A wave powered water vehicle and system therefor

摘要

A wave-powered water vehicle and a method of controlling the operation of a component of the water vehicle is disclosed. The wave-powered water vehicle comprises: a float comprising a satellite-referenced position sensor; a swimmer comprising a horizontal sensor which senses direction in a horizontal plane, and a steering actuator; a tether connecting the float and the swimmer; and a computer system linked to the position sensor. The horizontal sensor and the steering actuator, contains, or is programmable to contain, instructions to control the steering actuator in response to signals received from the position sensor and the horizontal sensor, or in response to signals received from a sensor on the vehicle. The float, swimmer and tether are configured such that when the vehicle is in still water, the float is on or near the surface of the water, the swimmer is submerged below the float, and the tether is under tension. The swimmer comprises: a swimmer body having a longitudinal axis; and a fin system secured to the swimmer body which comprises a fin. When the vehicle is in wave-bearing water, it has a configuration which changes as a result of the wave motion, and interacts with the water to generate forces which tend to move the swimmer in a horizontal direction.