US 12,168,504 B2
Unmanned sailing vehicle control system
Richard Elliott Jenkins, Alameda, CA (US); and Dylan Owens, Oakland, CA (US)
Assigned to Saildrone, Inc.
Filed by Saildrone, Inc.
Filed on Jul. 7, 2023, as Appl. No. 18/349,094.
Application 18/349,094 is a continuation of application No. 17/373,490, filed on Jul. 12, 2021, granted, now 11,731,748.
Application 17/373,490 is a continuation of application No. 16/653,661, filed on Oct. 15, 2019, granted, now 11,059,553, issued on Jul. 13, 2021.
Application 16/653,661 is a continuation of application No. 15/805,927, filed on Nov. 7, 2017, granted, now 10,442,512, issued on Oct. 15, 2019.
Application 15/805,927 is a continuation of application No. 15/176,389, filed on Jun. 8, 2016, granted, now 9,834,290, issued on Dec. 5, 2017.
Application 15/176,389 is a continuation of application No. 14/682,732, filed on Apr. 9, 2015, granted, now 9,381,985, issued on Jul. 5, 2016.
Application 14/682,732 is a continuation of application No. 13/802,735, filed on Mar. 14, 2013, granted, now 9,003,986, issued on Apr. 14, 2015.
Prior Publication US 2023/0348033 A1, Nov. 2, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. B63H 9/061 (2020.01); B63B 1/10 (2006.01); B63B 1/12 (2006.01); B63B 43/00 (2006.01); B63B 43/02 (2006.01); B63B 71/20 (2020.01); B63G 8/00 (2006.01); B63G 8/22 (2006.01); B63G 8/28 (2006.01); B63G 8/38 (2006.01); B63H 9/08 (2006.01); B63H 25/04 (2006.01); B63H 25/38 (2006.01); G05D 1/00 (2006.01); G05D 1/02 (2020.01); G05D 1/08 (2006.01); H02S 40/38 (2014.01); B63B 35/00 (2020.01)
CPC B63H 9/061 (2020.02) [B63B 1/10 (2013.01); B63B 1/12 (2013.01); B63B 1/125 (2013.01); B63B 43/00 (2013.01); B63B 43/02 (2013.01); B63B 71/20 (2020.01); B63G 8/001 (2013.01); B63G 8/22 (2013.01); B63G 8/28 (2013.01); B63G 8/38 (2013.01); B63H 9/08 (2013.01); B63H 25/04 (2013.01); B63H 25/38 (2013.01); G05D 1/0206 (2013.01); G05D 1/0875 (2013.01); H02S 40/38 (2014.12); B63B 2035/007 (2013.01); B63G 2008/004 (2013.01); B63H 9/0635 (2020.02); B63H 2009/082 (2013.01); B63H 2025/045 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An unmanned sailing vehicle comprising;
a primary hull;
a rigid wing rotationally coupled with said primary hull, wherein said rigid wing freely rotates about a rotational axis of said rigid wing;
a boom comprising a first end extending from a leading edge of said rigid wing and a second end extending from a trailing edge of said rigid wing, said first end of said boom comprising a counterweight configured to dynamically balance a wing system comprising said rigid wing, said boom, and a tail coupled to said second end of said boom with respect to said rotational axis of said rigid wing;
a control surface element disposed on said tail and configured to aerodynamically control a wing angle of said rigid wing based on a position of said control surface element;
a controller configured to determine a control surface angle and generate a signal to position said control surface element based on said control surface angle.