Method for Controlling an Unmanned Surface Vessel

Abstract

This patent describes a method for steering an unmanned surface vessel consisting of a hull, keel, and non-self-tacking rigid wing sail. Unlike conventional vessels, it doesn't require a rudder. Steering is achieved by rotating the wing sail around a vertical axis using an actuator. The center of lateral resistance is spaced aft of the center of windage, balancing the vessel to the wind. The vessel maintains various angles relative to the wind and holds a port or starboard tack without active steering. The sail position only needs changing when a new course is desired. The vessel can progress at all angles to the wind, whether by a zigzagging course or a straight line. This method eliminates the need for an active rudder to maintain course, reducing power consumption and component wear.

Claims

1. A method for steering an unmanned surface vessel, comprising: a) a rudderless hull; b) a keel; and c) non-self-tacking wing sail controlled by an actuator, wherein the center of effort is placed ahead of the center of lateral resistance so the vessel remains balanced at different angles to the wind and remains on port or starboard tack depending on the wing-sail angle relative to the hull, and the direction of travel is changed by adjusting the angle of the sail.

2. The unmanned surface vessel control system of claim 1, further comprising a processor connected to an electronic navigation system, wherein the processor periodically checks the boat's position and adjusts the sail position based on programmed settings or AI-derived decisions.

3. The unmanned surface vessel control system of claim 1, further comprising a remote communication and telemetry system, enabling a human operator to monitor the vessel's status and send commands to change the sail position as required.

4. An unmanned surface vessel of claims 1, 2, or 3, further comprising two or more sails.

5. A control system for a boat fitted with an auxiliary propeller propulsion system, comprising: a) a rudderless hull; b) a keel; and c) non-self-tacking wing sail controlled by an actuator, wherein the center of effort is placed ahead of the center of lateral resistance so the vessel remains balanced at different angles to the wind and remains on port or starboard tack depending on the wing-sail angle relative to the hull, and the direction of travel is changed by adjusting the angle of the sail. d) a rudder selectively operable in propeller propulsion mode, wherein the rudder is locked in neutral position during the sailing mode.

6. The sailboat control system of claim 6, wherein the auxiliary propeller propulsion system is operable when wind conditions are insufficient for sailing or for tight maneuvering.

7. The sailboat control system of claim 6, further comprising a control mechanism that switches between the sailing mode and the propulsion mode based on remote user inputs or predetermined settings executed by an onboard processor.

8. The sailboat control system of claim 6, wherein the actuator adjusts the angle of the wing sail automatically based on wind conditions, and the rudder remains locked in the neutral position during the sailing mode.

9. The sailboat control system of claim 6, wherein the rudder is operable independently from the wing sail when the boat is in the propulsion mode.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0013] FIG. 1: Perspective View of the Sailboat Configuration

[0014] FIG. 1 illustrates a perspective view of the sailboat configuration according to the present invention. It shows the sailing vessel comprising a rigid wing sail, a hull, and a keel. The wing sail is positioned on a mast and can be adjusted to various angles relative to the hull.

[0015] FIG. 2: Side View of the Wing Sail Configuration

[0016] FIG. 2 provides a side view of the wing sail configuration. It depicts the sail angled longitudinally to the hull. Position of the keel relative to the sail can clearly be seen with center of lateral resistance and center of effort marked.

[0017] FIG. 3: Top View of the Sailboat Control System

[0018] FIG. 3 presents a top view of the sailboat control system. It showcases the positioning of the center of lateral resistance and the center of effort. The specific distance between these points achieves balance, allowing the vessel to sail indefinitely at multiple angles to the wind without active inputs. Arrows indicate the two forces on the vessel to turn downwind and upwind.

[0019] FIG. 4: Sailing Angles

[0020] FIG. 4 Illustrates the vessel sailing at different angles to the wind with the sails angled at different positions relative to the hull.

DETAILED DESCRIPTION

[0021] The present invention discloses a novel method of controlling an unmanned surface vessel 10 without relying on a traditional rudder. The invention pertains to a sailing vessel comprising a rigid wing sail 4, a hull 1, and a keel 2. By adjusting the angle of the wing sail 4 relative to the hull, the vessel's direction of travel 11 relative to the wind 9 can be determined. Unlike self-tacking sails, the wing sail 4 in this invention maintains the vessel's course on either the port or starboard tack. Should external forces, such as waves or collisions, cause the vessel to switch tack, it will naturally turn downwind and subsequently round back to its original tack. This sailboat control system achieves balance and allows for indefinite sailing at multiple angles to the wind 13, without the need for active inputs like adjusting the sail angle or making continuous rudder corrections, as commonly seen in conventional sailboats. This balance is achieved by positioning the center of lateral resistance 5 at a specific distance aft of the center of effort 6. The boat exhibits a tendency to point downwind 8 due to this configuration, but it is counteracted by the air rudder effect 7 generated by the wing sail, which aims to turn the vessel upwind. The rudder effect 7 of the wing sail 4 becomes more pronounced as the boat points further downwind, resulting in a balance where these two forces 7,8 are equal. At this equilibrium point, the sail 4 is angled for optimal sailing performance, and the lift generated as the air passes over the forward face of the sail provides forward thrust for the vessel.

[0022] As depicted in FIG. 4, this balance is maintained across a wide range of angles 13, allowing the wing sail 4 to be positioned at multiple angles relative to the hull, ensuring stable sailing at various angles relative to the wind 9. Notably, for straight downwind sailing 14, the sail is angled longitudinally to the hull, contrary to the conventional practice of angling sails near perpendicular to the hull. In this invention, such a perpendicular configuration is unbalanced and would require the use of a rudder or other active inputs to maintain the desired course. By angling the wing sail longitudinally to the hull, with the leading edge pointing upwind, the stern of the vessel will weathercock into the wind, causing the bow to point downwind. The resulting turbulence and friction generated as the wind flows over the vessel and sail, despite being less than with a perpendicular sail orientation, will facilitate a downwind course.

[0023] The present invention capitalizes on the reliable and sustained wind direction that can persist for hours or even days. By leveraging this characteristic, the invention enables the sailboat to maintain its course with minimal or no active inputs, thereby reducing power consumption and minimizing wear on the actuators.