WO2006004584A2

WO2006004584A2 - Self-navigating vessel

Info

Publication number: WO2006004584A2
Application number: PCT/US2005/013359
Authority: WO
Inventors: Matthew John Marquardt
Original assignee: Matthew John Marquardt
Priority date: 2004-04-20
Filing date: 2005-04-20
Publication date: 2006-01-12
Also published as: WO2006004584A3

Abstract

Apparatus, systems, and methods for autonomous vessels such as lifeboats, ships, and other watercraft, and navigation thereof. Vessels according to the invention may be powered by natural, or renewable, energy sources such as solar and wind energy. Preferably the vessels are autonomously navigable to destinations identified by on-board or remotely-accessed navigation systems. In one aspect the invention provides a self-navigating vessel comprising a propulsion system (104), a steering system (106), a navigation system (200), and a power supply system (300). The navigation system (200) is adapted for identifying a target destination and providing control signals to the propulsion system (104), the navigation system (106), or both, and optionally to other systems or devices in order to cause the vessel to navigate a course to the target destination.

Description

SELF-NAVIGATING VESSEL

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of United States Provisional Patent Application Serial No. 60/563,660, filed 20 April 2004 and entitled Self-Navigating Vessel, the entire contents of which are incorporated herein by this reference.

BACKGROUND OF THE INVENTION

[0002] The invention provides devices, systems, and methods for autonomous vessels such as lifeboats, ships, and other watercraft. In particular, the invention provides vessels powered by natural, or renewable, energy sources such as solar and wind energy, and control systems therefor. Vessels according to the invention may be autonomously navigable under the control of the control systems, to destinations identified by the control systems.

SUMMARY OF THE INVENTION [0003] The invention provides apparatus, systems, and methods for autonomous vessels such as lifeboats, ships, and other watercraft, and navigation thereof. Vessels according to the invention may be powered by natural, or renewable, energy sources such as solar and wind energy. Preferably the vessels are autonomously navigable to destinations identified by on-board or remotely- accessed navigation systems.

[0004] For example, in one aspect the invention provides a self-navigating watercraft comprising a hull, a propulsion system, a steering system, a navigation system, and a power supply system. The navigation system is adapted for providing control signals to the propulsion system, the steering system, or both, and optionally to other systems or devices in order to cause the vessel to navigate a course to a desired destination such as a port or other haven. The power supply system is adapted to power the navigation system, the propulsion system, and/or the steering system.

[0005] As another example, in further aspects the invention provides navigation and control systems for self-navigating vessels. Such navigation and control systems can be adapted for controlling propulsion systems, steering systems, or both, and optionally other systems or devices in order to cause the vessel to navigate a course to a desired destination such as a port or other haven. A desired destination may include, for example, a port or other haven selected autonomously by the navigation system using information such as a location of the self-navigating vessel, one or more destinations, and information concerning wind and/or water currents.

[0006] For example, a navigation system according to the invention may include a processor and a controller. The processor can be adapted for determining a position of the watercraft using data from a volatile or non-volatile memory associated with the processor, or from an external source such as a remotely- located database accessed by a communications link or from a remote navigational aid such as a global positioning system (GPS) or other navigational satellite or aid, via a receiver. The processor can also be adapted for identifying from a locally- or remotely-stored data set of possible destinations a most-reachable or otherwise desirable destination, based at least in part, for example, on a determined position and consideration of a current. The processor can further be adapted for determining a course from the position to the desirable destination in view of the currents and/or other information. The controller can be adapted for providing signals useful for controlling at least one of the propulsion system and the steering system, to cause the self-navigating vessel to navigate the determined course to the desired destination.

[0007] Self-navigating vessels according to the invention can comprise power supply systems adapted for powering the navigation system, the propulsion system, the steering system, and/or other systems, such as heating, water purifying, communications, and other survival or comfort control systems. Power supply systems in accordance with the invention can comprise systems recovering energy from environmental energy sources, including for example one or more solar- or wind-energy collectors such as solar panels and/or wind-driven electrical generators. [0008] In other embodiments, the invention provides methods and further components, including software, for implementing the functions and processes described herein. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The invention is illustrated in the figures of the accompanying drawings, which are meant to be exemplary and not limiting, and in which like references are intended to refer to like or corresponding parts. [0010] Figure 1 is a schematic view of control components of a self-navigating vessel in accordance with a preferred embodiment of the invention.

[0011] Figure 2 is a schematic diagram of a process for controlling a self- navigating vessel in accordance with the invention.

[0012] Figure 3 is a schematic perspective view of a preferred embodiment of a self-navigating vessel according to the invention.

[0013] Figure 4 is a schematic sectional view of a preferred embodiment of a self-navigating vessel according to the invention.

[0014] Figure 5 is a schematic diagram of a wind-driven generator suitable for use with a self-navigating vessel according to the invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] Preferred embodiments of methods, systems, and apparatus according to the invention are described through reference to the drawings.

[0016] Figure 1 is a schematic view of an apparatus 150 comprising control and other components of a self-navigating vessel in accordance with a preferred embodiment of the invention, suitable for installation and use in, for example, a vessel such as a lifeboat or other watercraft. With modifications which will appear immediately to those of ordinary skill in the art, once they have been made familiar with this disclosure, the components shown in Figure 1 and the principles by which they operate, as disclosed herein, are readily adaptable for use in a wide variety of vessels, including spacecraft, aircraft, submarine craft, and terrestrial vehicles of many types.

[0017] Apparatus 150 shown in Figure 1 comprises a navigation system 200, a propulsion system 104, a steering system 106, and a power supply system or apparatus 300 for recovering energy from environmental energy sources such as solar energy collector 302 and/or wind-driven electrical generator 322, and for powering propulsion system 104, steering system 106, and/or navigation system 200.

[0018] Navigation system 200 can comprise a receiver 204 for receiving from a remote source data useable in determining a position of the self-navigating vessel; a processor 206 for determining a position of the self-navigating vessel using the received data, identifying a destination for the self-navigating vessel, and determining a course from the position to the destination; and a controller 208 for providing signals for controlling at least one of the propulsion system 104 and the steering system 106 to cause the self-navigating vessel to navigate the determined course to the identified destination.

[0019] Receiver 204 of navigation system 200 may comprise system(s) or device(s) of any type suitable for obtaining or otherwise providing data useful in determining the position of the self-navigating vessel from a remote source. For example, receiver 204 can comprise one or more antennae and/or other components suitable for receiving and processing data provided by a satellite or other apparatus as part of a GPS or long-range radio navigation system (such as LORAN or TACAN). A wide number of systems and devices suitable for use as receivers 204 in implementing the invention are known, and will doubtless hereafter be conceived and developed. The selection of suitable components will not present difficulty to the designer of ordinary skill in the art who has been made familiar with this disclosure.

[0020] As an alternative, or in addition, to the use of receiver(s) 204 obtaining position data from remote sources, data provided or derived locally may also be used. By way of example, processor 206 can be adapted for determining the position of the self-navigating vessel based on input received from an operator of the navigating system and derived from manually-performed solar or celestial navigation, dead reckoning, etc. For example, a user of or passenger in a self-navigating vessel according to the invention can determine the position of the vessel by traditional celestial navigation, and can use one or more input/output devices such as a keyboard 510 and/or display screen 516, and/or a mouse, trackball, or other pointing device to provide the position data to processor 206. In some cases, it can be advantageous to employ both remotely-acquired and locally-derived position data, as for example for use in a cross-check in confirming a position determined using data from one source or the other. [0021] Processor 206 of navigation system 200 is adapted for: (a) determining a position of the self-navigating vessel using position data provided by receiver 204 and/or input by a user of input/output devices 510, 516; (b) identifying a destination for the self-navigating vessel; and (c) determining a course from the position to the identified destination. Processor 206 can perform these functions in any manner consistent with the objects and purposes disclosed herein. For example, processor 206, upon receiving data from receiver 204, can use spherical trigonometry or other mathematical algorithms to determine a present position of the self-navigating vessel. Techniques relating to use of computers and other processors to determine global positions of vessels are well understood; many such techniques are now known and will doubtless hereafter be conceived and developed. The selection of suitable position-determining techniques using processor 206 will not present difficulty to those of ordinary skill in the art, once they have been made familiar with this disclosure. [0022] Processor 206 can comprise any one or more data processor(s), computer(s), and/or other system(s) or device(s), and necessary or desirable input/output, communications, control, operating system, and other devices, including software, that are suitable for accomplishing the purposes described herein. For example, a general-purpose data processor provided on one or more circuit boards, as provided by Intel, IBM, Compaq, and a number of other producers, using a UNIX, Apple, or Microsoft general-purpose operating system and suitable navigation application software programs, will suffice. A large number of suitable devices, including many adapted for long-term exposure to corrosive environments, are now available and will doubtless hereafter be conceived and developed. The selection of suitable components to serve as and/or with processors 204, including support and control components and software, in accordance with the invention, will not present difficulty to those of ordinary skill in the art once they have been made familiar with this disclosure.

[0023] In some embodiments, including, for example, in lifeboats and other applications intended to be operable by unskilled navigators, it can be advantageous for processor 206 automatically to determine a desirable destination for the self- navigating vessel, and to issue suitable control commands to propulsion, steering, and or other systems to cause the vessel to navigate toward the determined destination. Figure 2 is a schematic diagram of a process 600 for suitable for implementation by a processor 206 in controlling a self-navigating vessel in such fashion.

[0024] At 601 a user of a navigation system 200 activates the system 200, including processor 206. For example, in a lifeboat embodiment intended for use by survivors or castaways unskilled in navigation, an operator of the system 200 activates the system by, for example, activating a switch. Alternatively, the system 200 can be activated automatically, using for example a switch responsive to placement of the self-navigating vessel in water. [0025] Upon being activated, processor 206 at 602 receives or otherwise obtains from a receiver 204 data useful in determining the position of the self- navigating vessel. For example, processor 206 receives formatted data indicating a global position of the self-navigating vessel from a GPS or other navigational satellite. [0026] At 604 processor 206, using the data acquired at 602, determines the vessel's present position, using suitable navigation algorithms such as those commonly used in conjunction with GPS and other navigational systems.

[0027] In a preferred lifeboat embodiment of the invention, processor 206 identifies a most-reachable or otherwise desirable destination from a set of destinations, based, at least in part, on the present position determined at 604 and a consideration of wind- and/or water-current data associated with the determined position. For example, at 606 processor 206 can determine whether wind current and/or water current information is available for the position determined at 604 and along possible or probable courses between the position and any possible desirable destinations. Such information can be available, for example, on board the vessel in non-volatile memory 222 or other memory associated with the processor 206, or in a remotely-stored database accessible over a public or private communications network, such as the Internet, using a modem 514, an antenna 518, and/or other suitable communications equipment. [0028] Wind current and/or water current information can be available or determinable for the exact position determined at 604 and any probable courses, or can be approximated, using interpolation, extrapolation, or other techniques, from information available for positions that are more- or less-closely related. Wind current and water current information suitable for use in implementing the invention can be obtained, for example, from an existing source, such as any of the databases available from the United States National Oceanographic and Atmospheric Administration (NOAA) and/or any other official or non-official source, or may be collected or determined for the purpose by an operator of a specialized database.

[0029] Alternatively, or in addition, local wind current and water current information can be determined using sensors and/or other devices provided on the self-navigating vessel. For example, a wide variety of wind-speed and wind-direction indicators, and water current and direction indicators, are known, and can be provided on a vessel according to the invention. Such sensors can be used to determine local wind current and/or water current speeds and directions, and to monitor them overtime, with appropriate data signals being provided to the processor 206. Similarly, remotely-located and/or remotely-operated sensors, including, for example, wind- and/or water-current sensors located on buoys, weather balloons, satellites, and the like, may be accessed remotely via modem 514 and antenna 518, and suitable data provided to processor 206.

[0030] If wind current and/or water current information for the determined position is available or can be determined using available information, at 608 processor 206 accesses the information and, if necessary, uses it to determine suitable wind current and water current data for the position determined at 604 and any probable courses to be navigated by the vessel.

[0031] At 610 processor 206 accesses a list of possible destinations, including, for example, a list of ports, harbours, or other havens that offer suitable shelter or are otherwise desirable for the occupants of the self-navigating vessel. For example, processor 206 can access a database in non-volatile memory 222 or other memory associated with processor 206, or a database or databases available remotely, using, for example, modem 514 and antenna 518, the database comprising for example a set of latitude and longitude coordinates for suitable ports or havens.

[0032] At 612 processor 206 determines (that is, identifies) a desired or other target destination. For example, processor 206 can, using the position determined at 604 and wind current and/or water current data accessed at 608, in conjunction with other applicable factors, determine a suitable haven reachable by the self-navigating vessel in a minimum amount of time. Factors used in determining the target destination can include, for example, expected or actual water currents and/or wind currents; storm and/or other weather conditions known or predicted to occur along suitable courses from the present position of the vessel to the target destination; suitability of possible destinations on geographic, political, or economic grounds; speed known or expected to be available from the self-navigating vessel in view of power available from power system(s) 300 and the output power of any propulsion system(s) 104; available endurance of the vessel in view of fuel and machinery limitations and the like; and expected endurance of the passengers of the vessel in view of the number of passengers aboard, the passengers' respective physical conditions, and the amount of food and other survival equipment available on the vessel. Methods for identifying a most-reachable or otherwise desirable target destination in view of such factors are well understood. Many are presently available and doubtless others will be conceived and developed hereafter. The selection of suitable methods to be used or implemented by processor 206 will not present difficulty to those of ordinary skill in the art, once they have been made familiar with this disclosure. [0033] As will be apparent to those of ordinary skill in the relevant arts, some destinations will, in any given circumstance, be more immediately accessible by the vessel, in view of the available speed and endurance of the vessel, local currents, and conditions anticipated along the course from the present position of the vessel to the target destination. In many circumstances, a number of destinations may not be practicably accessible at all, as for example where the destination is beyond the expected endurance of fuel available to the vessel or food available to its occupants, or where power available through the propulsion system 104 is insufficient to overcome wind and/or water currents anticipated on a course toward the destination. Preferred processors 204 are capable of discerning the most easily and/or most rapidly or efficiently accessible destinations, which may be referred to as most- reachable destinations, using suitable application programs and methodologies.

[0034] Desirable destinations can include, in addition to fixed geographic points such as ports or harbours, designated rendezvous points suitable for meeting with rescue or other vessels. Such rendezvous points may be set in advance, determined automatically by processor 206 and/or remote processors linked to processor 206 via a suitable communications device, or negotiated by such processors and/or operators of the vessel. For example, a meeting point for a rendezvous with a rescue vehicle may be determined by a coast guard or other rescue force and communicated to the processor 204 via antenna 518 and modem 514, or other suitable communications equipment, and processor 204 can use the rendezvous point as a stationary or moving target destination.

[0035] In determining a target destination, processor 206 may automatically identify and select a destination, or may present one or more choices for confirmation and/or selection by an operator of the self-navigating vessel. For example, a default destination selected by the system can be presented to and overridden by the operator, using input/output devices 510, 516, etc.; alternatively, a list of suitable destinations may be provided, together with a means for selection may be provided by the operator, using conventional interactive computer selection and identification methods.

[0036] Once a suitable target destination has been determined, processor 206 can determine a suitable course from the position determined at 604 to the selected destination. At 614 the processor 206 can cause a controller 208, which can include or consist of a portion of processor 206 itself, implementing suitable processes, to provide to propulsion system 104, steering system 106, and/or other systems signals suitable for causing the systems to navigate the vessel toward the target destination. For example, the processor 206 can cause signals to be sent to a propulsion motor 104A either directly or through a throttle control 104B, to cause the propulsion motor to propel the vessel forward at a desired speed; and/or to cause signals to be sent to rudder 106A either directly or through steering mechanism 106B, to cause the steering system to steer the vessel in a direction suitable for directing the vessel toward the port.

[0037] Preferably, as will be understood by those familiar with the relevant arts, processor 206 is adapted to take advantage, when appropriate, of favorable wind currents and/or water currents in causing the vessel to navigate toward the target destination. [0038] Processor 206 and/or controller 208 can provide control signals directly to propulsion system 104 and/or steering system 106, or can provide one or more outputs suitable for use by a passenger or user of the self-navigating vessel in manually navigating the vessel toward a desired destination. For example, one or more of a suitable course and/or speed or throttle setting can be output by the processor 206 to a display device 516, for use by the operator of the vessel in navigating the vessel toward the identified target destination.

[0039] As the self-navigating vessel proceeds toward the identified destination, at 616 processor 206 can periodically or occasionally compare the position determined at 604 to the position of the target destination. If the vessel has reached the target destination, the operator of the vessel may be so informed and the system fully-or partially de-activated. For example, signals causing propulsion system 104 to stop or slow down can be provided by processor 206/controIler 208. If the target destination has not been reached, the process 602 - 616 can be repeated as necessary, either in whole or in part.

[0040] Controller 208 of navigation system 200 can comprise any components or be implemented in any form consistent with the disclosure herein. For example, controller 208 can be provided as a separate processor or other device communicatively linked to processor 206, or can be implemented as an application program operating on processor 206.

[0041] As will be further understood by those of ordinary skill in the art, many or most of the processes performed by processor 206 in assessing possible target destinations, local/expected wind currents and/or water currents, and other conditions, and in selecting destinations, determining courses thereto, and/or providing control signals to propulsion system 104, steering system 106, and other systems can be performed by or shared with remotely-located processors not present on the self-navigating vessel, using suitable communications equipment such as modem 514 and antenna 581.

[0042] Propulsion system 104 of Figure 1 comprises any system(s) or device(s) suitable for propelling a self-navigated vessel in accordance with the disclosure herein. For example, propulsion system 104 can comprise one or more electric or hydrocarbon-fueled motors and propellers 104A, turbines and jets, or any other suitable device(s). Propulsion system 104 can further comprise throttle(s) 104B and other necessary or desired controls. Propulsion system 104 can also be adapted solely for automatic control by processor 206 and/or controller 208, solely for manual control by an operator of the vessel, or for control by any combination thereof consistent with the disclosure herein. A wide variety of propulsion systems suitable for use in implementing the invention are known, and will doubtless hereafter be conceived and developed. The selection of suitable systems will not present difficulty to those of ordinary skill in the art, once they have been made familiar with this disclosure. [0043] Steering system 106 of Figure 1 comprises any system(s) or device(s) suitable for steering a self-navigated vessel along a desired course in accordance with the disclosure herein. For example, steering system 106 can comprise one or more rudders 106A and steering controls 106B, and/or rudder(s) and tiller(s) 106C (see for example Figures 3 and 4). Steering system 106 can be adapted solely for automatic control by processor 206 / controller 208, solely for manual control by an operator of the vessel using, for example, course settings recommended by processor 206, or for control by any combination thereof consistent with the purposes disclosed herein. A wide variety of steering systems suitable for use in implementing the invention are known, and will doubtless hereafter be conceived and developed. The selection of suitable systems will not present difficulty to those of ordinary skill in the art, once they have been made familiar with this disclosure.

[0044] Power supply system or apparatus 300 of Figure 1 is adapted for recovering energy from environmental energy sources such as one or more solar energy collectors 302 and/or wind-driven electrical generators 322, and for powering propulsion system 104, steering system 106, and/or navigation system 200. Power supply system 300 can provide power directly to the desired systems, or indirectly by applying collected power to a battery 320 for storage and controlled output to the various desired systems. Power can be provided directly to desired components of the various systems, including, for example, processor 206, motor 104A, and/or rudder 106A; or to controllers such as power supply 215 associated with processor 206, controller 104E, and/or controller 106E.

[0045] Preferably, the various components of power supply system 300 are disposed in advantageous positions in vessels according to the invention. For example, solar panels 302 may be disposed in positions adapted for optimal exposure to available amounts of solar energy, and wind-driven generators 322 may be disposed so that their propellers receive the maximum possible exposure to available wind currents. Location of the various components of power supply system 300 can also be chosen for advantage in vessel stability and control. For example, batteries 320 are frequently available in relatively heavy configurations, and can, for example, be advantageously be placed in a position in a lower part of the hull of a lifeboat or other watercraft, in which position they can also be relatively well protected from the elements. See, for example, Figure 4. Location of the various power supply components can also be selected in order to protect the components, to the extent possible, from corrosion and other environmental conditions.

[0046] Power supply system 300 and its various components may be provided in any form suitable for implementing systems according to the disclosure herein. For example, a wide variety of solar collectors 302, wind-driven generators 322, and batteries 320 are known, and will doubtless hereafter be conceived and developed. The selection of suitable components and implementation of power supply systems 300 according to the invention will not present difficulty to those of ordinary skill in the relevant arts, once they have been made familiar with this disclosure.

[0047] Power supply system 300 can comprise solely environmental energy sources such as solar- and wind-power collectors 302, 322, or can be supplemented or replaced by alternative energy sources such as pre-charged electric batteries, stored hydrocarbon or other fuels, etc. The supplemental use of alternative energy sources can be used to extend the range, endurance, and or power output of propulsion systems powered by environmental energy sources. [0048] Power supplied by power systems 300 can also advantageously be used to power other systems, such as, for example, vessel heating, cooling, cooking, lighting, water purifying, and other survival or comfort control systems, including for example emergency and other radio communications systems.

[0049] Figures 3 and 4 are schematic perspective and sectional views, respectively, of a preferred embodiment of a self-navigating vessel according to the invention, namely, an autonomous watercraft useful, for example, as a lifeboat storable on a seagoing or large-lake vessel. Vessel 100 comprises hull 102, as well as propulsion system 104, steering system 106, navigation system 200, and power supply system 300 as disclosed herein. A large variety of suitable vessels and hulls 100, 102, and designs therefor, are presently available commercially, and can be successfully retrofitted or otherwise adapted for the purposes disclosed herein by those familiar with this disclosure. Likewise, those of ordinary skill in the relevant arts, upon being made familiar with this disclosure, will be enabled to design vessels and hulls specifically for implementation of the invention disclosed herein, using otherwise known or conventional principles and methods of vessel and hull design.

[0050] In the embodiment shown, watercraft 100 comprises a solar energy collector 302 having a plurality of extensible solar panels 304, extension of which causes exposure of solar cells 306. Extensible solar panels 304 can comprise one or more folding solar panels 308, the folding solar panel(s) comprising fixed portion(s) 309 and rotatable portion(s) 310 rotatable about hinge(s) or axis(es) 333. Rotatable portion(s) 310 can comprise two or more surfaces 311 , 312, each having solar cells 306 attached thereto, so that rotation of the rotatable portion(s) causes extension of the folding solar panel and exposure of solar cells attached to at least one of the surfaces. Preferably, both surfaces of rotatable portions 310, as well as all exposable surfaces of fixed portion(s) 309, comprise solar cells, so that optimal amounts solar energy can be collected, and used or stored in batteries 320, in view of prevailing weather and navigation conditions. For example, in calm, sunny conditions panel(s) 308 can be rotated about axis(es) 333 as shown by arrows 334, so that maximum energy can be collected while such conditions persist; in rougher conditions, the panel(s) 308 can be rotated to the closed position, as shown at 360, so that available energy may be collected while seaworthiness is improved and the possibility of damage to the panels 308 and/or the vessel 100 is minimized.

[0051] Collector(s) 302 may be slidable or otherwise movable along axes 355, so that conditions inside the vessel 100 can be optimized for the entrance, egress, comfort, and safety of occupants of the vessel 100, for example by allowing greater or lesser free flow of air to the interior of the vessel. [0052] Vessel 100 of Figures 3 and 4 further comprises a plurality of wind- driven generators 322 for providing electrical power generated using air currents. Generators 322 are disposed in nacelles 375 for protection and seaworthiness while stored. For use, nacelles 375 are manually or automatically opened and generators 322 manually or automatically extended on struts 376 into an air stream, so that rotation of propellers 344 by the movement of air across the propellers causes the generators to turn and produce a desired alternating or direct current. Components such as generators, propellers 344, and extendible struts 376 suitable for use in implementing wind-driven generators 322 are well understood, and many such components are now available and will doubtless hereafter be conceived and developed. Design and/or selection of suitable components will not present difficulties to those of ordinary skill in the relevant arts, once they have been made familiar with this disclosure. [0053] As shown in Figure 5, nacelles 375 comprise hinged covers 377 and recesses 378, which can be adapted for accommodation and support of generators 322 and struts 376. For deployment, generator 322 and strut 376 can be rotated out of the nacelle about hinge 395, as shown by arrow 396. One or more of the blades of propellers 344 can be rotatable, e.g., in the direction of arrow 390, so that the propellers can be collapsed for more efficient storage. Moreover, strut 376 can be adapted for telescopic extension along axis 391 , so that generator 322 can be extended further into an available air current; generator 322 can also be fixably rotatable about the strut, as shown by arrow 392, so that the generator can be oriented with respect to a prevailing wind for optimal power production. For storage, rotatable propeller blades may be rotated into a folded position, strut 312 collapsed, and the generator assembly 322, 376 rotated about hinge 395 into recess 378; and cover 377 closed and secured.

[0054] While the invention has been described and illustrated in connection with specific, presently-preferred embodiments, many variations and modifications may be made without departing from the spirit and scope of the invention. The invention is therefore not to be limited to the exact components or details of methodology or construction set forth above. Except to the extent necessary or inherent in the processes themselves, no particular order to steps or stages of methods or processes described in this disclosure, including the Figures, is intended or implied. In many cases the order of process steps may be varied without changing the purpose, effect, or import of the methods described. The scope of the claims is to be defined solely by the appended claims, giving due consideration to the doctrine of equivalents and related doctrines.

Claims

CLAIMSI claim:

1. A watercraft comprising: a hull; a propulsion system; a steering system; a navigation system comprising: a receiver for receiving from a remote source data useable for determining a position of the watercraft; a processor for determining a position of the watercraft using data from the receiver, and for identifying a destination as a most-reachable destination from a set of destinations, based at least partly on a determined position and consideration of a current, and for determining a course from the position to the most-reachable destination; and a controller for providing signals for controlling at least one of the propulsion system and the steering system, to cause the watercraft to navigate the determined course to the most-reachable port; and apparatus for recovering energy from an environmental energy source and for powering the propulsion system and the navigation system.

2. A watercraft comprising: a hull, a propulsion system, and a steering system; a navigation system for controlling at least one of the propulsion system and the steering system to autonomously navigate the watercraft to a destination; and a system for recovering energy from an environmental energy source and for powering at least one of the propulsion system and the navigation system.

3. The watercraft of claim 2, wherein the navigation system is adapted for autonomously selecting the destination from a set of destinations.

4. The watercraft of claim 2, wherein the navigation system is adapted for identifying a destination as a most-reachable destination from a set of destinations.

5. The watercraft of claim 4, wherein the identification of the most-reachable destination is based at least partly on consideration of a current.

6. The watercraft of claim 5, wherein the current is at least one of a wind current and a water current.

7. The watercraft of claim 2, wherein the environmental energy source comprises at least one of solar energy and wind energy.

8. The watercraft of claim 2, wherein the system for recovering energy from an environmental energy source comprises a solar energy collector having a plurality of extensible solar panels, extension of the extensible solar panels causing exposure of solar cells.

9. The watercraft of claim 8, wherein the plurality of extensible solar panels comprises at least one folding solar panel, the folding solar panel comprising a fixed portion and a rotatable portion, the rotatable portion comprising at least two surfaces having solar cells attached thereto, wherein rotation of the rotatable portion causes extension of the folding solar panel and exposure of solar cells attached to at least one of the surfaces.

10. The watercraft of claim 2, wherein the system for recovering energy from an environmental energy source comprises one or more batteries for storing electrical energy generated using the environmental energy source.

11. The watercraft of claim 2, wherein the system for recovering energy from an environmental energy source comprises one or more wind-driven electrical generators.

12. A watercraft comprising: a hull, a propulsion system, and a steering system; a navigation system for controlling at least one of the propulsion system and the steering system, the navigation system comprising a receiver for receiving from a remote source data useable for determining a position of the watercraft; a system for recovering energy from an environmental energy source and for powering the receiver.

13. The watercraft of claim 12, wherein the receiver for receiving data from a remote source comprises a global positioning system.

14. The watercraft of claim 12, wherein the navigation system comprises a processor for causing the watercraft to autonomously navigate a course toward a destination.

15. The watercraft of claim 12, wherein the navigation system comprises a processor for selecting from a set of destinations a most-reachable destination, and for causing the watercraft to autonomously navigate a course toward the most- reachable destination.

16. A watercraft comprising: a hull, a propulsion system, and a steering system; a navigation system comprising a processor for providing data useable for controlling at least one of the propulsion system and the steering system; a solar energy system; and a wind-driven electrical generator system; the solar energy and wind-driven electrical generator systems for powering at least one of the propulsion system and the navigation system.

17. The watercraft of claim 16, wherein the solar energy system and the wind- driven electrical generator system comprise one or more batteries for storing electrical energy generated thereby.

18. A navigation system for a watercraft having a propulsion system and a steering system, the navigation system comprising: a receiver for receiving from a remote source data useable for determining a position of the watercraft; a processor for determining a position of the watercraft using data from the receiver, and for identifying a destination as a most-reachable destination from a set of destinations, based at least partly on a determined position and consideration of a current, and for determining a course from the position to the most-reachable destination; and a controller for providing signals to control at least one of a propulsion system and a steering system, and thereby to cause the watercraft to navigate the determined course from the position to the most-reachable destination.

19. The navigation system of claim 18, wherein the current is at least one of a wind current and a water current.

20. The navigation system of claim 19, wherein the current is measured by a sensor communicatively linked to the processor, the sensor aboard the watercraft.

21. The navigation system of claim 19, wherein the current is measured by a sensor communicatively linked to the processor from a remote source.

22. The navigation system of claim 18, wherein the destinations are selected from at least one of a set of pre-defined destinations stored in memory associated with the processor and a set of destinations received from a remote source.

23. The navigation system of claim 18, wherein the receiver comprises a global positioning system.

24. The watercraft of claim 18, wherein the navigation system is adapted to be powered by a system providing energy recovered from an environmental energy source.

25. The navigation system of claim 24, wherein the environmental energy source comprises at least one of solar energy and wind energy.