Patent Description:
The invention relates generally to systems for generating electrical power. More particularly, in various aspects, the invention relates to generating electrical power for marine vehicles using extendable and retractable solar panels.

The past several decades have seen a steady increase in the number of unmanned marine vehicles, vessels, and/or devices, including unmanned surface ships, buoys, and underwater robotic systems, deployed for use in the ocean. The underwater systems are also referred to as autonomous underwater vehicles (AUVs). Many of these systems are equipped with power systems including batteries to accomplish their respective mission. Existing marine vehicles, however, typically have limited mission periods due to limited power and/or battery capacities, while also being difficult to recharge, especially while deployed in the ocean.

One type of marine vehicle is a buoy, which is a device and/or vehicle configured to float within a body of water such as an ocean. A buoy can perform various objectives including functioning as a sea mark, lifebuoy, a submarine communications buoy, a DAN buoy, navigational buoy, Sonobuoy, surface marker buoy, decompression buoy, shot buoy, weather buoy, Tsunami buoy, wave buoy, and so on. A buoy can be anchored (tethered) or allowed to drift within a body of water. Various techniques are known for deploying buoys. Buoys, along with other marine devices, such as AUVs typically require power for a period of time to perform their functions.

Accordingly, there is a need for systems and mechanisms that enable more robust and efficient energy charging and/or recharging of power systems in marine devices and/or vehicles.

<CIT> discloses a marine photovoltaic platform that includes a pedestal and a multi-disc hinge set around the pedestal. One end of the Multi-disc hinge is hinged with a water collecting part periphery and a hinge upper surface is provided with multiple photovoltaic panels. The photovoltaic panels are sealed at night and hedged off from the outer world. <CIT> discloses a solar powered buoy having a buoy body hinged to multiple solar panels on the outside of the buoy body. <CIT> discloses a solar underwater vehicle that comprises an underwater vehicle body, an airtight chamber, movable airtight door mats and solar cell assemblies arranged in pairs in a bilateral symmetry manner. <CIT> discloses a collapsible underwater glider solar energy wing plate collapsible mechanism where an area of a solar energy underwater glider solar panel is extended by the collapsible mechanism. <CIT> discloses a vessel that drags a photovoltaic generating system peculiar to the vessel where the photovoltaic generating system includes a mounting base and bogie. A laterally movable deploying and retracting axis is connected on the bogie such that a photovoltaic battery plate is unwrapped and wrapped when deploying and retracting axis surface. <CIT> discloses systems, methods, and devices related to fixed and transportable structures and vehicles utilizing the integration of solar and wind technologies for generation of electricity. <CIT> discloses a pressure tolerant energy system having a pressure tolerant cavity and an energy system enclosed in the pressure tolerant cavity configured to provide electrical power to a vehicle. <CIT> describes a photovoltaic energy vessel having collapsible and floating properties, which provides large surface are photovoltaic surfaces in order to provide the energy that is needed, to meet the power requirements having collapsible features without changing the genera design of vessels and which can wind the flexible or collapsible products when necessary, when said vessel is approaching a port. <CIT> discloses an overwater floating type solar module, comprising a power generation mechanism and a retractable mechanism. The power generation mechanism comprises a soft pad, a solar power generation unit which is flexible and installed on the soft pad, and a floating unit for allowing the soft pad to be floated on the water. <CIT> describes a solar power generation system that includes a solar cell raft which floats on the sea while being equipped with a solar cell unit formed by connecting a plurality of solar cells in the shape of a sheet on a floating body; a solar cell raft mother vessel which is equipped with a seawater electrolysis device for converting electric energy generated by the solar cell unit into hydrogen and a liquid hydrogen tank for storing the hydrogen obtained by the conversion, and can convey or tow the solar cell raft; a recovery vessel which is equipped with a hydrogen recovery/storage means for recovering the hydrogen stored in the liquid hydrogen tank; a hydrogen recovery tank which recovers the hydrogen from the recovery vessel and stores the hydrogen; and a power plant which converts the hydrogen stored in the hydrogen recovery tank into electric energy.

Systems are described herein for providing electrical power to a marine vehicle via a solar panel assembly capable of being extended and retracted by the marine vehicle in response to a processor and controller, and in some embodiments, depending on sensed conditions and/or timing (e.g., daylight, sea conditions, temperature, time of day, marine traffic, and so on).

According to the present invention, a marine vehicle includes a power system arranged to receive and store electrical power delivered from a solar panel assembly. The power system includes one or more batteries. The vehicle also includes a processor arranged to determine an extension time and a retraction time for a solar panel assembly and a controller that, in response to instructions from the processor, is arranged to extend the solar panel assembly and retract the solar panel assembly. The controller may include an electronically actuated motor, an electric motor, pneumatic system, electronically actuated pneumatic motor, a hydraulic system, an electronically actuated hydraulic motor, and/or an electromechanical motor. The solar panel assembly is arranged to be configured in at least one of an extended position and a retracted position. The solar panel assembly includes one or more solar panels. The solar panel assembly is also in electrical communication with the power system. The one or more solar panels are flexibly bendable and capable of being rolled in the retracted position and unrolled in the extended position. A portion of the solar panel is also submersible such that one or more solar panels include a ballast control system arranged to store or expel water to change a depth of a portion of the solar panel assembly.

In certain embodiments, the solar panel assembly is configured to be in the extended position for a first period of time and the solar panel assembly is further configured to be in the retracted position for the second period of time. The first period of time includes a period when sufficient daylight is available for the solar panel assembly to generate electrical power. The second period of time includes a period when there is insufficient daylight available for the solar panel.

In one embodiment, the marine vehicle includes a solar assembly housing arranged to store the solar panel assembly while in the retracted position. In another embodiment, the solar assembly housing is integrated with a housing of the vehicle or included within the housing of the vehicle. In certain embodiments, the vehicle is an AUV, an autonomous surface ship or boat, a buoy, a marine platform, a marine oil rig, or a submarine.

In certain implementations of the disclosure, depending on the length of the solar panels, rigid solar panels may be rolled into and out of a housing. The length of the solar panels may be proportional to the circumference of a solar panel assembly housing. The length of one or more solar panels may be less than or equal to about <NUM>/<NUM>, <NUM>/<NUM>, <NUM>/<NUM>, <NUM>/<NUM>, <NUM>/<NUM>, <NUM>/<NUM>, <NUM>/<NUM> of the circumference of the housing of the solar panels. In another configuration, one or more solar panels are stacked in the retracted position, while being unstacked and/or substantially adjacent to each other in the extended position.

In one embodiment, the marine vehicle has one or more motion sensors, light sensors, and/or clocks. The processor determines the extension time (a time when to initiate extension of the solar panel assembly) based on at least one of an input from the motion sensor, the light sensor, and the clock. The processor determines a retraction time based on at least one of an input from the motion sensor, the light sensor, and the clock. The motion sensor may include an accelerometer. In one embodiment, the processor extends or retracts the solar panel assembly based at least on i) comparing a time of the clock with a stored extension time or retraction time stored in a memory, ii) comparing a detected light level, via the light sensor, with a light level stored in the memory, and iii) comparing a detected amount of movement, via the motion sensor, with a movement limit stored in the memory.

A portion of the solar panel assembly is submersible according to control by the marine vehicle. One or more solar panels include a ballast control system arranged to store or expel water to change a depth of a portion of the solar panel assembly. In one embodiment, the marine vehicle processor determines a submersion time based on at least one of an input from the motion sensor, the light sensor, and the clock. In one embodiment, the controller includes a motor arranged to position the solar panel assembly into at least one of the extended and retracted positions.

In one embodiment, the solar panel assembly includes at least one linkage assembly adjacent to at least one solar panel. The linkage assembly being configured to allow an adjacent solar panel to move in response to a body of water in contact with the solar panel. In one embodiment, the linkage assembly includes a rigid element having an articulating member configured to enable a difference in pitch, yaw, or roll between adjacent solar panels. The linkage assembly may include one or more of a hinge, ball joint, pivot joint, Johnson joint, swivel joint, rotary coupling, or combination thereof. The linkage assembly may include a flexible element enabling a difference in pitch, yaw, or roll between adjacent solar panels. The linkage assembly may include a cable, wire, rope, chain, flexible metallic line, flexible metallic thread, flexible plastic line, flexible ceramic line, or combination thereof.

A universal charging station (UCS) may be included in a surface section or submerged section of a marine vehicle such as a buoy. In this way, a first marine vehicle (e.g., an AUV) can perform its missions and then interface with the UCS of a second marine vehicle (e.g., a power buoy) at its surface or underwater location to be recharged.

The UCS may include a charging connection having an electro-mechanical connector to facilitate transfer of electrical current to/from the UCS of the marine vehicle to the AUV and/or provide a communications connection between a processor of the marine vehicle and one or more processors within the AUV. Inductive charging may be utilized. Also, wireless communications may be used to exchange information, including control commands between the UCS and AUV. For example, a processor of the AUV may interface with one or more temperature sensors associated with one or more battery cells within the AUV. The AUV processor may receive temperature information from the one or more temperature sensors and, in response, send control information to the processor of the marine vehicle. The processor of the marine vehicle or UCS may include and/or operate as a controller of the UCS to regulate the voltage and/or current output of the UCS, and/or temperature surrounding the battery housing of the AUV, in response to receiving control commands from the AUV processor. Alternatively, the marine vehicle or UCS processor may receive temperature information directly from the AUV temperature sensors, or temperature information relayed by the AUV processor, process such temperature information to then determine an output voltage and/or current of the UCS, and/or temperature surrounding the battery housing of the AUV.

Other objects, features, and advantages of the present invention will become apparent upon examining the following detailed description, taken in conjunction with the attached drawings.

<FIG> illustrate features associated with the claimed invention. While <FIG> and <FIG>, and their related descriptions, are not part of the invention, they are included to assist the skilled person with understanding the claimed invention. <FIG> is a block diagram depicting an illustrative remote vehicle, according to an illustrative aspect of the present disclosure. The system <NUM> includes a sonar unit <NUM> for sending and receiving sonar signals, a preprocessor <NUM> for conditioning a received (or reflected) signal, and a matched filter <NUM> for performing pulse compression and beamforming. The system <NUM> is configured to allow for navigating using high-frequency (greater than about <NUM>) sonar signals. To allow for such HF navigation, the system <NUM> includes a signal corrector <NUM> for compensating for grazing angle error and for correcting phase error. The system <NUM> also includes a signal detector <NUM> for coherently correlating a received image with a map. In some aspects, the system <NUM> includes an on-board navigation controller <NUM>, motor controller <NUM> and sensor controller <NUM>. The navigation controller <NUM> may be configured to receive navigational parameters from a GPS/RF link <NUM> (when available), an accelerometer <NUM>, a gyroscope, and a compass <NUM>. The motor controller <NUM> may be configured to control a plurality of motors <NUM>, <NUM> and <NUM> for steering the vehicle. The sensor controller <NUM> may receive measurements from the battery monitor <NUM>, a temperature sensor <NUM> and a pressure sensor <NUM>. The system <NUM> further includes a central control unit (CCU) <NUM> that may serve as a hub for determining navigational parameters based on sonar measurements and other navigational and sensor parameters, and for controlling the movement of the vehicle.

In the context of a surface or underwater vehicle, the CCU <NUM> may determine navigational parameters such as position (latitude and longitude), velocity (in any direction), bearing, heading, acceleration and altitude. The CCU <NUM> may use these navigational parameters for controlling motion along the alongtrack direction (fore and aft), acrosstrack direction (port and starboard), and vertical direction (up and down). The CCU <NUM> may use these navigational parameters for controlling motion to yaw, pitch, roll or otherwise rotate the vehicle. During underwater operation, a vehicle such as an AUV may receive high-frequency real aperture sonar images or signals at sonar unit <NUM>, which may then be processed, filtered, corrected, and correlated against a synthetic aperture sonar (SAS) map of the terrain. Using the correlation, the CCU may then determine the AUV's position, with high-precision and other navigational parameters to assist with navigating the terrain. The precision may be determined by the signal and spatial bandwidth of the SAS map and/or the acquired sonar image. In certain aspects, assuming there is at least a near perfect overlap of the sonar image with a prior SAS map with square pixels, and assuming that the reacquisition was performed with a single channel having a similar element size and bandwidth, and assuming little or no losses to grazing angle compensation, the envelope would be about one-half the element size. Consequently, in certain aspects, the peak of the envelope may be identified with high-precision, including down to the order of about <NUM>/100th of the wavelength. For example, the resolution may be less than <NUM>, or less than <NUM> or less than and about <NUM> in the range direction.

As noted above, the system <NUM> includes a sonar unit <NUM> for transmitting and receiving acoustic signals. The sonar unit includes a transducer array <NUM> having a one or more transmitting elements or projectors and a plurality of receiving elements arranged in a row. In certain aspects the transducer array <NUM> includes separate projectors and receivers. The transducer array <NUM> may be configured to operate in SAS mode (either stripmap or spotlight mode) or in a real aperture mode. In certain aspects, the transducer array <NUM> is configured to operate as a multibeam echo sounder, sidescan sonar or sectors can sonar. The transmitting elements and receiving elements may be sized and shaped as desired and may be arranged in any configuration, and with any spacing as desired without departing from the scope of the present disclosure. The number, size, arrangement and operation of the transducer array <NUM> may be selected and controlled to insonify terrain and generate high-resolution images of a terrain or object. One example of an array <NUM> includes a <NUM> channel array with <NUM> elements mounted in a <NUM>¾ inch vehicle.

The sonar unit <NUM> further includes a receiver <NUM> for receiving and processing electrical signals received from the transducer, and a transmitter <NUM> for sending electrical signals to the transducer. The sonar unit <NUM> further includes a transmitter controller <NUM> for controlling the operation of the transmitter including the start and stop, and the frequency of a ping. The signals received by the receiver <NUM> are sent to a preprocessor for conditioning and compensation. Specifically, the preprocessor <NUM> includes a filter conditioner <NUM> for eliminating outlier values and for estimating and compensating for hydrophone variations. The preprocessor further includes a Doppler compensator <NUM> for estimating and compensating for the motion of the vehicle. The preprocessed signals are sent to a matched filter <NUM>. The matched filter <NUM> includes a pulse compressor <NUM> for performing matched filtering in range, and a beamformer <NUM> for performing matched filtering in azimuth and thereby perform direction estimation.

The signal corrector <NUM> includes a grazing angle compensator <NUM> for adjusting sonar images to compensate for differences in grazing angle. Typically, if a sonar images a collection of point scatterers the image varies with observation angle. For example, a SAS system operating at a fixed altitude and heading observing a sea floor path will produce different images at different ranges. Similarly, SAS images made at a fixed horizontal range would change if altitude were varied. In such cases, changes in the image would be due to changes in the grazing angle. The grazing angle compensator <NUM> is configured to generate grazing angle invariant images. One such grazing angle compensator is described in <CIT> titled "Apparatus and Method for Grazing Angle Independent Signal Detection. " The signal corrector <NUM> includes a phase error corrector <NUM> for correcting range varying phase errors. Generally, the phase error corrector <NUM> breaks the image up into smaller pieces, each piece having a substantially constant phase error. Then, the phase error may be estimated and corrected for each of the smaller pieces.

The system <NUM> further includes a signal detector <NUM> having a signal correlator <NUM> and a storage <NUM>. The signal detector <NUM> may be configured to detect potential targets, estimate the position and velocity of a detected object and perform target or pattern recognition. In one aspect, the storage <NUM> may include a map store, which may contain one or more previously obtained SAS images real aperture images or any other suitable sonar image. The signal correlator <NUM> may be configured to compare the received and processed image obtained from the signal corrector <NUM> with one or more prior images from the map store <NUM>.

The system <NUM> may include other components, not illustrated, without departing from the scope of the present disclosure. For example, the system <NUM> may include a data logging and storage engine. In certain aspects the data logging and storage engine may be used to store scientific data which may then be used in post-processing for assisting with navigation. The system <NUM> may include a security engine for controlling access to and for authorizing the use of one or more features of system <NUM>. The security engine may be configured with suitable encryption protocols and/or security keys and/or dongles for controlling access. For example, the security engine may be used to protect one or more maps stored in the map store <NUM>. Access to one or more maps in the map store <NUM> may be limited to certain individuals or entities having appropriate licenses, authorizations or clearances. Security engine may selectively allow these individuals or entities access to one or more maps once it has confirmed that these individuals or entities are authorized. The security engine may be configured to control access to other components of system <NUM> including, but not limited to, navigation controller <NUM>, motor controller <NUM>, sensor controller <NUM>, transmitter controller <NUM>, and CCU <NUM>.

Generally, with the exception of the transducer <NUM>, the various components of system <NUM> may be implemented in a computer system, such as computer system <NUM> of <FIG>. More particularly, <FIG> is a functional block diagram of a computer accessing a network according to an illustrative aspect of the present disclosure. The holographic navigation systems and methods described in this application may be implemented using the system <NUM> of <FIG>.

The exemplary system <NUM> includes a processor <NUM>, a memory <NUM>, and an interconnect bus <NUM>. The processor <NUM> may include a single microprocessor or a plurality of microprocessors for configuring computer system <NUM> as a multi-processor system. The memory <NUM> illustratively includes a main memory and a read-only memory. The system <NUM> also includes the mass storage device <NUM> having, for example, various disk drives, tape drives, etc. The main memory <NUM> also includes dynamic random access memory (DRAM) and highspeed cache memory. In operation and use, the main memory <NUM> stores at least portions of instructions for execution by the processor <NUM> when processing data (e.g., model of the terrain) stored in main memory <NUM>.

In some aspects, the system <NUM> may also include one or more input/output interfaces for communications, shown by way of example, as interface <NUM> for data communications via the network <NUM>. The data interface <NUM> may be a modem, an Ethernet card or any other suitable data communications device. The data interface <NUM> may provide a relatively high-speed link to a network <NUM>, such as an intranet, internet, or the Internet, either directly or through another external interface. The communication link to the network <NUM> may be, for example, any suitable link such as an optical, wired, or wireless (e.g., via satellite or <NUM> Wi-Fi or cellular network) link. In some aspects, communications may occur over an acoustic modem. For instance, for AUVs, communications may occur over such a modem. Alternatively, the system <NUM> may include a mainframe or other type of host computer system capable of web-based communications via the network <NUM>. In some aspects, the system <NUM> also includes suitable input/output ports or may use the Interconnect Bus <NUM> for interconnection with a local display <NUM> and user interface <NUM> (e.g., keyboard, mouse, touchscreen) or the like serving as a local user interface for programming and/or data entry, retrieval, or manipulation purposes. Alternatively, server operations personnel may interact with the system <NUM> for controlling and/or programming the system from remote terminal devices (not shown in the Figure) via the network <NUM>.

In some aspects, a system requires a processor, such as a navigational controller <NUM>, coupled to one or more coherent sensors (e.g., a sonar, radar, optical antenna, etc.) <NUM>. Data corresponding to a model of the terrain and/or data corresponding to a holographic map associated with the model may be stored in the memory <NUM> or mass storage <NUM>, and may be retrieved by the processor <NUM>. Processor <NUM> may execute instructions stored in these memory devices to perform any of the methods described in this application, e.g., grazing angle compensation, or high frequency holographic navigation.

The system may include a display <NUM> for displaying information, a memory <NUM> (e.g., ROM, RAM, flash, etc.) for storing at least a portion of the aforementioned data, and a mass storage device <NUM> (e.g., solid-state drive) for storing at least a portion of the aforementioned data. Any set of the aforementioned components may be coupled to a network <NUM> via an input/output (I/O) interface <NUM>. Each of the aforementioned components may communicate via interconnect bus <NUM>.

In some aspects, the system requires a processor coupled to one or more coherent sensors (e.g., a sonar, radar, optical antenna, etc.) <NUM>. The sensor array <NUM> may include, among other components, a transmitter, receive array, a receive element, and/or a virtual array with an associated phase center/virtual element.

Data corresponding to a model of the terrain, data corresponding to a holographic map associated with the model, and a process for grazing angle compensation may be performed by a processor <NUM>. The system may include a display <NUM> for displaying information, a memory <NUM> (e.g., ROM, RAM, flash, etc.) for storing at least a portion of the aforementioned data, and a mass storage device <NUM> (e.g., solid-state drive) for storing at least a portion of the aforementioned data. Any set of the aforementioned components may be coupled to a network <NUM> via an input/output (I/O) interface <NUM>. Each of the aforementioned components may communicate via interconnect bus <NUM>.

In operation, a processor <NUM> receives a position estimate for the sensor(s) <NUM>, a waveform or image from the sensor(s) <NUM>, and data corresponding to a model of the terrain, e.g., the sea floor. In some aspects, such a position estimate may not be received and the process performed by processor <NUM> continues without this information. Optionally, the processor <NUM> may receive navigational information and/or altitude information, and a processor <NUM> may perform a coherent image rotation algorithm. The output from the system processor <NUM> includes the position to which the vehicle needs to move.

The components contained in the system <NUM> are those typically found in general purpose computer systems used as servers, workstations, personal computers, network terminals, portable devices, and the like. In fact, these components are intended to represent a broad category of such computer components that are well known in the art.

It will be apparent to those of ordinary skill in the art that methods involved in the systems and methods of the invention may be embodied in a computer program product that includes a non-transitory computer usable and/or readable medium. For example, such a computer usable medium may consist of a read only memory device, such as a CD ROM disk, conventional ROM devices, or a random access memory, a hard drive device or a computer diskette, a flash memory, a DVD, or any like digital memory medium, having a computer readable program code stored thereon.

Optionally, the system may include an inertial navigation system, a Doppler sensor, an altimeter, a gimbling system to fixate the sensor on a populated portion of a holographic map, a global positioning system (GPS), a long baseline (LBL) navigation system, an ultrashort baseline (USBL) navigation, or any other suitable navigation system.

<FIG> is a block diagram depicting an exemplary remote vehicle, according to an illustrative aspect of the present disclosure. Such an exemplary remote or autonomous vehicle includes a main body <NUM>, along with a drive unit <NUM>. For example, the drive unit <NUM> may be a propeller. The remote vehicle includes internal components, which may be located within different compartments within the main body <NUM>. For example, the main body <NUM> may house a component <NUM>. For example, the component <NUM> may be a sonar unit. Similarly, the main body <NUM> may house a pressure tolerant energy system <NUM>, which may include a computer system, as described for example in <FIG> and <FIG>. In addition, the remote or autonomous vehicle includes a power generating system <NUM>. For example, the power generating system <NUM> may be a stack of battery elements, each comprising a stack of battery cells.

Large batteries use large arrays of cells. A series connection (with or without other parallel connections) may be required to meet specific power requirements. Any imbalance between cells may affect battery performance. If charging cells in series, charging is only desirable until one of the cells reaches its maximum cell voltage - proceeding with charging beyond that point would result in cell damage and/or may cause fire or explosion through the battery.

A vehicle, for example an underwater vehicle, may be powered by an array of battery packs, each battery pack comprising battery cells. These battery cells may comprise any suitable battery for providing energy to a vehicle, including, but not limited to, any suitable battery chemistry, a lithium battery, lithium-ion battery, lithium polymer battery, or a lithium sulfur battery. The battery cells may be in a matrix, or the battery cells may be arranged, aligned, or positioned in any suitable arrangement. In some aspects, the battery cells may be stacked on top of each other. In such aspects, the battery cells may include a separator between each vertically-stacked cell. The one or more battery cells may be positioned on a tray, wherein the tray provides structural support, alignment, and electrical insulation for the one or more battery cells. A backplane may connect the battery cells to management circuitry, described in further detail below. In alternate aspects, battery cells may be directly connected to the management circuitry. In some aspects, the battery cells may be connected to management circuitry through a communication network. A communication network may be any suitable network for communicating control signals. The management circuitry may comprise a pressure tolerant circuit board that may be manually programmed using any suitable programming language. In some aspects, a temperature sensor may be connected to the battery cells, either directly or through backplane. The battery cells may be configured to communicate cell health information, including at least a voltage and temperature, to the management circuitry. The management circuitry may include a water-intrusion detection circuit board, which may comprise a conductive trace that drops in resistance in the presence of water.

The primary factors that affect mission duration and sensor payload capability of an autonomous vehicle include the performance of the battery modules, including their ability to charge and discharge. Equally important for certain cell chemistries (e.g., Lithium Ion) is circuitry used in the management of the battery components. A battery manager (BMGR) may be configured to interface with the outside world and to protect the battery (by disconnecting the charge input and/or discharge output) if voltage or temperature safety limits are exceeded. The BMGR may shut down the battery immediately if it detects any individual cell voltage above the max cell voltage, or if any individual cell temperature exceeds a manufacturer recommended maximum temperature. The BMGR may disable charging of the battery system if any cell temperature is below a manufacturer recommended minimum temperature. The BMGR may disable discharging of the battery system if any cell temperature is below a manufacturer recommended minimum temperature for discharge, which may differ from the charge limit temperature. An over-discharge protection feature may be activated at any time, which will also shut down the battery if any individual cell voltage drops below a manufacturer recommended minimum cell voltage. To prevent an over-current condition, the battery system may be equipped with a pressure tolerant fuse in series with the positive terminal, and the BMGR may provide a controllable dual disconnect (high and low side switches). Further details regarding an exemplary pressure tolerant fuse are provided in <CIT>. This provides a safety feature by requiring two concurrent failures to happen before an uncommanded output voltage can be presented at the battery output.

<FIG> is a block diagram depicting an illustrative example of a pressure tolerant energy system, such as the pressure tolerant energy system <NUM> depicted in <FIG>. The pressure tolerant energy system <NUM> may comprise one or more battery cells <NUM>, tray <NUM>, electrical connections <NUM>, backplane <NUM>, communication network <NUM>, management circuitry <NUM>, a temperature sensor <NUM>, and a multi-level battery protection system <NUM>.

The battery cells <NUM> may comprise any suitable battery for providing energy to an underwater vehicle, including, but not limited to, a lithium battery, lithium-ion battery, lithium polymer battery, or a lithium sulfur battery. In some aspects, the battery cells <NUM> may be neutrally buoyant (e.g., compared to fresh water or sea/ocean water). Although the battery cells <NUM> are depicted in <FIG> in a 3x2 matrix, the battery cells <NUM> may be arranged, aligned, or positioned in any suitable arrangement. In some aspects, the battery cells <NUM> may be stacked on top of each other. In such aspects, the battery cells <NUM> may include a separator between each vertically-stacked cell.

The battery cells <NUM> may be placed into tray <NUM>. The tray <NUM> may be made from any suitable material, such as thermoformed plastic. The tray <NUM> may provide structural support, alignment, and electrical insulation for the battery cells <NUM>.

The battery cells <NUM> may be electrically and/or structurally connected to backplane <NUM>. The backplane may provide both structural support and alignment for the battery cells <NUM>. The backplane may also connect to an energy distribution system, such as energy distribution system <NUM> depicted in <FIG>. In alternate aspects, the battery cells <NUM> may be connected directly to an energy distribution system.

The backplane may connect the battery cells <NUM> to the management circuitry <NUM>. In alternate aspects, battery cells <NUM> may be directly connected to the management circuitry <NUM>. In some aspects, the battery cells <NUM> may be connected to management circuitry <NUM> through communication network <NUM>. Communication network <NUM> may be any suitable network for communicating control signals. The management circuitry <NUM> may comprise a pressure tolerant circuit board that may be manually programmed using any suitable programming language. In some aspects, a temperature sensor may be connected to the battery cells <NUM>, either directly or through backplane <NUM>. The battery cells <NUM> may be configured to communicate cell health information, including at least a voltage and temperature, to the management circuitry <NUM>. The management circuitry <NUM> may include a water-intrusion detection circuit board, which may comprise a conductive trace that drops in resistance in the presence of water. The battery cells <NUM> may be connected to the multi-level battery protection system <NUM>.

<FIG> is block diagram <NUM> of exemplary functional elements <NUM> - <NUM> of a buoy <NUM> for implementing at least a portion of the systems and methods described in the present disclosure. The buoy <NUM> may include a mooring system <NUM> configured to enable mooring of the buoy to the sea floor <NUM> via a tethering line <NUM> and mooring element <NUM>. The buoy <NUM> may include propulsion element or system <NUM> configured to navigate the buoy. The propulsion system <NUM> may at least provide sufficient propulsion to counteract a current within the ocean. The propulsion system <NUM> may operate in response to a processor, GPS, and/or inertial navigation system to maintain the buoy in designated location. The buoy may include a power generator <NUM>. The power generator <NUM> may include a solar panel, wind turbine, motion-based power generator, energy storage (one or more batteries, one or more fuel cells, liquid fuel), chemical reactor, and/or nuclear reactor, and so on. The power generator may include a charge and/or discharge controller (processor) to control energy storage and charging of, for example, batteries or to control discharge of the batteries during charging of another device such as a UAV <NUM>.

The buoy may include a communications system <NUM> to enable the buoy to send and receive data to one or more other buoys, ships, vehicles, underwater vehicles, servers, satellites, and/or land-based networks. The exemplary system <NUM> may includes a processor, a memory, and an interconnect bus. The processor may include a single microprocessor or a plurality of microprocessors for configuring computer system as a multi-processor system. The memory illustratively includes a main memory and a read-only memory. The system <NUM> may also include the mass storage device having, for example, various disk drives, tape drives, etc. The main memory also includes dynamic random access memory (DRAM) and high-speed cache memory. In operation and use, the main memory stores at least portions of instructions for execution by the processor when processing data (e.g., model of the terrain) stored in main memory.

In some aspects, the system <NUM> may also include one or more input/output interfaces for communications, shown by way of example, as an interface for data communications via data communications system <NUM>. The data interface may be a modem, an Ethernet card or any other suitable data communications device. The data interface may provide a relatively high-speed link to a network, such as an intranet, internet, or the Internet, either directly or through another external interface. The communication link to the network may be, for example, any suitable link such as an optical, acoustic, and/or wireless (e.g., via satellite, Microwave, or <NUM> Wi-Fi or cellular network) link. In some aspects, communications may occur over an acoustic modem. For instance, for communication with AUVs or other underwater vehicles, communications may occur over such a modem. Alternatively, the system <NUM> may include a mainframe or other type of host computer system capable of web-based communications via the network. In some aspects, the system <NUM> also includes suitable input/output ports via system <NUM> or may use an Interconnect Bus for interconnection with a local display and user interface (e.g., keyboard, mouse, touchscreen) or the like serving as a local user interface for programming and/or data entry, retrieval, or manipulation purposes. Alternatively, server operations personnel remotely may interact with the system <NUM> for controlling and/or programming the system from remote operations (not shown in the Figure) via the network.

In some aspects, the system <NUM> includes a processor, such as a navigational controller, sonar controller, radar control, data collection controller, and/or fire controller. Data corresponding to sensors may be stored in the memory or mass storage, and may be retrieved by the processor. The processor may execute instructions stored in these memory devices to perform any of the methods described in this application, e.g., data analysis, fire control, salinity analysis, wave monitoring, and so on.

The system may include a display for displaying information, a memory (e.g., ROM, RAM, flash, etc.) for storing at least a portion of the aforementioned data, and a mass storage device (e.g., solid-state drive) for storing at least a portion of the aforementioned data. Any set of the aforementioned components may be coupled to a network via an input/output (I/O) interface. Each of the aforementioned components may communicate via an interconnect bus.

The system <NUM> may include one or more sensors <NUM> configured to perform any number of operations. For instance sensors <NUM> may include active and/or passive radar, active and/or passive sonar, optical sensors, radio signal antenna and/or interceptors, chemical sensors (detect water composition), environment sensors, atmospheric sensors, inertial sensors, heat sensors, motion sensors, radiation sensors, and so on. The system <NUM> may include a countermeasures system <NUM>. The countermeasures system <NUM> may be configured to provide anti-personnel, anti-ship, anti-submarine, and anti-aircraft functions. The countermeasures system <NUM> may include a processor (as discussed above) arranged to control a fire arm to protect the buoy from interference by a diver or other persons. The system <NUM> may utilize one of more sensors to detect the presence of persons within proximity to the buoy and, in response, engage the firearm and/or fire control system if necessary. The system <NUM> may include a fire control function to deploy a torpedo or rocket against a detected threat such as a surface or underwater vessel. The system <NUM> may deploy a rocket, laser, or other projectile against an aerial vehicle detected as a threat. The system <NUM> may provide detection information to system <NUM> to enable the buoy to communication a warning of a detected threat as a possible early warning system. The system <NUM> may include a vehicle tether system to enable the buoy to tether with another vehicle such as a boat, ship, AUV, and/or UAV. For example, the platform <NUM> is a type of tethering feature by enabling an UAV to land on the buoy. The platform <NUM> may include an electrical/mechanical connection to hold a UAV in place after landing, which may be advantageous in rough seas. An UAV may exchange data with a buoy via a wireless data connection such as <NUM> or Bluetooth once in proximity with the buoy. A UAV may utilize other types of wireless and/or RF communications to communicate with a buoy.

The system <NUM> may include payload storage <NUM>. The payload storage <NUM> may store items such as modules for other buoys, items for delivery to other destinations, test equipment for deployment by the buoy, or ordinance (explosives). In some implementations, the buoy may function as an anti-ship or anti-submarine mine in which case the payload storage <NUM> may storage an explosive charge. The buoy may be configured to submerge to a designated depth to perform certain tests or to function as an anti-ship or anti-submarine mine. The buoy may be configured to surface in response to a received instruction or periodically.

In some implementations, the system <NUM> includes an assembler <NUM>. The assembler <NUM> may be a distributed assembler enabling sections, modules, or components of the system <NUM> (e.g., buoy) to self-assemble into buoy <NUM>. The assembler <NUM> may include a robot configured to connect various sections of buoy.

<FIG> depicts a modular or sectional buoy <NUM> according to aspect of the present disclosure. Each module may be delivered incrementally to a destination and sequentially assembled. For example, a base element of housing <NUM> (e.g. 602d of <FIG>) may be delivered first by a first UAV <NUM>. Then, a second portion of housing 602c may be delivered to the destination. In one configuration, housing module 602d includes a sensor (proximity and/or contact) that detects the presence of module 602c. The housing module 602d may include an assembler <NUM>, connected to the housing module 602d that engages the module 602c with the module 602d. Module 602c may, in turn, include an assembler <NUM> engagement mechanism that engages module 602b with module 602c when detected. The process continues until all modules and/or sections of buoy <NUM> are assembled. In the illustrative implementation of disclosure shown in <FIG>, modular or sectional buoy <NUM> is suspended in body of water <NUM>.

Alternatively, assembler <NUM> may be included as part of an assembler vehicle. The assembler vehicle may be deployed to a destination location. Once at the location, one or UAVs <NUM> delivery the modules for buoy <NUM>. The assembler may include a platform or storage container to protect the modules during assembly of the buoy <NUM>. This approach may be advantageous in rough seas. Once assembly is complete, the assembler vehicle launches the buoy at the destination and then moves to the next destination location. Another advantage of this technique is that the assembler vehicle saved power (and can be deployed longer) because it is required to transport buoy components to destinations. In addition to housing components, one or more UAVs may delivery modules <NUM> including functional elements <NUM> - <NUM>. A tethering line <NUM> may also be delivered in sections 608a, 608b, and 608c, and be assembled by an assembler <NUM> and/or one more UAVs <NUM>.

<FIG> shows a head-on or frontal view of an exemplary marine vehicle <NUM> including a solar panel assembly <NUM> with flexibly rollable solar panels <NUM> and external solar panel assembly housing <NUM>. In some implementations, the solar panel assembly is rolled into the housing <NUM> for storage in a retracted position and rolled out of the housing <NUM> to extend the solar panel assembly to a fully extended position. <FIG> illustrates an instance where the solar panel assembly <NUM> is partially extended with some solar panels rolled within the housing <NUM> while some solar panels <NUM> have been extended from the housing and lie substantially horizontally along the surface of a water body. The solar panel assembly is configured to be in the extended position for a first period of time. The first period of time includes a period when sufficient daylight is available for the solar panel assembly to generate electrical power.

<FIG> shows a head-on view of an exemplary marine vehicle <NUM> including a solar panel assembly housing integrated with the marine vehicle housing <NUM>. <FIG> illustrates an instance where the solar panel assembly <NUM> is partially extended with some solar panels <NUM> rolled within the housing <NUM> while some solar panels <NUM> have been extended from the housing <NUM> and lie substantially horizontally along the surface of a water body.

<FIG> shows a head-on view of an exemplary marine vehicle <NUM> including a foldable solar panel assembly <NUM>. In this implementation, the solar panels <NUM> may be stacked side-by-side when the solar panel assembly is in the fully retracted position, but then lies substantially horizontally along the surface of a water body when in a fully extended position. <FIG> illustrates an instance where the solar panel assembly is in an intermediate position between fully extended and fully retracted positions.

<FIG> shows a top-down or overhead view an exemplary marine vehicle <NUM> using a towed array solar panel assembly <NUM> including multiple solar panels <NUM> and linkage assemblies <NUM>. In one implementation, the solar panel assembly <NUM> may be deployed from a housing of the vehicle <NUM> as the vehicle moves forward, allowing each solar panel <NUM> incrementally be extended away from the vehicle <NUM> by the dray of the ocean. The solar panel assembly <NUM> and/or array follows the vehicle <NUM> as it moves. The solar panel assembly <NUM> may be retracted via a controller including a motor that pulls the linkage assembly (e.g., a cable) into a housing of the vehicle <NUM>.

<FIG> shows a side view of an exemplary buoy <NUM> including a submersible solar panel assembly <NUM> and an underwater charging station <NUM> arranged to charge other marine vehicles (e.g., AUVs). The buoy may include a surface charging station. The solar panel assembly <NUM> may include multiple solar panels <NUM>. The buoy <NUM> may include a processor that controls the depth of the solar panel assembly based on various conditions and/or time. One or more of the solar panels <NUM> may include a ballast system in communication with the processor to enable the process to control the amount of ballast and, thereby, the depth of a portion of the solar panel assembly <NUM>. Portions of the solar panel assembly, including the solar panels <NUM>, will include a waterproof and/or pressure tolerant housing to protect electronic components from shorting, corrosion, or other water damage.

<FIG> shows a side view of an exemplary marine vehicle <NUM> including a solar panel assembly <NUM> having flexible solar panels <NUM> mechanically connected via linkage assemblies <NUM>. Due to the flexible characteristic of solar panels <NUM>, the length of a linkage assembly <NUM> may be relatively short because the solar panel assembly <NUM> would more readily conform to and/or react to wave or irregularities in the ocean surface. The length of a linkage assembly may be equal to or less than about <NUM>/<NUM>, <NUM>/<NUM>, <NUM>/<NUM>, <NUM>/<NUM>, <NUM>/<NUM>, <NUM>/<NUM>, <NUM>/<NUM>, same, <NUM>, <NUM>, <NUM>, <NUM><NUM> times the length of an adjacent solar panel.

<FIG> shows a side view of an exemplary marine vehicle <NUM> including a solar panel assembly <NUM> having rigid solar panels <NUM> mechanically connected via linkage assemblies <NUM>. Due to the rigid characteristic of solar panels <NUM>, the length of a linkage assembly <NUM> may be configured so that the solar panel assembly <NUM> would more readily conform to and/or react to wave or irregularities in the ocean surface. The length of a linkage assembly may be equal to or less than about <NUM>/<NUM>, <NUM>/<NUM>, <NUM>/<NUM>, <NUM>/<NUM>, <NUM>/<NUM>, <NUM>/<NUM>, <NUM>/<NUM>, same, <NUM>, <NUM>, <NUM>, <NUM><NUM> times the length of an adjacent solar panel.

<FIG> shows an exemplary marine vehicle <NUM> including a flower-shaped and/or circular solar panel assembly and/or array <NUM> including multiple solar panels <NUM>. Solar panels may include various shapes and sizes. Shapes may include rectangular, square, circular, pie-shaped, triangular, cylindrical, and so on. A solar panel assembly may include solar panels arranged in various two-dimensional array formations including, for example, one or more rows, one or more columns, and one or more array shapes.

<FIG> shows top down view of an exemplary marine vehicle <NUM> where the solar panel assembly <NUM> is in a retracted configuration. The solar panel assembly is further configured to be in the retracted position for the second period of time. The second period of time includes a period when there is insufficient daylight available for the solar panel.

<FIG> shows a top down view of the exemplary marine vehicle <NUM> where the solar panels assembly <NUM> is in a fully extended configuration where multiple solar panels <NUM> are arranged in a flower-like configuration.

Solar panels, also referred to as photovoltaic solar panels, absorb sunlight as a source of energy to generate electricity. A photovoltaic (PV) module is a packaged, connected assembly of typically 6x10 photovoltaic solar cells. In some configurations, photovoltaic modules form the photovoltaic array of a photovoltaic system that generates and supplies solar electricity in commercial and residential applications.

In certain implementations, each module is rated by its direct current (DC) output power under standard test conditions (STC), and typically ranges from <NUM> to <NUM> Watts (W). The efficiency of a module may determine the area of a module given the same rated output, i.e., an <NUM>% efficient <NUM> W module will typically have twice the area of a <NUM>% efficient <NUM> W module. Existing commercially available solar modules typically do not exceed efficiency of <NUM>%.

In certain implementations, as solar panel may include multiple solar modules. As a single solar module can produce only a limited amount of power, a solar panel will contain multiple solar modules. In certain configurations, a solar panel assembly may include a photovoltaic system with multiple solar panels, each having an array of photovoltaic modules, an inverter. The marine vehicle and/or its solar panel assembly may include one or more batteries for electrical power storage, interconnection wiring for elements of the solar panel assembly and/or vehicle power system, and optionally a solar tracking mechanism. In some implementations, the vehicle processor and/or solar panel assembly controller is configured to adjust the orientation of one or more solar panels in response to tracking data from the solar tracking mechanism.

Photovoltaic modules use light energy (photons) from the Sun to generate electricity through the photovoltaic effect. Most existing modules use wafer-based crystalline silicon cells or thin-film cells. The structural (load carrying) member of a module can either be the top layer or the back layer. Cells may also be protected from mechanical damage and moisture. In some implementations, modules are rigid, but in other implementations semi-flexible ones based on thin-film cells are used. In certain configurations, cells are connected electrically in series, one to another.

A PV junction box may be attached to the back of a solar panel and function as the panel's electrical output interface. In some implementations, externally, most of the photovoltaic modules will use MC4 or like connector types to facilitate weatherproof connections to the rest of a vehicle power system. In some implementations, a USB power interface may be used. Module electrical connections may be made in series to achieve a desired output voltage or in parallel to provide a desired current capability (amperes). The conducting wires that take the current off the modules may contain silver, copper or other nonmagnetic conductive transition metals. Bypass diodes may be incorporated or used externally, in case of partial module shading, to maximize the output of module sections still illuminated.

In some implementations, solar PV modules include concentrators in which light is focused by lenses or mirrors onto smaller cells to, for example, enable the use of cells with a high cost per unit area (e.g., gallium arsenide) in a cost-effective way. Solar panels may also use metal, ceramic, and/or plastic frames consisting of racking components, brackets, reflector shapes, troughs to better support the panel structure, and the like. In some implementations, one or more solar panels include an under-housing and/or hull to facilitate buoyancy and/or allow the one or more solar panels to float on a body of water. In some configurations, the hull may include electronic circuitry supporting operations of the one or more solar panels. A ballast control system may also be included within the hull.

Claim 1:
A marine vehicle (<NUM>) comprising:
a power system arranged to receive and store electrical power from a solar panel assembly (<NUM>), the power system including one or more batteries;
a processor arranged to determine an extension time and an retraction time for a solar panel assembly (<NUM>);
a controller, in response to instructions from the processor, arranged to extend the solar panel assembly (<NUM>) and retract the solar panel assembly (<NUM>); and
the solar panel assembly (<NUM>) arranged to be configured in at least one of an extended position and a retracted position, the solar panel assembly (<NUM>) including one or more solar panels (<NUM>), the solar panel assembly (<NUM>) being in electrical communication with the power system;
wherein the one or more solar panels (<NUM>) are flexibly bendable, the one or more solar panels (<NUM>) being rolled in the retracted position and the one or more solar panels (<NUM>) being unrolled in the extended position; characterised in that a portion of the solar panel assembly (<NUM>) is submersible and one or more solar panels (<NUM>) include a ballast control system arranged to store or expel water to change a depth of a portion of the solar panel assembly (<NUM>).