 to connecting arm 104 to avoid probable vibrations which may be received to first waterproof box 109. Therefore, position information measured by GNSS may be precise. Suspension system 117 may comprise a shaft, a first ball bearing, and a second ball bearing. The proximal end of the shaft and the first ball bearing are configured to couple to connecting arm 104. The distal end of the shaft and the second ball bearing are configured to couple to first waterproof box 109. The mechanism of suspension system 117 may work such that the orientation of the rotation axis may be independent of the rotation of its base. Therefore, the rotation, vibration, or acceleration of connecting arm 104 may not be affected the first waterproof box 109.

[00040] In one exemplary embodiment, the AHRS which includes a three-axis gyroscope, a three-axis accelerator, and a compass may be embedded in a second waterproof box. The second waterproof box may be attached to the surface of swimming part 102 in order to away from the vibration of the wave which may be available on the surface of water. Therefore, heading information measured by AHRS may be precise.

[00041] As an exemplary embodiment, the surface of connecting arm 104 may be covered with solar cells 116. The generated electrical energy by solar cells 116 may be conveyed to first waterproof box 109 to use as an alternative power source for marine delivery vehicle 100. [00042] As an exemplary embodiment, a thruster 112 which may consist of a brushless motor and gearboxes may warranty continuous movement of vehicle 100 in every situation without any wave or wind. Thruster 112 which may be powered by electrical energy generated by solar cells 116 may be coupled to swimming part 102.

[00043] Referring now to the figures, FIG. 2A and FIG. 2B illustrate different perspective side views for marine delivery vehicle 1000, consistent with one or more exemplary embodiments of the present disclosure. Marine delivery vehicle 1000 may consist of first boat 101(A), second boat 101(B), connecting arm 104, swimming part 102, vertical arm 103, rigid base 105(B), a wing foil 106(B), first blade 107A, second blade 107B, rudder 108, first waterproof 109, two airfoil fins 110, and suspension system 117. Considering FIG. 1A, FIG. IB, FIG. 2A, and FIG. 2B, marine vehicle 100 and marine vehicle 1000 may differ in the wind receiving unit. In marine vehicle 100, wind turbine 106(A) may work as the wind receiving unit while in marine vehicle 1000, wing foil 106(B) may work as the wind receiving unit. In addition, as the wind receiving unit may be mounted on the rigid base, the rigid base is configured such that to be capable to support the wind receiving unit. Therefore, wing foil 106(B) may be mounted on rigid base 105(B) which may be designed in a different shape from rigid base 105(A) of marine vehicle 100.

[00044] In this exemplary embodiment, wind may pass through the surface of wing foil 106(B) causing pressure differences for wind flow which may lead to lifting force for marine vehicle 1000.

[00045] FIG. 3 is a pictorial view 200 showing how a vertical wind turbine generates downward force, consistent with one or more exemplary embodiments of the present disclosure. Referring now to FIG. 2, incoming flow 201 may cause turbine blades 203 to rotate generating a downward force 205 because of the Magnus effect. It should be noted that the wind direction does not affect the procedure, and downward force 205 may be generated by every wind direction which is desirable.

[00046] FIG. 4 illustrates an exemplary block diagram of a self-controlling process 300 designed for controlling the marine delivery vehicle, consistent with one or more exemplary embodiments of the present disclosure. According to FIG. 4, self-controlling process 300 may include an external loop through which the rudder position of the marine delivery vehicle may be adjusted to be close enough to the target position. Position information may be recorded by GNSS sensor. An autopilot system may compute position error which may be differences between the target position and the position information. Furthermore, self-controlling process 300 may include an internal loop which may be a negative feedback control system. Heading information may be measured by AHRS sensors. The heading information may be fed to a position estimator to estimate heading position estimation of the rudder. Then, the heading position estimation of the rudder may be compared with the position error to obtain heading error. A controller may be used the heading error to drive motor of rudder for adjusting rudder angle at an appropriate angle. In one exemplary embodiment, the position estimator block may include any estimation methods such as the Kalman filter algorithm, the particle filter algorithm, artificial intelligence methods, or any similar algorithms that may work properly for position estimation. In an exemplary embodiment, the controller block may include any position controller like PI, PD, PID, artificial intelligence controlling method, or any controlling algorithms that may work properly for controlling position. In a preferred embodiment, the Kalman filter method and the PID controller may be used in self-controlling process 300.

[00047] The block diagrams in the Figures may illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function (s). It will also be noted that each block of the block diagrams, and combinations of blocks in the block diagrams, may be implemented by special purpose hardware -based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

[00048] The various operations of methods described above may be performed by any suitable means capable of performing the corresponding functions. The means may include various hardware and/or software component(s) and/or module(s), including, but not limited to, a circuit, an application-specific integrated circuit (ASIC), or processor.

[00049] While the foregoing has described what are considered to be the best mode and/or other examples, it is understood that various modifications may be made therein and that the subject matter disclosed herein may be implemented in various forms and examples, and that the teachings may be applied in numerous applications, only some of which have been described herein. It is intended by the following claims to claim any and all applications, modifications and variations that fall within the true scope of the present teachings.

[00050] Unless otherwise stated, all measurements, values, ratings, positions, magnitudes, sizes, and other specifications that are set forth in this specification, including in the claims that follow, are approximate, not exact. They are intended to have a reasonable range that is consistent with the functions to which they relate and with what is customary in the art to which they pertain.

[00051] The scope of protection is limited solely by the claims that now follow. That scope is intended and should be interpreted to be as broad as is consistent with the ordinary meaning of the language that is used in the claims when interpreted in light of this specification and the prosecution history that follows and to encompass all structural and functional equivalents.

[00052] Except as stated immediately above, nothing that has been stated or illustrated is intended or should be interpreted to cause a dedication of any component, step, feature, object, benefit, advantage, or equivalent to the public, regardless of whether it is or is not recited in the claims.

[00053] It will be understood that the terms and expressions used herein have the ordinary meaning as is accorded to such terms and expressions with respect to their corresponding respective areas of inquiry and study except where specific meanings have otherwise been set forth herein. Relational terms such as first and second and the like may be used solely to distinguish one entity or action from another without necessarily requiring or implying any actual such relationship or order between such entities or actions. An element proceeded by “a” or “an” does not, without further constraints, preclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element. [00054] Unless otherwise stated, all measurements, values, ratings, positions, magnitudes, sizes, and other specifications that are set forth in this specification, are approximate, not exact. They are intended to have a reasonable range that is consistent with the functions to which they relate and with what is customary in the art to which they pertain.

[00055] It will be understood that the terms and expressions used herein have the ordinary meaning as is accorded to such terms and expressions with respect to their corresponding respective areas of inquiry and study, except where specific meanings have otherwise been set forth herein. Relational terms such as “first” and “second” and the like may be used solely to distinguish one entity or action from another without necessarily requiring or implying any actual such relationship or order between such entities or actions.

[00056] The Abstract of the Disclosure is provided to allow the reader to quickly ascertain the nature of the technical disclosure. It is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the claims. In addition, in the foregoing Detailed Description, it may be seen that various features are grouped together in various implementations. This is for purposes of streamlining the disclosure, and is not to be interpreted as reflecting an intention that the claimed implementations require more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive subject matter lies in less than all features of a single disclosed implementation. Thus, the following claims are hereby incorporated into the Detailed Description, with each claim standing on its own as a separately claimed subject matter.

[00057] While various implementations have been described, the description is intended to be exemplary, rather than limiting and it will be apparent to those of ordinary skill in the art that many more implementations and implementations are possible that are within the scope of the implementations. Although many possible combinations of features are shown in the accompanying figures and discussed in this detailed description, many other combinations of the disclosed features are possible. Any feature of any implementation may be used in combination with or substituted for any other feature or element in any other implementation unless specifically restricted. Therefore, it will be understood that any of the features shown and/or discussed in the present disclosure may be implemented together in any suitable combination. Accordingly, the implementations are not to be restricted except in light of the attached claims and their equivalents. Also, various modifications and changes may be made within the scope of the attached claims.