Internally actuated autonomous sailing buoy
A robust mechanical actuation design for an autonomous sailing buoy ( 1 ) is disclosed based on an internal actuation system. The buoy ( 1 ) consists of a simple closed body ( 3 ) taking the form of a ship hull to which are attached two fixed appendages ( 2, 4 ): one rigid wing ( 4 ) to catch the wind, and a keel ( 2 ). The design is completely rudderless. Steering is performed using only an internal actuation system. This system includes a moving mass system ( 5, 6, 7 ), a processing unit ( 9 ), and a navigation unit ( 8 ). The navigation unit ( 8 ) consists of a GPS, accelerometers and gyroscopes, and a wind direction and velocity sensor. The processing unit ( 9 ), using information given by the navigation unit ( 8 ), automatically controls the moving mass ( 6 ) to hold the buoy ( 1 ) on a desired course.
1. An autonomous sailing buoy comprising:
a buoy body taking form of a simple boat hull;
a keel attached to the bottom of the buoy body;
a sail having a fixed position extending in the plane between the front and aft of the buoy body;
a moving mass system inside said buoy body, which enables a mass to be moved along the transverse plane of the buoy, thereby controlling the course of the buoy;
a navigation unit; and
processing unit connected to the moving mass system and said navigation unit, said processing unit used for receiving and processing data from said navigation unit, whereby the processing unit controls the moving mass system to hold the buoy on a specific course.
2. Autonomous sailing buoy according to claim 1 , wherein the moving mass system inside said buoy body is based on a block movable on a track along the transverse plane of the buoy.
3. Autonomous sailing buoy according to claim 1 , wherein the moving mass system inside said buoy body is based on ballast tanks that can be filled and emptied with a fluid.
4. Autonomous sailing buoy according to claim 1 , wherein the rudderless sailboat is made from fibre glass.
5. Autonomous sailing buoy according to claim 1 , wherein the navigation unit is GPS-based.
6. Autonomous sailing buoy according to claim 1 , wherein processing unit is a marine auto-pilot.
7. Autonomous sailing buoy according to claim 1 , wherein the sail is rigid.
8. Autonomous sailing buoy according to claim 1 , wherein the buoy is made from a robust material.
9. Autonomous sailing buoy according to claim 8 , wherein the robust material comprises fibre glass.
10. Autonomous sailing buoy according to claim 8 , wherein the robust material comprises aluminum.
11. Autonomous sailing buoy according to claim 3 , wherein the fluid comprises water.