Method, apparatus and system for recovering a sailing vessel

Abstract

A self-righting sailing vessel is described. The self-righting sailing vessel may determine the occurrence of several predetermined events, such as the self-righting sailing vessel capsizing, present or imminent inclement weather, and/or a present or imminent vessel or large marine animal. Upon detection of one of these events, the self-righting sailing vessel causes at least its hull to become partially or completely submerged beneath the water. The self-righting sailing vessel is configured such that its rig is more buoyant than the rest of the vessel when the vessel is completely submerged beneath the water, causing the vessel to move towards an upright position while underwater. When the vessel is pointing towards an upright position, the vessel may begin ascending until it surfaces and is ready to continue sailing on top of the water.

What is claimed is: 
     
         1 . A method for autonomous submerging and resurfacing of a sailing vessel comprising a hull, a mast and a sail, comprising:
 causing the sailing vessel to completely submerge beneath a surface of a body of water, including the mast and the sail;   determining an occurrence of a predefined event; and   in response to determining the occurrence of the predefined event, causing the sailing vessel to begin resurfacing.   
     
     
         2 . The method of  claim 1 , wherein the predetermined event comprises the mast of the sailing vessel achieving an attitude less than a predetermined angle, wherein determining the occurrence of the predefined event comprises:
 determining that the attitude of the mast of the sailing vessel is less than the predetermined angle.   
     
     
         3 . The method of  claim 2 , further comprising:
 continuing to allow the sailing vessel to resurface so long as the attitude of the mast remains within the predetermined angle.   
     
     
         4 . The method of  claim 1 , wherein the predetermined event comprises a passing of a threat to the sailing vessel, wherein determining the occurrence of the predefined event comprises:
 determining that the threat has passed.   
     
     
         5 . The method of  claim 4 , wherein determining that the threat has passed comprises:
 determining that a predetermined time associated with the threat has elapsed.   
     
     
         6 . The method of  claim 4 , wherein determining that the threat has passed comprises:
 determining when the sailing vessel is near the surface of the body of water;   determining a condition of the body of water near the surface; and   determining that the threat has passed when the condition of the body of water indicates that the sailing vessel is not being pitched or rolled.   
     
     
         7 . The method of  claim 6 , wherein determining the condition of the body of water comprises:
 determining an acceleration of the sailing vessel;   wherein determining the threat has passed comprises:   determining that the acceleration of the sailing vessel is less than a predetermined acceleration.   
     
     
         8 . The method of  claim 1 , further comprising:
 determining a rate of ascension of the sailing vessel;   comparing the rate of ascension to a predetermined ascension rate; and   causing the sailing vessel to reduce the rate of ascension when the rate of ascension exceeds the predetermined ascension rate.   
     
     
         9 . The method of  claim 1 , wherein the sailing vessel comprises a first outrigger and a second outrigger, the method further comprising:
 determining that the mast is no longer within the predetermined angle;   in response to determining that the mast is no longer within the predetermined angle, adjusting a buoyancy of the first outrigger until the mast is within the predetermined angle.   
     
     
         10 . The method of  claim 1 , further comprising:
 determining a present or future threat to the sailing vessel;   in response to determining the present or future threat, causing the submergible, self-righting sailing vessel to submerge beneath the surface of the body of water.   
     
     
         11 . A submergible, self-righting sailing vessel, comprising a hull, a mast and a sail, comprising:
 an attitude sensor;   a buoyancy control system; and   a processing unit coupled to the attitude sensor, the processing unit comprising a processor coupled to a memory, the memory comprising processor-executable instructions that, when executed by the processor, causes the processing unit to:   cause the sailing vessel to completely submerge beneath a surface of a body of water, including the mast and the sail;   determine an occurrence of a predefined event; and   in response to determining the occurrence of the predefined event, cause the sailing vessel to begin resurfacing.   
     
     
         12 . The submergible, self-righting sailing vessel of  claim 11 , wherein the predetermined event comprises the mast of the sailing vessel achieving an attitude less than a predetermined angle, wherein the processor-executable instructions that causes the processor to determine the occurrence of the predefined event comprises instructions that causes the processor to:
 determine, from the attitude sensor, that the attitude of the mast of the sailing vessel is less than the predetermined angle.   
     
     
         13 . The submergible, self-righting sailing vessel of  claim 12 , wherein the processor-executable instructions comprise further instructions that causes the processor to:
 continue to allow the sailing vessel to resurface so long as the attitude of the mast remains within the predetermined angle.   
     
     
         14 . The submergible, self-righting sailing vessel of  claim 11 , further comprising:
 a sensor, coupled to the processor, for detecting a presence of an imminent or future threat to the submergible, self-righting sailing vessel:   wherein the predetermined event comprises a passing of the threat to the submergible, self-righting sailing vessel, wherein the processor-executable instructions that causes the processor to determine the occurrence of the predefined event comprises instructions that causes the processor to comprises:   determine, via the sensor, that the threat has passed.   
     
     
         15 . The submergible, self-righting sailing vessel of  claim 14 , wherein the processor-executable instructions that causes the processor to determine the threat comprises instructions that causes the processor to:
 determine that a predetermined time associated with the threat has elapsed.   
     
     
         16 . The submergible, self-righting sailing vessel of  claim 14 , further comprising:
 a depth sensor coupled to the processor;   wherein the processor-executable instructions that causes the processor to determine the threat comprises instructions that causes the processor to:
 determine, via the depth sensor, when the submergible, self-righting sailing vessel is near the surface of the body of water; 
 determine, via the sensor, a condition of the body of water near the surface; and 
 determine that the threat has passed when the condition of the body of water indicates that indicates that the sailing vessel is not being pitched or rolled. 
   
     
     
         17 . The submergible, self-righting sailing vessel of  claim 16 , further comprising:
 an accelerometer coupled to the processor;   wherein the processor-executable instructions that causes the processor to determine the condition of the body of water comprises instructions that causes the processor to:   determine an acceleration of the submergible, self-righting sailing vessel;   wherein the processor-executable instructions that causes the processor to determine that the threat has passed comprises instructions that causes the processor to:   determine, via the accelerometer, that the acceleration of the submergible, self-righting sailing vessel is less than a predetermined acceleration.   
     
     
         18 . The submergible, self-righting sailing vessel of  claim 11 , further comprising:
 a depth sensor coupled to the processor;   wherein the processor-executable instructions comprise additional instructions that further causes the processor to:
 determine, via the depth sensor, a rate of ascension of the sailing vessel; 
 compare the rate of ascension to a predetermined ascension rate; and 
 cause the submergible, self-righting sailing vessel to reduce the rate of ascension when the rate of ascension exceeds the predetermined ascension rate. 
   
     
     
         19 . The submergible, self-righting sailing vessel of  claim 11 , wherein the sailing vessel comprises a first outrigger and a second outrigger, wherein the processor-executable instructions comprise additional instructions that further causes the processor to:
 determine, via the attitude sensor, that the mast is no longer within the predetermined angle;   in response to determining that the mast is no longer within the predetermined angle, adjust a buoyancy of the first outrigger until the mast is within the predetermined angle.   
     
     
         20 . The submergible, self-righting sailing vessel of  claim 11 , wherein the processor-executable instructions comprise additional instructions that further causes the processor to:
 determine a present or future threat to the submergible, self-righting sailing vessel;   in response to determining the present or future threat, cause the submergible, self-righting sailing vessel to submerge beneath the surface of the body of water.