System, method and apparatus for controlling a speed of a sailing vessel

Abstract

Embodiments of the present invention are directed to system, method and apparatus for controlling the speed of a sailing vessel. The speed of a sailing vessel is controlled by varying a force of a cam follower against a perimeter of a cam mounted to either a rotatable mast, or a rotatable sleeve concentrically mounted to a fixed mast, of the sailing vessel. In some embodiments, an onboard control unit determines conditions such as vessel speed, weather conditions, threats, etc. and automatically causes a sailing vessel to achieve predetermined vessel speeds based on the determined conditions.

What is claimed is: 
     
         1 . A system for controlling a speed of a sailing vessel, comprising:
 a cam mounted to a portion of a wing of the sailing vessel;   an adjustable tensioner assembly, comprising:
 a base housing; 
 an actuator located within the base housing; and 
 a movable extension arm comprising a first end in contact with the actuator inside the base housing and a second end external to the base housing, comprising a cam follower in contact with the cam; 
   and   a control unit configured to adjust a force created by the actuator against the movable extension arm and transfer the force via the movable extension to the cam follower against the cam.   
     
     
         2 . The system of  claim 1 , wherein the actuator comprises a linear actuator controlled directly by the control unit. 
     
     
         3 . The system of  claim 1 , wherein the control unit is configured to control the speed of the sailing vessel by varying the force of the cam follower against the cam via the actuator. 
     
     
         4 . The system of  claim 1 , further comprising:
 a speed sensor coupled to the control unit configured to determine the speed of the sailing vessel;   wherein the control unit is further configured to compare the speed of the sailing vessel with one or more predetermined speeds stored in the memory, and to adjust the force of the actuator against the movable extension arm, and thereby the cam follower against the cam, in accordance with changes in the speed of the sailing vessel.   
     
     
         5 . The system of  claim 4 , wherein a plurality of predetermined, desired vessel speeds are stored in the memory, each vessel speed associated with a particular vessel maneuver, and the control unit is further configured to determine that a first vessel maneuver should be performed, to determine a first vessel speed associated with the first vessel maneuver, determine a current speed of the sailing vessel from the speed sensor, and to cause the actuator to alter the force of the actuator against the movable extension arm, and thereby the force of the cam follower against the cam. 
     
     
         6 . The system of  claim 5 , wherein the control unit is further configured to monitor the speed of the sailing vessel via the speed sensor and to cause the actuator to alter the force of the actuator against the movable extension arm, and thereby the force of the cam follower against the cam, in order to maintain the first predetermined speed. 
     
     
         7 . The system of  claim 5 , wherein the plurality of vessel speeds comprises a first variable vessel speed to achieve a first vessel maneuver, and the control unit is further configured to adjust the speed of the sailing vessel in accordance with the first variable vessel speed by causing the actuator to adjust the force of the actuator against the movable extension arm, and thereby the force of the cam follower against the cam perimeter, over time. 
     
     
         8 . The system of  claim 7 , further comprising a position sensor coupled to the control unit, wherein the first variable vessel speed comprises a first vessel speed and a second vessel speed, and the first vessel maneuver comprises a beaching maneuver, wherein the control unit is configured to:
 adjust the force of the cam follower against the cam to achieve the first vessel speed;   determine a position of the sailing vessel with respect to a beach via the position sensor; and   cause the actuator to adjust the force of the cam follower against the cam to achieve the second vessel speed suitable for landing the sailing vessel on the beach when the position of the sailing vessel is at a predetermined distance from the beach.   
     
     
         9 . The system of  claim 1 , further comprising:
 a wireless receiver coupled to the control unit, configured to wirelessly receive a command to perform a vessel maneuver requiring the sailing vessel to sail at a first speed, and to provide the command to the control unit;   wherein the control unit is further configured to alter the speed of the sailing vessel in accordance with the command by causing the actuator to alter the force of the cam follower against the cam perimeter to achieve the first speed.   
     
     
         10 . The system of  claim 9 , wherein the vessel maneuver comprises a dive maneuver where the sailing vessel submerges underwater, the command comprises instructions that causes the sailing vessel to submerge underwater, the first speed comprises a dive speed associated with the dive maneuver and the control unit is configured to cause the actuator to decrease the force of the cam follower against the cam upon receipt of the command, thereby reducing the speed of the sailing vessel to less than the dive speed. 
     
     
         11 . A method, performed by an onboard control unit of a sailing vessel, for controlling a speed of the sailing vessel, comprising:
 determining a current speed of the sailing vessel;   determining that a predefined event has occurred;   determining a predefined vessel maneuver associated with the predefined event;   determining a predefined vessel speed associated with the predefined vessel maneuver; and   in response to determining that the predefined event has occurred, causing an actuator of an adjustable tensioner assembly to adjust a force of a cam follower of the adjustable tensioner assembly against a cam mounted to a portion of a wing of the sailing vessel in order to achieve the predefined vessel speed associated with the vessel maneuver.   
     
     
         12 . The method of  claim 11 , further comprising:
 storing a plurality of predetermined vessel speeds in association with a plurality of predetermined vessel maneuvers, respectfully;   after determining that the predefined event has occurred, selecting a first predetermined vessel maneuver to be performed in response to the predefined event;   determining a first predetermined vessel speed associated with the first predetermined vessel maneuver; and   adjusting the speed of the sailing vessel to the first predetermined vessel speed by causing the actuator to adjust the force of the cam follower against the cam to achieve the first predetermined vessel speed.   
     
     
         13 . The method of  claim 11 , further comprising:
 continuously comparing the current vessel speed with the predefined vessel speed, and causing the actuator to adjust the force of the cam follower against the cam in accordance with changes in the current speed of the sailing vessel in order to maintain the predefined vessel speed.   
     
     
         14 . The method of  claim 11 , further comprising:
 comparing the current vessel speed to one or more predetermined speeds stored in the memory; and   causing the actuator to adjust the force of the cam follower against the cam to achieve one of the one or more predetermined speeds.   
     
     
         15 . The method of  claim 12 , wherein the plurality of predetermined vessel speeds comprise a first variable vessel speed in association with a second predetermined vessel maneuver, the method further comprising:
 adjusting the current speed of the sailing vessel in accordance with the first variable vessel speed by causing the actuator to adjust the force of the cam follower against the cam over time, thereby causing a change in the current speed of the sailing vessel over time in accordance with the first variable vessel speed.   
     
     
         16 . The method of  claim 11 , wherein the predefined event comprises a proximity of the sailing vessel to a beach, wherein the predetermined vessel maneuver associated with proximity to a beach comprises a beaching maneuver, whereby adjusting the speed of the sailing vessel to match the predefined vessel speed comprises:
 determining a first vessel speed and a second vessel speed associated with the beaching maneuver;   determining that the sailing vessel is within a first predetermined distance to the beach;   causing the actuator to adjust the force of the cam follower against the cam to achieve the first vessel speed when the sailing vessel is within the first predetermined distance to the beach;   determining that the sailing vessel is within a second predetermined distance from the beach, closer than the first predetermined distance; and   causing the actuator to adjust the force of the cam follower against the cam to achieve the second vessel speed suitable for landing the sailing vessel on the beach.   
     
     
         17 . The method of  claim 11 , wherein the predefined event comprises wirelessly receiving a command to perform a first predefined vessel maneuver, the method further comprising:
 wirelessly receiving the command;   determining a first predetermined vessel speed associated with the first predefined vessel maneuver identified by the command; and   causing the actuator to alter the current vessel speed in accordance with the first predetermined vessel speed by causing the actuator to alter the force of the cam follower against the cam to achieve the first predetermined vessel speed.   
     
     
         18 . The method of  claim 17 , further comprising:
 after achieving the first predetermined vessel speed, causing the sailing vessel to perform the first predefined vessel maneuver in accordance with the command.   
     
     
         19 . The method of  claim 18 , wherein the predefined vessel maneuver comprises a dive maneuver, and altering the current vessel speed in accordance with the first predetermined vessel speed comprises causing the actuator to reduce the force of the cam follower against the cam to achieve the first predetermined vessel speed or less. 
     
     
         20 . The method of  claim 11 , wherein the predefined event comprises detection of a threat to the sailing vessel, the method further comprising:
 determining the threat to the sailing vessel;   determining that a predefined vessel maneuver comprises a dive maneuver to be performed upon determination of the threat;   determining a first predetermined vessel speed associated with the dive maneuver;   adjusting the speed of the sailing vessel to the first predetermined vessel speed by causing the actuator to adjust the force of the cam follower against the cam;   determining when the speed of the sailing vessel is less than or equal to the first predetermined vessel speed; and   after achieving the predetermined vessel speed or less, causing the sailing vessel to submerge beneath a water surface.