Discharge systems for dispersion of water, slurry, sand and other materials

Abstract

The present disclosure provides a remote-operated and autonomous system for dispersing water, slurry, sand, and other materials into water bodies or on land. In an embodiment, the discharge system includes a discharge barge for water-based applications and a tracked / wheeled system for land use. The system autonomously moves the discharge pipe / hose based on sensor feedback to predetermined coordinates to ensure even distribution of materials. The system includes continuous monitoring of material stack height and moves the system to new coordinates once a set height is reached. The system reduces the need for manual intervention and increases efficiency in slurry management and material dispersal.

Description

PRIORITY CLAIM

[0001] This patent application claims priority to U.S. Provisional Patent Application No. 63 / 750,400, filed Jan. 28, 2025, entitled “Discharge Systems for Dispersion of Water, Slurry, Sand and Other Materials,” the entire contents of which is incorporated herein by reference and relied upon.FIELD

[0002] The present disclosure generally relates to discharge systems for dispersion of water, slurry, sand and other materials. More specifically, the present disclosure generally relates to a discharge barge for material discharge into underwater areas and a land vehicle for material discharge onto land areas.BACKGROUND

[0003] The management and placement of water, slurry, sand and other materials in bodies of water or on land is an essential part of many industrial and environmental processes, including dredging, land reclamation, and construction. Conventional systems require significant human intervention to control discharge hoses or pipes and to monitor the stacking of materials.SUMMARY

[0004] The present disclosure provides a discharge barge and a land vehicle for dispersing water, slurry, sand or other materials into a body of water, such as a pond or lake, or on land, such as a beach or construction site. Both the discharge barge and the land vehicle can be remotely-operated or autonomous and include sensor systems such as sonar, radar, laser distance or volumetric flow sensors and a GPS / RTK system for accurate material placement and navigation. The disclosed systems are equipped with mechanisms to hold and control one or more discharge pipe, which can move according to predetermined coordinates or remote-control inputs to distribute material uniformly in a specified area. The disclosed systems are configured to handle high-viscosity, high-specific gravity materials without clogging or downtime.

[0005] The disclosed systems are more efficient than conventional systems which require human intervention and control. The disclosed systems are autonomous, remote-controlled and can dynamically control material placement while simultaneously monitoring material stacking to ensure even distribution and prevent overfilling in a given area. The disclosed systems enable one or both of a barge for water-based operations and a land vehicle for land-based operations. Both vehicles are capable of carrying and controlling a discharge pipe that delivers material such as slurry, sand or water to a designated area.

[0006] The land vehicle includes a control system for movement over rough terrain and allows for the precise placement of materials on land. In an embodiment, the land vehicle has level sensors that continuously measure a stack height of the material on land, so that the land vehicle can autonomously adjust its location or material discharge parameters when a predetermined height is reached.

[0007] The discharge barge includes a control system for moving over the surface of a liquid body and allows for the precise placement of materials on the seabed below the surface. In an embodiment, the discharge barge includes level sensors that continuously measure a stack height of the material underwater, so that the discharge barge can autonomously adjust its location or material discharge parameters when a predetermined height is reached.

[0008] In view of the state of the known technology, a first aspect of the present disclosure is to provide a discharge system. The discharge system includes a first vehicle for land-based applications, a second vehicle for water-based applications, and a controller. The first vehicle includes a first movement system and a first sensor system and supports a first discharge pipe. The second vehicle includes a second movement system and a second sensor system and supports a second discharge pipe. The controller is configured to cause the first movement system to move the first vehicle based on the first sensor system so that the first discharge pipe discharges material evenly across a land-based discharge area, and to cause the second movement system to move the second vehicle based on the second sensor system so that the second discharge pipe discharges material evenly across a water-based discharge area.

[0009] A second aspect of the present disclosure is to provide a land-based vehicle for dispersion of water, slurry, sand and other materials on a land area. The vehicle includes a vehicle body, a movement system and a discharge manifold. The movement system is configured to move the vehicle body across the land area. The discharge manifold is configured to receive discharge material from a discharge line for dispersion on the land area while the movement system moves the vehicle body across the land area. The discharge manifold includes a plurality of discharge pipe outlets arranged laterally across the vehicle body and is configured to discharge the discharge material on the land area.

[0010] A third aspect of the present disclosure is to provide a water-based vehicle for dispersion of water, slurry, sand and other materials onto an underwater area. The vehicle includes a vehicle body, a movement system, a material depth story pole and a discharge pipe. The vehicle body is configured to float on a liquid surface above the underwater area. The movement system is configured to move the vehicle body across the liquid surface. The material depth story pole is configured to extend from the vehicle body into the underwater area and be raised and lowered with respect to the vehicle body. The discharge pipe is configured to extend from the vehicle body into the underwater area and output discharge material from a discharge line onto the underwater area while the vehicle body floats on the liquid surface.

[0011] Other objects, features, aspects and advantages of the systems and methods disclosed herein will become apparent to those skilled in the art from the following detailed description, which, taken in conjunction with the annexed drawings, discloses exemplary embodiments of the disclosed systems and methods.BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Referring now to the attached drawings which form a part of this original disclosure:

[0013] FIG. 1 is a front perspective view of a first example embodiment of a system including a land-based vehicle for dispersing materials on a land area in accordance with the present disclosure;

[0014] FIG. 2 is a top plan view of the system of FIG. 1;

[0015] FIG. 3 is a side elevational view of the system of FIG. 1;

[0016] FIG. 4 is a front elevational view of the system of FIG. 1;

[0017] FIG. 5 is a front perspective view of a second example embodiment of a system including a water-based vehicle for dispersing materials on an underwater area in accordance with the present disclosure;

[0018] FIG. 6 is a side elevational view of the system of FIG. 5;

[0019] FIG. 7 is a detailed view of certain components of the system of FIG. 5; and

[0020] FIG. 8 is a top plan view of the system of FIG. 5.DETAILED DESCRIPTION

[0021] Selected embodiments will now be explained with reference to the drawings. It will be apparent to those skilled in the art from this disclosure that the following descriptions of the embodiments are provided for illustration only and not for the purpose of limiting the invention as defined by the appended claims and their equivalents.

[0022] FIGS. 1 to 4 illustrate a first example embodiment of a discharge system 10 for discharging material in accordance with the present disclosure. The discharge system 10 is a land-based system including a vehicle 12, a discharge line 14, and a discharge pipe or manifold 16. The discharge manifold 16 is in fluid communication with the discharge line 14 and is configured to discharge material received from the discharge line 14 as the vehicle 12 traverses a land-based discharge area. In the illustrated embodiment, the discharge system 10 is shown dispersing sand on a beach, but the discharge system 10 can also be used in other types of discharge areas and can disperse other types of materials. For example, the discharge system 10 can be used for applications such as beach nourishment, land reclamation, and at construction sites. The discharged material can include water, slurry, sand, and other materials.

[0023] In the illustrated embodiment, the vehicle 12 includes a front side 20, a rear side 22, a first lateral side 24, a second lateral side 26, a top side 28 and a bottom side 30. The vehicle 12 is generally configured to disperse material via the discharge manifold 16 as the vehicle 12 moves in the forward direction of the front side 20. The vehicle 12 can also be configured to disperse material from the discharge manifold 16 as the vehicle 12 moves in the opposite direction of the rear side 22. The “lateral” direction as used herein refers to the side-to-side direction of the vehicle 12.

[0024] In the illustrated embodiment, the vehicle 12 includes one or more of a vehicle body 32, a movement system 34, a power system 36, a sensor system 38, a controller 40, and an antenna 42. The vehicle body 32 is configured to support and enable movement of the discharge line 14 and the discharge manifold 16 as the movement system 34 moves the vehicle body 32 along a land-based discharge area. The vehicle body 32 is further configured to contain or support one or more of the movement system 34, the power system 36, the sensor system 38, the controller 40, and the antenna 42.

[0025] The vehicle body 32 includes one or more discharge support 46 configured to support the discharge line 14 and / or the discharge manifold 16 as the vehicle 12 moves across a discharge area. In the illustrated embodiment, the discharge support 46 is located on the top side 28 of the vehicle body 32 near the rear side 22. The discharge support 46 supports the discharge line 14 on the top side 28 of the vehicle body 32 and the discharge manifold 16 on top side 28 and the front side 20 of the vehicle body 32. Those of ordinary skill in the art will recognize from this disclosure that various types and locations of discharge supports 46 can be used. In an embodiment, the controller 40 is configured to control the discharge support 44 to move the discharge pipe 14 and / or the discharge manifold 16 as needed according to remote commands or preprogrammed paths. In another embodiment, the controller 40 is configured to control the discharge support 46 to move the discharge pipe 14 and / or the discharge manifold 16 based on readings from the sensor system 38. In an embodiment, the controller 40 is configured to control the discharge support 46 to rotate the discharge manifold 16 to the side and disperse material on the lateral sides 24, 26 of the vehicle body 32. In an embodiment, the controller 40 is configured to control the discharge support 44 to raise or lower the discharge manifold 16, for example, based on the amount of discharge material being added to a discharge area.

[0026] The movement system 34 causes the vehicle 12 to traverse land-based discharge areas. The movement system 34 can include one or both of tracks 50 and / or wheels 52, 54 for mobility across rough terrain. In the illustrated embodiment, the vehicle 12 includes tracks 50 which extend along the length of each of the first lateral side 24 and the second lateral side 26 of the vehicle body 32. As seen in FIG. 3, the tracks 50 surround and are driven by lateral wheels 52. That is, movement of the lateral wheels 52 drives movement of the tracks 50 to propel the vehicle 12 across a land-based discharge area. The movement system 34 can also include drum wheels 54 located at the front side 20 of the vehicle body 32. The drum wheels 54 are configured to flatten the discharge material discharged by the discharge manifold 16 to help level the terrain as material is dispersed in front of the vehicle body 32 by the discharge manifold 16 while the vehicle moves forward across the terrain.

[0027] The power system 36 is configured to power the mobility, discharge operation and sensor array systems of the vehicle 12. More specifically, the power system 36 is configured to power one or more of the movement system 34, the sensor system 38, the controller 40, the antenna 42, and other electrical components of the vehicle 12. The power system 36 can include one or more diesel engine, electric motor or hybrid system depending on the operational environment and requirements. The power system 36 can also include one or more batteries.

[0028] The sensor system 38 is configured to determine the level of the terrain beneath and / or surrounding the vehicle body 32. The sensor system 38 includes one or more integrated sensors and / or a sensor array. Using the sensors, the sensor system 38 is configured to detect when the discharge material reaches a certain height or level and accordingly trigger movement of the vehicle body 32, the discharge pipe 14, and / or discharge manifold 16 to a new set of coordinates. This ensures even distribution of the material across the discharge area without human intervention, enhancing efficiency and minimizing labor. In an embodiment, the sensor system 38 includes one or more sensors located on the discharge manifold 16 which measure the stack height as the material is being dispersed by the discharge manifold 16. In an embodiment, the sensor system 38 includes one or more sensors located on the bottom side 30 of the vehicle body 32 which measure the stack height as the vehicle 12 moves over the terrain immediately after the material is dispersed by the discharge manifold 16. In an embodiment, the controller 40 compares the stack height in front of the vehicle body 32 and the stack height beneath the vehicle body 32 and uses the determination to adjust the flow rate of material from the discharge manifold 16 and / or the speed of the vehicle 12.

[0029] In the illustrated embodiment, the sensor system 38 integrates multiple sensors for navigation, material level detection, and operational control. In an embodiment, the sensor system 38 includes a level sensor or bar that continuously measures the height of slurry, sand, or other material being dispersed in the discharge area. In an embodiment, the sensor system 38 includes material volumetric rate sensors to monitor the material flow through the discharge line 14 and / or discharge manifold 16, and which are used by the controller 40 to adjust the discharge process accordingly. In an embodiment, the sensor system 38 includes depth sensors, sonar sensors, or laser distance sensors to continuously measure the height of the material being discharged at the discharge area. In an embodiment, the sensor system 38 includes laser or radar sensors that measure the height of the material stack to determine when to move the discharge pipe 14 and / or discharge manifold 16 to prevent overfilling.

[0030] In an embodiment, the sensor system 38 includes a positioning system with one or more sensors used for GPS or RTK positioning. The positioning system 38 can include a GPS system. In an embodiment, the vehicle 12 receives a GPS satellite signal via the antenna 42, and the controller 40 and / or the sensor system 38 processes the satellite signal to determine positional information. The positional information can further be used in RTK processing to improve precision of the vehicle 12 movement and the discharge of material. For example, the controller 40 can use RTK positioning based on a fixed base station and a rover to improve the positional error of the vehicle 12.

[0031] The controller 40 preferably includes a microcomputer with a control program that controls one or more of the discharge line 14, the discharge manifold 16, the movement system 34, the power system 36, the sensor system 38 and / or the discharge support 46. The controller 40 can also include other conventional components such as an input interface circuit, an output interface circuit, and storage devices such as a ROM (Read Only Memory) device and a RAM (Random Access Memory) device. The memory circuit stores processing results and control programs for operation that are run by the processor circuit. The microcomputer of the controller 40 is programmed to control the speed and / or direction of the vehicle 12, the material flow through the discharge line 14, the discharge rate from the discharge manifold 16, and / or other operations of the movement system 34, the power system 36, the sensor system 38 and / or the discharge support 46. The controller 40 can be operatively coupled to the vehicle 12 in a conventional manner. The controller 40 is capable of selectively controlling any of the other components of the discharge system 10 in accordance with one or more control programs.

[0032] In the illustrated embodiment, the antenna 42 is located on the discharge manifold 16. More specifically, two antennas 42 are located on opposite sides of the discharge manifold 16. The antenna(s) 42 can be used, for example, for GPS and / or RTK positioning control and / or for remote communications and operational instructions. The antennas 42 enable accurate vertical measurement, positioning and heading.

[0033] In an embodiment, the controller 40 can include a remote controller which communicates control instructions to the vehicle 12 for operation of the movement system 34, the power system 36 and / or the sensor system 38. The remote controller can communicate with an on-board vehicle controller via the antenna 42. The discharge system 10 is configured for both autonomous operation using GPS or other navigation systems and manual remote control using the remote controller 40. In autonomous mode, the discharge system 10 can follow a pre-programmed route, moving the discharge pipe 14 and / or discharge manifold 16 as needed based on sensor data from the sensor system 38. The remote controller can be used to override or adjust the autonomous mode as needed.

[0034] In the illustrated embodiment, the discharge system 10 further includes at least one pump. The pump can be located at the vehicle 12 or remotely from the vehicle 12 at the remote end of the discharge line 14. The pump can be an eddy pump, for example, as described in U.S. Pat. No. 10,883,508, the entire contents of which are herein incorporated by reference. The pump can include a drive motor, a housing and a rotor. The rotor is operatively connected to the drive motor and disposed within the housing such that fluid, liquids, slurries and other materials enter the housing and are pumped through the discharge line 14 by the rotor. The drive motor is configured to drive or rotate the rotor to pump material through the discharge line 14 and out of the discharge manifold 16. The motor can be any suitable motor capable of driving the rotor at suitable rotational velocities. The controller 40 is configured to control the pump as needed to increase or decrease the flow of material through the discharge line 14 and the discharge manifold 16.

[0035] The discharge manifold 16 includes a discharge pipe 60 and an inlet pipe 62. The inlet pipe is in fluid communication with the discharge line 14, and the discharge pipe 60 is in fluid communication with the discharge line. In the illustrated embodiment, the inlet pipe 62 is connected to the discharge line by a connector 63 near the rear side 22 of the vehicle body 32. The pump pumps discharge material through the discharge line 14, into the inlet pipe 62, and then into the discharge pipe 60 for dispersion on the discharge area. In the illustrated embodiment, the discharge pipe 60 extends laterally across the front side 20 of the vehicle 12, and the inlet pipe 62 extends in the forward / reverse direction of the vehicle to form a T-shape with the discharge pipe 60.

[0036] The discharge manifold 16 includes a plurality of discharge pipe outlets 64 configured to discharge the material pumped into the discharge pipe 60 across the front side 20 of the vehicle 12. The discharge pipe outlets 64 are arranged laterally across the front side 20 of the vehicle body 32. In the illustrated embodiment, the discharge manifold 16 includes four discharge pipe outlets 64 aligned laterally across the front side 20. The discharge pipe outlets 64 are configured to discharge material evenly across the discharge area in front of the vehicle 12.

[0037] In an embodiment, the controller 40 can control one or more of the discharge pipe outlets 64 as needed to evenly disperse material in the discharge area. For example, the controller 40 can selectively open or close one or more of the discharge pipe outlets 64 as needed to evenly disperse material in the discharge area, or the controller 40 can selectively increase or decrease the discharge rate as needed to evenly disperse material in the discharge area. In an embodiment, the controller 40 uses feedback from the sensor system 38 to open, close or adjust the discharge rates of the discharge pipe outlets 64.

[0038] In the illustrated embodiment, the discharge manifold 16 includes and / or supports the drum wheels 54. More specifically, the discharge pipe 60 supports the drum wheels 54. The discharge manifold 16 includes a plurality of drum wheel brackets 66 which hang off the discharge pipe 60 to position the drum wheels 54 beneath the discharge pipe 60 and enable the drum wheels 54 to rotate as discharge material is dispersed. In the illustrated embodiments, each of the drum wheel brackets 66 is located between a discharge pipe outlet and an adjacent drum wheel 54.

[0039] In the illustrated embodiment, the drum wheels 54 are aligned in the lateral direction of the vehicle 12, with at least one of the drum wheels 54 located between two discharge pipe outlets 64 in the lateral direction. More specifically, each of the drum wheels 54 is located between two discharge pipe outlets 64 in the lateral direction. As the discharge manifold 16 disperses material from the discharge pipe outlets 64, the drum wheels 54 flatten the discharge material ahead of the vehicle 12, before the tracks 50 further flatten the material. That is, the drum wheels 54 are positioned laterally adjacent to the discharge pipe outlets 64 initially flatten the discharged material as it leaves the discharge manifold 16, and then the tracks 50 are positioned behind the plurality of discharge pipe outlets 64 to further flatten the discharge material. In the illustrated embodiment, the discharge system 10 includes four discharge pipe outlets 64 alternating with three drum wheels 54 at the front side of the vehicle 12, but different numbers and sizes can also be used.

[0040] In an embodiment, the discharge system 10 is initially provided with the boundary of a land area to receive discharge material and a target height or depth of deposition. For example, the land area can be a beach or construction site. The controller 40 is configured to convert the land area within the boundary into a grid to be leveled. The controller 40 is configured to dynamically adjust the grid spacing based on the target height or depth of deposition. As the vehicle 12 traverses the land area, the sensor system 38 measures the height of material in each grid portion (e.g., grid square). The controller 40 then determines whether each grid portion is completed based on the material height within that grid portion. In an embodiment, as grid portions are completed, the controller 40 recalculates the route for moving through the grid so that incomplete grid portions are filled in. In an embodiment, as grid portions are completed, the controller 40 continues along the same path but stops or starts the flow of discharge material in certain areas so that incomplete grid portions are filled in. For example, the controller 40 can automatically stop the flow of discharge material in completed grid portions, and restart the flow of discharge material in incomplete grid portions. In an embodiment, as grid portions are completed, the controller 40 adjusts the flow rate of discharge material onto incomplete grid portions based on the current material height within those grid portions.

[0041] In an embodiment, the discharge system 10 is initially provided with the boundary of a land area to receive discharge material, a current material height or depth, and a target height or depth of deposition. The controller 40 is configured to convert the land area into a grid to be leveled and dynamically adjust the grid spacing based on the target height or depth of deposition. The controller 40 is further configured to then determined the current material height and the target height within each grid portion. As the vehicle 12 traverses the grid portions, the controller 40 is configured to adjust the flow rate of discharge material at different grid portions based on the current material height within those grid portions and the target height. The controller 40 can also adjust the route of the vehicle 12 through the land area to deposit more material on grid portions having a larger difference between the current material height and the target height.

[0042] FIGS. 5 to 8 illustrate a second example embodiment of a discharge system 110 for discharging material in accordance with the present disclosure. The discharge system 110 is a water-based system including a vehicle 112, a discharge line 114, and one or more discharge pipe 116. The discharge pipe 116 is in fluid communication with the discharge line 114 and is configured to discharge material received from the discharge line 114 into as the vehicle 112 stands or floats in a water-based area, such as a pond, lake, ocean or river.

[0043] In the illustrated embodiment, the vehicle 112 is a water-based vehicle such as a barge. The vehicle 112 includes a first side 120, a second side 122, a third side 124, a fourth side 126, a top side 128 and a bottom side 130. In the illustrated embodiment, the first side 120 is the front side, and the second side 122 is the rear side. It should be understood by those of ordinary skill in art from this disclosure, however, that any side can be considered “front”, “rear”, etc. The vehicle 112 is capable of moving in all directions from a current position while dispersing material, as discussed in more detail below.

[0044] In the illustrated embodiment, the vehicle 112 includes a vehicle body 132. The vehicle body 132 is configured to float on a liquid surface above an underwater area such as a seabed. In FIGS. 4 to 8, the liquid surface is marked by a water line WL, and the vehicle body 132 floats above an underwater surface US (e.g., seabed). In the illustrated embodiment, the vehicle body 132 includes one or more floating platform configured to float the vehicle 132 at the liquid surface of the water-based discharge area. The vehicle body 132 can be made of plastic, fiberglass, metal or another suitable material with sufficient buoyancy to float on a liquid surface while supporting the non-buoyant elements of the discharge system 110. In the illustrated embodiment, the vehicle body 132 forms a generally square or rectangular shape from a top view as seen in FIG. 8, enabling the vehicle 112 to move in all directions from a current position while dispersing material.

[0045] In the illustrated embodiment, the vehicle 112 includes one or more of a movement system 134, a power system 136, a sensor system 138, a controller 140, and an antenna 142. The vehicle body 132 is configured to support and enable movement of the discharge line 114 and the discharge pipe(s) 116. The vehicle body 132 is also configured to contain or support one or more of the power system 136, the sensor system 138, the controller 140, and the antenna 42.

[0046] The movement system 134 is configured to cause the vehicle body 132 to move along the liquid surface LS of a water-based discharge area. In an embodiment, the movement system 134 includes a propulsion mechanism configured to move the vehicle body 132 across a body of water following a set of predetermined coordinates. In the illustrated embodiment, the movement system 134 includes a plurality of large capacity winches 146 (here, four) at each corner of the square or rectangular vehicle body 132. Each winch 146 includes or is attached to a winch line 148. The winch lines 148 are anchored at the outer ends by anchors fixed at a surrounding land-based area or by anchors fixed in the seabed surrounding the vehicle 112. Adjusting or winding the winches 146 to shorten or lengthen the distance of the winch line 148 from the winch 146 to the anchor causes movement of the vehicle 112 from a current location. For example, lengthening the winch lines 148 on one side of the vehicle 112 and shortening the winch lines 148 on the other side of the vehicle 112 will cause the vehicle 112 to move towards the shortened side. Thus, by coordinating the shortening or lengthening of the winch lines 146 at each corner of the vehicle body 132 simultaneously, the vehicle 112 can move in any direction 360 degrees around the vehicle 112. The winches 146 can be manually controlled, can be automatically controlled according to remote commands or preprogrammed paths, or can be automatically controlled by the controller 140 using feedback from the sensor system 138.

[0047] As seen in FIG. 7, the movement system 134 includes a winch line bracket 170 at each winch 146. The winch line bracket 170 includes two vertical poles or rollers 172. The winch lines 148 pass from the winch 146, between the poles or rollers 172, and to the outer anchors. This configuration enables the vehicle 112 to move more freely and rotate while the anchors remain fixed in their respective positions.

[0048] As seen in FIG. 8, the illustrated embodiment of the vehicle 112 includes four pairs of winches 146 and winch line brackets 170. Each winch 146 is on an opposite side of the vehicle body 132 as its corresponding winch line bracket 170. A first winch 146a is located on the first side 120 of the vehicle body 132 and controls a first winch line 148a passing through a first winch line bracket 170a on the second side 122 of the vehicle body 132. A second winch 146b is located on the second side 122 of the vehicle body 132 and controls a second winch line 148b passing through a second winch line bracket 170b on the second side 122 of the vehicle body 132. A third winch 146c is located on the first side 120 of the vehicle body 132 and controls a third winch line 148c passing through a third winch line bracket 170c on the second side 122 of the vehicle body 132. A fourth winch 146d is located on the second side 122 of the vehicle body 132 and controls a fourth winch line 148d passing through a fourth winch line bracket 170d on the second side 122 of the vehicle body 132. In the illustrated embodiment, the vehicle body 132 also includes one or more panels 174 which cover and / or enable an operator to walk across the winch lines 170.

[0049] The power system 136 is configured to power the mobility, discharge operation and sensor array systems of the vehicle 112. More specifically, the power system 136 is configured to power one or more of the movement system 134, the sensor system 138, the controller 140, and the antenna 142. The power system 136 can include one or more diesel engine, electric motor or hybrid system depending on the operational environment and requirements. The power system 136 can also include one or more batteries. The power system 136 can also receive power from land via a power line 150.

[0050] The sensor system 138 is configured to determine the level of the seabed beneath and / or surrounding the vehicle body 132. The sensor system 138 includes one or more integrated sensors and / or a sensor array. Using the sensors, the sensor system 138 is configured to detect when the discharge material reaches a certain height or level and accordingly trigger movement of the vehicle body 32 to a new set of coordinates as needed. This ensures even distribution of the material across the seabed without human intervention, enhancing efficiency and minimizing labor requirements. In an embodiment, the sensor system 138 includes one or more sensors located on or around the discharge pipe 116 which measure the stack height as the material is being dispersed by the discharge pipe 116. In another embodiment, the sensor system 138 includes one or more sensors located on the bottom side 130 of the vehicle body 132.

[0051] In the illustrated embodiment, the sensor system 138 integrates multiple sensors for navigation, material level detection, and operational control. In an embodiment, the sensor system 138 includes a level sensor or bar that continuously measures the height of slurry, sand, or other material being dispersed on the seabed. In an embodiment, the sensor system 138 includes material volumetric rate sensors to monitor the material flow through the discharge line 114 and / or discharge pipe 116, and which are used to adjust the discharge process accordingly. In an embodiment, the sensor system 138 includes depth sensors, sonar sensors, or laser distance sensors to continuously measure the height of the material being discharged on the seabed. In an embodiment, the sensor system 138 includes laser or radar sensors that measure the height of the material stack to determine when to move the vehicle body 132 and / or discharge pipe 116 to prevent overfilling of the seabed.

[0052] In an embodiment, the sensor system 138 includes a positioning system with one or more sensors used for GPS or RTK positioning. The positioning system 138 can include a GPS system. In an embodiment, the vehicle 112 receives a GPS satellite signal via the antenna 142, and the controller 140 and / or the sensor system 138 process the satellite signal to determine positional information. The positional information can further be used in RTK processing to improve precision of the vehicle 112 movement and discharge of material. For example, the controller 140 can use RTK positioning based on a fixed base station and a rover to improve the positional error of the vehicle 112.

[0053] In the illustrated embodiment, the sensor system 138 includes a material depth story pole 152. The material depth story pole 152 extends vertically with respect to the vehicle body 132 and has a top end 153 and a broad-based shoe 154 on an opposite lower end. The sensor system 138 also includes an actuator 156 configured to raise and lower the pole 152 with respect to the vehicle body 132. As seen in FIG. 7, the sensor system 138 can include an encoder 158 that measures how deep the shoe 154 drops below the water surface when the shoe 154 reaches the top surface of the material being deposited. In use, the actuator 156 lowers the pole 152 until the shoe 154 lands on top of a material surface on the seabed below the surface of the water. The controller 140 then calculates the depth of the material surface based on the depth of the shoe 154. In an embodiment, as the discharge pipe 132 discharges material, the material depth story pole 152 is dropped at a preset time interval (e.g., every 10 minutes) to determine the depth of the material surface below the surface of the water. Use of the material depth story pole 152 is advantageous over conventional depth sounding equipment which can be inaccurate in dirty water where material is dispersed. When the material top surface reaches a maximum desired height, the controller 140 causes the vehicle 112 to move to a deeper area and continue the process to maximize the available deposit area.

[0054] In the illustrated embodiment, the shoe 154 has a tapered or pyramid shape resulting in a wider lower end which rests on the underwater material surface. In an embodiment, the shoe 154 is configured to freely tilt with respect to the pole 152. The controller 140 can then use the tilt of the shoe 154 to determine the angle of the underwater material stack and adjust the dispersion from the discharge manifold onto the seabed accordingly.

[0055] The controller 140 preferably includes a microcomputer with a control program that controls one or more of the discharge line 114, the discharge pipe 116, the movement system 134, the power system 136 and / or the sensor system 138. The controller 140 can also include other conventional components such as an input interface circuit, an output interface circuit, and storage devices such as a ROM (Read Only Memory) device and a RAM (Random Access Memory) device. The memory circuit stores processing results and control programs for operation that are run by the processor circuit. The microcomputer of the controller 140 is programmed to control the speed and / or direction of the vehicle 112, the material flow through the discharge line 114, the discharge rate from the discharge pipe 116, and / or other operations of the movement system 134, the power system 136 and / or the sensor system 138. The controller 140 can be operatively coupled to the vehicle 112 in a conventional manner. The controller 140 is capable of selectively controlling any of the other components of the discharge system 110 in accordance with one or more control programs.

[0056] In the illustrated embodiment, the antenna 142 is located at a high point of the vehicle 112, for example, at the top of a vertical pole as shown. In an embodiment, the vehicle 112 can include more than one antenna 142. The antenna(s) 142 can be used, for example, for GPS and / or RTK positioning control and / or for remote communications and operational instructions as discussed above. The antennas 142 enable accurate measurements, positioning and heading.

[0057] In an embodiment, the controller 140 includes a remote controller which communicates control instructions to the vehicle 112 for operation of the movement system 134, the power system 136 and / or the sensor system 138. The remote controller can communicate with an on-vehicle controller via the antenna 142. The discharge system 110 is configured for both autonomous operation using GPS or other navigation systems and manual remote control using the remote controller. In autonomous mode, the discharge system 110 follows a pre-programmed route, moving the vehicle 116 and / or the discharge pipe 116 as needed based on sensor data from the sensor system 138. The remote controller can be used to override or adjust the autonomous mode as needed.

[0058] In the illustrated embodiment, the discharge system 110 further includes at least one pump configured to pump material through the discharge line 114 to the discharge pipe 116 to be dispersed by the discharge pipe 116 in the underwater discharge area. The pump can be located at the vehicle 112 or remotely from the vehicle 112 at the remote end of the discharge line 114. The pump can be, for example, an eddy pump as described above.

[0059] In the illustrated embodiment, the discharge pipe 116 extends underneath the vehicle 112. More specifically, the discharge pipe 116 extends vertically downward from the bottom side 130 of the vehicle body 132. The discharge pipe 116 includes an inlet connected to the discharge line 114 and an outlet configured to discharge the material onto the underwater seabed surface. In the illustrated embodiment, the discharge pipe 116 is located adjacent to the material depth story pole 152 so that the depth at the discharge location can be determined by the controller 40 and used to adjust the location of the discharge pipe 116 and / or discharge speed of the material discharged onto the underwater surface. In an embodiment, the discharge pipe 116 can be formed as a manifold with multiple outlets, for example, as discussed above for the vehicle 12.

[0060] In an embodiment, the controller 140 can control the discharge pump and / or discharge pipe 116 as needed to evenly disperse material in the discharge area. For example, the controller 140 can selectively open or close the discharge pipe 116 outlet as needed to evenly disperse material in the discharge area, or the controller 140 can selectively increase or decrease the discharge rate as needed to evenly disperse material in the discharge area. In an embodiment, the controller 140 uses feedback from the sensor system 138 to open, close or adjust the discharge rates of the discharge pipe 116. The controller 140 can also cause the discharge pipe 116 to move dynamically to multiple coordinates, ensuring that material is dispersed evenly over the area. The controller 140 can cause the material discharge from the discharge pipe 116 while the vehicle 112 moves across the liquid surface LS, or the controller 140 can cause the vehicle 112 to fix its position at particular coordinates while the material discharges from the discharge pipe 116.

[0061] Once the controller 140 determines that the material in a specific area has reached the desired height, the controller 140 automatically moves the vehicle 112 and thus the discharge pipe 116 to the next set of coordinates. This movement can be programmed in a grid pattern to ensure complete coverage of an area. Grid spacing can be automatically adjusted based on depth of deposition. Grid completion areas can be continuously determined based on material depth and water level, and can be skipped or avoided as needed.

[0062] In the illustrated embodiment, the discharge line 114 is supported by one or more floats 162, which are attached to the discharge line 114 to enable the discharge line 114 to float near the surface of the water even when the discharge line 114 is filled with discharge material. Using floats 162 helps prevent the discharge line 114 from becoming entangled with obstacles under the water. This arrangement also helps ensure that the discharge line 114 remains relatively flat and parallel to the surface of the water, which facilitates efficient pumping of the discharge material. A float 162 can also be used to keep one or more power line 150 at the surface of the water.

[0063] In an embodiment, the discharge system 110 is initially provided with the boundary of an underwater area to receive discharge material and a target height or depth of deposition. The controller 140 is configured to convert the underwater area into a grid to be filled. The controller 140 is configured to dynamically adjust the grid spacing based on the target height or depth of deposition. As the vehicle 112 traverses the liquid surface above the underwater area, the sensor system 138 measures the height of material in each grid portion. The controller 140 then determines whether each grid portion is completed based on the material height within that grid portion. In an embodiment, as grid portions are completed, the controller 140 recalculates the route for moving through the grid so that incomplete grid portions are filled in. In an embodiment, as grid portions are completed, the controller 140 stops or starts the flow of discharge material in certain areas so that incomplete grid portions are filled in. For example, the controller 140 can automatically stop the flow of discharge material in completed grid portions, move to the lowest current grid portion, and restart the flow of discharge material. In an embodiment, as grid portions are completed, the controller 140 adjusts the flow rate of discharge material onto incomplete grid portions based on the current material height within those grid portions.

[0064] In an embodiment, the discharge system 110 is initially provided with the boundary of an underwater area to receive discharge material, a current material height or depth, and a target height or depth of deposition. The controller 140 is configured to convert the underwater area into a grid to be leveled and dynamically adjust the grid portion spacing based on the target height or depth of deposition. The controller 140 is further configured to then determined the current material height and the target height within each grid portion. The controller 140 can then adjust the flow rate of discharge material at different grid portions based on the current material height within those grid portions and the target height.

[0065] In an embodiment, a system in accordance with the present disclosure includes both the vehicle 12 for land-based applications and the vehicle 112 for water-based applications. Discharge lines 14, 114 can be attached to either of the vehicles 12, 112 to disperse material as needed across areas that include both land and water. Thus, the vehicles 12, 112 can be attached to the same pump and / or use other common elements or controls to disperse material as needed. A single remote controller 40, 140 can be used to control both of the vehicles 12, 112 in combination as described herein.

[0066] In an embodiment, the vehicle 12 for land-based applications and the vehicle 112 for water-based applications can be attached to the same or connected discharge lines 14, 114 so that one of the vehicle 12 and the vehicle 112 intakes material that is then pumped for discharge by the other of the vehicle 12 and the vehicle 112, for example, when moving material on a beach or at a construction site. In an embodiment, a first vehicle 12, 112 and a second vehicle 12, 112 can be attached to the same or connected discharge lines 14, 114 so that the first vehicle 12, 112 intakes material that is then pumped for discharge by the second vehicle 12, 112. For example, two vehicles 12 or two vehicles 112 can be operated in combination.

[0067] The embodiments described herein provide remote-operated and autonomous discharge barge and tracked / wheeled land system for dispersing water, slurry, sand, or other materials into a body of water, such as a pond, or on land, such as a beach. These systems and methods are advantageous, for example, because they can dynamically control material placement while simultaneously monitoring material stacking to ensure even distribution and prevent overfilling in a given area. It should be understood that various changes and modifications to the systems and methods described herein will be apparent to those skilled in the art and can be made without diminishing the intended advantages.GENERAL INTERPRETATION OF TERMS

[0068] In understanding the scope of the present invention, the term “comprising” and its derivatives, as used herein, are intended to be open ended terms that specify the presence of the stated features, elements, components, groups, integers, and / or steps, but do not exclude the presence of other unstated features, elements, components, groups, integers and / or steps. The foregoing also applies to words having similar meanings such as the terms, “including”, “having” and their derivatives. Also, the terms “part,”“section,”“portion,”“member” or “element” when used in the singular can have the dual meaning of a single part or a plurality of parts. Also as used herein to describe the above embodiment(s), directional terms refer to those directions of a harvester configured to be mounted to a front end of a floating apparatus. Accordingly, these terms, as utilized to describe the present invention should be interpreted relative to the disclosed systems.

[0069] The term “configured” as used herein to describe a component, section or part of a device or element includes hardware and / or software that is constructed and / or programmed to carry out the desired function.

[0070] The terms of degree such as “generally”, “substantially”, “about” and “approximately” as used herein mean a reasonable amount of deviation of the modified term such that the end result is not significantly changed.

[0071] The terms “first” and “second” as used herein are to distinguish like parts, points, locations, etc. and can be reordered or used interchangeably. The terms “first” and “second” are not intended to be limiting.

[0072] While only selected embodiments have been chosen to illustrate the present invention, it will be apparent to those skilled in the art from this disclosure that various changes and modifications can be made herein without departing from the scope of the invention as defined in the appended claims. For example, the size, shape, location or orientation of the various components can be changed as needed and / or desired. Components that are shown directly connected or contacting each other can have intermediate structures disposed between them. The functions of one element can be performed by two, and vice versa. The structures and functions of one embodiment can be adopted in another embodiment. It is not necessary for all advantages to be present in a particular embodiment at the same time. Every feature which is unique from the prior art, alone or in combination with other features, also should be considered a separate description of further inventions by the applicant, including the structural and / or functional concepts embodied by such feature(s). Thus, the foregoing descriptions of the embodiments according to the present invention are provided for illustration only, and not for the purpose of limiting the invention as defined by the appended claims and their equivalents.

Claims

1. A discharge system comprising:a first vehicle for land-based applications, the first vehicle including a first movement system and a first sensor system and supporting a first discharge pipe;a second vehicle for water-based applications, the second vehicle including a second movement system and a second sensor system and supporting a second discharge pipe; anda controller configured to cause the first movement system to move the first vehicle based on the first sensor system so that the first discharge pipe discharges material evenly across a land-based discharge area, and to cause the second movement system to move the second vehicle based on the second sensor system so that the second discharge pipe discharges material evenly across a water-based discharge area.

2. The system of claim 1, whereinthe material includes water, slurry, sand, and other materials.

3. The system of claim 1, whereinthe first sensor system includes level sensors that continuously measure a stack height of the material on land and autonomously adjust a position of the first discharge pipe when a predetermined height is reached.

4. The system of claim 1, whereinthe second sensor system includes level sensors that continuously measure a stack height of the material underwater and autonomously adjust a position of the second discharge pipe when a predetermined height is reached.

5. The system of claim 1, whereinthe first sensor system or the second sensor system includes sonar, radar, laser distance or volumetric flow sensors and a GPS / RTK system for accurate material placement and navigation.

6. The system of claim 1, whereinthe first vehicle includes a discharge manifold having a plurality of outlets extending laterally across a front side of the first vehicle.

7. The system of claim 6, whereinthe discharge manifold includes a plurality of discharge pipe outlets arranged laterally across the front side of the vehicle body and configured to discharge the discharge material on the land area.

8. The system of claim 7, whereinthe discharge manifold includes a plurality of drum wheels configured to flatten the discharge material discharged by the plurality of discharge pipe outlets.

9. The system of claim 1, whereinthe second vehicle includes a material depth story pole configured to extend from the vehicle body into the underwater area and be raised and lowered with respect to the vehicle body.

10. The system of claim 1, whereinthe second vehicle includes one or more winches and winch lines that cause movement of the vehicle body.

11. A land-based vehicle for dispersion of water, slurry, sand and other materials on a land area, the vehicle comprising:a vehicle body;a movement system configured to move the vehicle body across the land area; anda discharge manifold configured to receive discharge material from a discharge line for dispersion on the land area while the movement system moves the vehicle body across the land area,the discharge manifold including a plurality of discharge pipe outlets arranged laterally across the vehicle body and configured to discharge the discharge material on the land area.

12. The vehicle of claim 11, whereinthe movement system includes at least one of tracks which surround and are driven by wheels,the tracks positioned behind the plurality of discharge pipe outlets to flatten the discharge material discharged by the plurality of discharge pipe outlets.

13. The vehicle of claim 11, whereinthe discharge manifold includes a plurality of drum wheels configured to flatten the discharge material discharged by the plurality of discharge pipe outlets.

14. The vehicle of claim 13, whereinat least one of the drum wheels is located between two discharge pipe outlets in a lateral direction of the vehicle.

15. The vehicle of claim 11, comprisinga sensor system including at least one of: (i) a level sensor or bar configured to continuously measures a height of material being dispersed in the discharge area, (ii) a material volumetric rate sensor configured to monitor material flow through the discharge line or discharge pipe, and (iii) a depth sensor, sonar sensor or laser distance sensor configured to continuously measure the height of the material being discharged at the discharge area.

16. A water-based vehicle for dispersion of water, slurry, sand and other materials on an underwater area, the vehicle comprising:a vehicle body configured to float on a liquid surface above the underwater area;a movement system configured to move the vehicle body across the liquid surface;a material depth story pole configured to extend from the vehicle body into the underwater area and be raised and lowered with respect to the vehicle body; anda discharge pipe configured to extend from the vehicle body into the underwater area and output discharge material from a discharge line onto the underwater area while the vehicle body floats on the liquid surface.

17. The vehicle of claim 16, whereinthe material depth story pole includes a broad-based shoe on a lower end thereof.

18. The vehicle of claim 16, comprisinga controller configured to calculate a depth of an underwater surface based on the position of the material depth story pole and cause the movement system to move the vehicle body to another location on the liquid surface based on the depth of the underwater surface.

19. The vehicle of claim 16, whereinthe movement system includes one or more winches and winch lines that cause movement of the vehicle body.

20. The vehicle of claim 16, comprisinga sensor system including at least one of: (i) a level sensor or bar configured to continuously measures a height of material being dispersed in the discharge area, (ii) a material volumetric rate sensor configured to monitor material flow through the discharge line or discharge pipe, and (iii) a depth sensor, sonar sensor or laser distance sensor configured to continuously measure the height of the material being discharged at the discharge area.

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