Automatic reefing

Abstract

The present disclosure relates to a device (150) and a method for controlling reefing of a wind engaging unit (101) of a wind propulsion mechanism (100) of a vessel (1), the wind propulsion mechanism (100) comprising a wind engaging unit with at least one movable part (120), and a base (20) connected to the wind engaging unit (101) and to a body of the vessel, wherein the method comprises the steps of: determining (S101) a wind speed (TWS, AWS) experienced by the wind engaging unit (101); determining (S102) whether the wind speed (WS, TWS, AWS) exceeds one or more thresholds (T) determined for the wind engaging unit (101); and if so, controlling (S103, S101) the at least one movable part (120) of the wind engaging unit (101) to be displaced relative to the base.

Description

[Technical Field]

[0001] The present disclosure relates to a device method for controlling reefing of a wind-engaging unit configured for propelling a vessel, and a controller device for implementing the method. The present disclosure further relates to a computer program comprising computer-executable instructions that, when executed on a processing unit included in the device, cause the device to perform the steps of the method. Furthermore, the present disclosure relates to a computer program product comprising a computer-readable medium, the computer-readable medium having a computer program embodied therein. [Background technology]

[0002] Wind propulsion of ships by using wind-engaging units in the form of sails configured to provide thrust has long been known as a means of propelling vessels, such as ships. Traditionally, flexible sails have been attached to masts to harness wind power and propel the vessel. Current commercial ships generally use fossil fuels and combustion engines to propel the vessel.

[0003] The use of wind propulsion has been suggested to reduce overall fossil fuel consumption. To this end, rigid sails can be used. The amount of power generated is related to many interlocking factors, but the wind-engaging area and other geometric and aerodynamic characteristics of the wind-engaging unit configured for propulsion are key performance indicators.

[0004] Wind engaging units for ships can be designed in many different ways, but what most of them have in common is that they must be able to reduce the wind engaging area, i.e., they must be able to reef the wind engaging unit when the wind speed becomes too high. This can preserve the structural integrity of the sail itself and / or maintain the safety of the ship's operation, i.e., it must be possible to avoid, for example, too high a heel angle and still maintain the maneuverability of the ship.

[0005] Reefing becomes a problem when large wind-engaging units are used. Therefore, the units must be designed to compensate for changing wind speeds. To improve the safety of wind-propelled vessels, a safe reefing system that can reliably accommodate changing weather conditions is desirable. Summary of the Invention [Problem to be solved by the invention]

[0006] The development in the industry is moving towards fully automated sail rigging systems. To ensure the safety of ships, automated sail rigging systems will need to have an automated sail reefing function. One object of the present disclosure is to solve or at least alleviate this technical problem and to provide an improved method for controlling the reefing of a ship's wind engaging unit. [Means for solving the problem]

[0007] According to the present disclosure, the above problems are solved by a device method for controlling reefing of a wind-engaging unit of a wind-propulsion mechanism of a ship, the wind-propulsion mechanism including a wind-engaging unit having at least one movable part, and a base connected to the wind-engaging unit and the main body of the ship, wherein the method includes the steps of determining a wind speed experienced by the wind-engaging unit, determining whether the wind speed exceeds one or more thresholds determined for the wind-engaging unit, and if so, controlling the at least one movable part of the wind-engaging unit to be displaced relative to the base, such that when the sail is reefed by displacing the at least one movable part of the wind-engaging unit relative to the base, a load on the wind-engaging unit and the base can be reduced.

[0008] The first determining step further includes determining a force and / or torque acting on the wind engagement unit, and the second determining step further includes determining whether the force and / or torque exceed one or more thresholds determined for the wind engagement unit, and if so, performing a controlling step.

[0009] The wind-engaging unit may comprise a main wingsail and a flap, the flap being rotatable about a first longitudinal axis of rotation. The first longitudinal axis of rotation is different from the axis of rotation of the unit, about which the entire wind-engaging unit can rotate. The method step of controlling at least one movable part of the wind-engaging unit may then include controlling the flap to rotate about the first longitudinal axis of the wind-engaging unit. In this way, the area of ​​the wing-sail unit facing the wind may be effectively reduced.

[0010] In a first step, controlling the flap may include rotating the flap about a first longitudinal axis toward the main wing sail to a folded position. In a second step, controlling to displace at least one movable part of the wind engagement unit may include pivoting the wind engagement unit about a rotation axis horizontal to the base toward the main body of the vessel to an inclined position. The first step may be based on a first threshold and / or time point, and the second step may be based on a second threshold and / or time point. The first threshold in wind speed and / or force and / or torque may be lower than the second threshold in wind speed and / or force and / or torque.

[0011] Determining the threshold value may be based on the determined apparent wind speed and may include filtering the measured and / or calculated apparent wind speed using one or more of a time constant, a filter algorithm, and / or weighting the wind speed with wind data from a plurality of different positions of the wind engaging unit.

[0012] The determination of the threshold value may be based on measured true wind speed and / or may be based on a calculation based on true wind speed and at least one of vessel speed, speed increase, maximum vessel speed, maximum vessel speed if the vessel were heading straight into the wind, and true wind angle range.

[0013] The step of controlling at least one movable part of the wind engaging unit may be performed only if the true wind angle of the wind engaging unit is determined to be within a predetermined range.

[0014] The method may further include alerting an operator of the vessel that the wind speed exceeds a threshold.

[0015] The present disclosure also relates to a computer program comprising computer-executable instructions that, when executed on a processing unit included in a device, cause the device to perform the steps set out above.

[0016] The present disclosure also relates to a computer program product comprising a computer readable medium, the computer readable medium having the above-mentioned computer program embodied thereon.

[0017] The present disclosure also relates to a controller device configured to control reefing of a wind-engaging unit of a wind-propulsion mechanism of a ship, the wind-propulsion mechanism comprising: a wind-engaging unit having at least one movable part; and a base connected to the wind-engaging unit and to a body of the ship. The controller device comprises a processing unit and a memory, the memory including instructions executable by the processing unit. The controller device is operable to acquire wind speed data from the wind-propulsion mechanism associated with wind speeds experienced by the wind-engaging unit, determine based on the acquired wind speed data whether the wind speed exceeds one or more thresholds (T) determined for the wind-engaging unit (101), and if so, control at least one movable part of the wind-engaging unit to be displaced relative to the base.

[0018] The wind engagement unit may comprise a main wing sail and a flap, which is rotatable about a first longitudinal axis of rotation, and the controller device is then operable to further control the flap to rotate about the first longitudinal axis of the wind engagement unit.

[0019] The controller device may be further operable to control the flaps to rotate about a first longitudinal axis to a folded position, toward the main wing sail, in a first step, and / or to pivot about a horizontal axis of rotation relative to the base, toward the body of the vessel, to a tilted position, in a second step. The first step may be based on a first threshold and / or time point, and the second step may be based on a second threshold and / or time point, and the first threshold in wind speed and / or force and / or torque may be lower than the second threshold in wind speed and / or force and / or torque.

[0020] The controller device is operable to determine a threshold value based on the determined apparent wind speed and to filter the measured and / or calculated apparent wind speed using one or more of a time constant, a filter algorithm, and / or weighting the wind speed with wind data from a plurality of different positions of the wind engaging unit.

[0021] The controller device may be operable to determine a threshold value based on the measured true wind speed and / or based on a calculation based on the true wind speed and at least one of the vessel speed, speed increase and maximum vessel speed, maximum vessel speed when the vessel is heading straight into the wind, and true wind angle range, and to control at least one movable part of the wind engaging unit only if the true wind angle of the wind engaging unit is determined to be within a predetermined range.

[0022] The controller device may be operable to alert the vessel operator that the wind speed exceeds a threshold, so that the vessel's crew can be alerted to automatic reefing.

[0023] In general, all terms used in the claims should be interpreted according to their ordinary meaning in the art unless expressly specified otherwise. All references to "a / an / the element, apparatus, component, means, step, etc." should be interpreted broadly to refer to at least one instance of the element, apparatus, component, means, step, etc., unless expressly stated otherwise. The steps of any method disclosed herein do not have to be performed in the exact order disclosed, unless expressly stated otherwise.

[0024] Aspects and embodiments will now be described, by way of example, with reference to the accompanying drawings, in which: [Brief explanation of the drawings]

[0025] [Figure 1] 1 illustrates a vessel in which embodiments may be implemented; [Figure 2] 10A and 10B show a wind engagement unit according to an embodiment. [Figure 3] 3 shows the wind engagement unit of FIG. 2 in a folded position as viewed from above. [Figure 4] FIG. 10 illustrates a tilted wind engaging unit for a vessel according to an embodiment. [Figure 5] 1 is a flow diagram illustrating a method for controlling reefing of a wind engagement unit of a ship according to an embodiment. [Figure 6] 10 is a flow diagram illustrating a method for controlling reefing of a wind engagement unit of a vessel according to another embodiment. [Figure 7] 10 is a flow chart illustrating a method for controlling reefing of a wind engagement unit of a vessel according to a further embodiment; [Figure 8] 13A-13C show reefing of a wind engagement unit according to a further embodiment; [Figure 9]10A-10C illustrate a device configured to perform reefing of a wind engagement unit according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0026] Aspects of the present disclosure will now be described more fully hereinafter with reference to the accompanying drawings, in which several embodiments of the invention are shown.

[0027] These aspects may, however, be embodied in many different forms and should not be construed as limiting; rather, these embodiments are provided as examples so that this disclosure will be thorough and complete, and will fully convey the scope of all aspects of the invention to those skilled in the art. Like numbers refer to like elements throughout the description.

[0028] FIG. 1 shows a watercraft 1 on which embodiments may be implemented. In this embodiment, the watercraft 1 comprises three wind-assisted propulsion mechanisms 100, each comprising a wind-engagement unit 101 and a base 20 connected to the wind-engagement unit 101. The bases can be directly or indirectly fixed to the body 3 of the vessel, i.e., the bases can be directly connected to the vessel's deck, for example, or can be an intermediate structure between the wind-engagement unit and the vessel's deck. In the embodiment shown, the wind-engagement units are in the form of a wing-sail configuration. Each of the wind-engagement units 101 comprises a main wing-sail 110 and a trailing-edge flap 120. The trailing-edge flap can have different dimensions from the main wing-sail; in the example shown, it is smaller than the main wing-sail. The wind-engagement units 101 are indicated by dashed rectangles in relation to the intermediate wind-propulsion mechanisms 100. In the embodiment shown, two connecting members, namely an upper connecting member 130 and a lower connecting member 140, are used to connect the main wing-sail 110 and the trailing-edge flap 120.

[0029] Although the vessel 1 of Figure 1 is equipped with three wing sail mechanisms 101, it would generally be possible to operate the vessel 1 using a single wing sail mechanism or multiple wing sail mechanisms, such as two to eight, but this is not limiting. The number of wing sail mechanisms is appropriately adapted to the size and type of vessel. In the example shown, both the main wing sail 110 and the flap 120 are rigid or semi-rigid, meaning that they have some degree of flexibility.

[0030] Each wind propulsion mechanism 100 comprises a base 20 which can be fixed directly or indirectly to the deck 3, i.e. to the body of the ship 1. The body of the ship can therefore comprise a structure which is fixed to the deck or is part of the deck. The wind-engaging units 101 are rotatably connected to the base 20 via a longitudinal unit rotation axis 125, which allows rotation of the entire wind-engaging unit 101 relative to the base 20, as indicated by the two arrows RU on the leftmost wind-propulsion mechanism 100. In this way, the wind-engaging units 101 can be oriented in an appropriate way in the direction of the wind.

[0031] In FIG. 1 , the wind-engaging unit 101 is shown in an upright position, where the main wing sail 110 and the flap 120 are angled relative to each other to form a camber C, as shown for the rightmost wind propulsion mechanism 100. In the propulsion position, the wind-engaging unit has a constant wind-engaging area provided by the surfaces of the main wing sail 110 and the flap 120. By wind-engaging area, we mean the area of ​​the wing sail in the wind-engaging unit that acts on the wind to provide propulsion for the vessel, and is therefore exposed to wind loads. By changing the angle of the flap 120 relative to the main wing sail 110 and by rotating the wind-engaging unit 101 about its axis of rotation 125 relative to the base, the entire wind-engaging unit can be adjusted for all possible angles of incoming wind. Thus, the entire wind-engaging unit can be rotated toward the wind in the propulsion position, for example, so that the concave surface of the camber faces the wind, or so that the main wing and flap are aligned.

[0032] Generally, when the wind speed becomes stronger than a threshold, it may be necessary to reef the wind-engaging unit. By reefing, we mean reducing the wind-engaging area, or the area projected in the direction of the oncoming wind. When the area projected in the direction of the wind is adjusted and reduced, the wind load on the wind-engaging unit is reduced. When reefing, at least one movable part of the wind-engaging unit is displaced relative to the base to reduce the load on the wind-engaging unit and the base.

[0033] According to an embodiment, the flap 120 is displaced relative to the base 20, and the flap is included in at least one movable part of the wind-engaging unit 101. Figure 1 shows an example of a flap 120 configured to rotate about a first longitudinal axis of rotation 111 with respect to the intermediate wind-engaging unit 101. The flap 120 can be configured to rotate both clockwise and counterclockwise about the first longitudinal axis of rotation 111. As shown in Figure 1, the first longitudinal axis of rotation 111 is different from the axis of rotation 125 of the unit.

[0034] Generally, and with reference to FIG. 1, the wind-engagement unit can be provided in a propelling position, a neutral position, and a folded position. When standing in a vertical (V) position, the entire wind-engagement unit 101 can rotate about a longitudinal unit rotation axis 125 to adjust its position relative to the surrounding wind. By rotating the flaps, they can be provided in various positions: a propelling position in which a camber C is created; a neutral position in which the main wing sail and flaps are continuously aligned with each other; and a folded position in which the flaps are moved toward the main wing sail to overlap the main wing sail in a projected side view. In the folded position, the lateral extension T of the wind-engagement unit is shorter than in the propelling or neutral positions.

[0035] 2, another embodiment of a wind propulsion mechanism 100 with a wind-engagement unit 101 is shown in an upright position in a propelled state. In this embodiment, the flap 120 is rotatable about a first longitudinal axis of rotation 111, which axis of rotation is located outside the periphery of the main wing sail 110 and the flap 120. The first longitudinal axis of rotation 111 is also different from the unit axis of rotation 125 in this embodiment. The first axis of rotation 111 is provided on a lower coupling member 140, which is connected to the main wing sail 110 and the flap 120. When the flap 120 rotates about the first axis of rotation to a position inclined relative to the main wing sail 110, the flap is displaced relative to the base 20 fixed to the body of the vessel. In this embodiment, the wind-engagement unit comprises several upper coupling members 130 along the height, i.e., along the longitudinal extension, of the main wing sail 110 and the flap 120.

[0036] 3 shows the wing sail unit 101 in a simplified view from above in the folded position. When the flap is folded towards the main wing sail 110, the flap 120 overlaps the main wing sail 110 in a projected view. In the folded position, the sidewalls of the flap 120 face the sidewalls of the main wing sail 110. That is, in the folded position, the flap rests on top of the main wing sail.

[0037] Each of the main wing sail 110 and the flap 120 has a so-called airfoil shape, which, when viewed in cross section from leading edge to trailing edge, i.e., from tip to trailing edge, presents a wing profile with an aerodynamic shape. An aerodynamic airfoil shape is advantageous because it can generate large forces over a large range of incidence angles. The shape can be asymmetric in said direction, but can also include symmetrical portions, or the shape can be a symmetrical airfoil. The airfoil shape can be defined, for example, according to the NACA standardization series, but the shape is not limited thereto.

[0038] In a scenario where the wingsail arrangement 100 is subjected to high winds, the safety of the vessel 1 may be at risk. The main problem with being subjected to large propulsive forces is that the wind engagement units 101 may not be able to withstand the large forces and moments generated by high wind speeds. Furthermore, the lateral forces generated by the wind engagement units may result in large heel angles, destabilizing the vessel. Therefore, it is important to be able to reduce the loads on the wind engagement units and the forces that destabilize the vessel.

[0039] With further reference to Figure 2, a device 150 for controlling the reefing of the wind-engagement unit 101 is shown. The device can use a method for reefing that is further shown in Figure 5 according to an embodiment. The device 150 is configured to control the displacement means 200, which can be, for example, hydraulic and / or electrical means. As shown in Figure 2, the device 150 can be located close to the wind propulsion mechanism 100, such as in this case being housed inside a hydraulic power unit of the displacement means 200, but alternatively it can be located anywhere on board the vessel, such as in a central management section of the vessel.

[0040] The displacement means 200 can displace a part of the wind-engaging unit 101, for example the flap 120 and / or the entire wind-engaging unit 101. The displacement means 200 can be configured to horizontally tilt the entire wind-engaging unit 101 around the horizontal tilt rotation axis 112 relative to the base 20.

[0041] 1 and 2, the wind propulsion mechanism 100, according to an embodiment, comprises at least one fluid actuator 118 configured to engage with at least one movable part for displacing it relative to the base 20. In FIG. 1, one actuator 118' is shown connected to the lower coupling member 140 of the wind-engagement unit for rotating the flap 120. In the embodiment shown in FIG. 2, one fluid actuator 118 is connected to the lower coupling member 140 and provides a first rotation axis for rotating the flap 120. A second fluid actuator 118' is connected to a shaft between the base and the wind-engagement unit, which shaft provides a second horizontal rotation axis 112 for tilting the wind-engagement unit 101 towards the body of the vessel to the tilted position shown in FIG. 4. The fluid actuators 118, 118' are connected via fluid conduits 119 to a fluid power unit of the displacement means 200 configured to supply fluid power to the fluid actuators 118, 118'. The fluid actuator 118, 118' is configured to engage at least one movable part for its displacement relative to the base. The movable part can be a flap 120 or the entire wind engaging unit 101. The base 20 is fixed to the body 3 of the vessel directly or indirectly via a structure that is in turn fixed to the body 3. When the flap 120 rotates relative to the main wing sail, it also rotates relative to the base 20.

[0042] FIG. 4 shows the wind engagement unit 101 in a tilted position. When tilted, the wind engagement unit is fully reefed and in a non-propelling position. In the tilted position shown, the flaps 120 are folded towards the main wing sail 110, as shown in FIG. 3, and therefore do not require space on the deck of the vessel. In the tilted position, the longitudinal axis L of the wind engagement unit extends substantially parallel to or approximately parallel to the deck, which extends in a horizontal direction H relative to the deck of the vessel 1, as shown in FIG. 4. The wind engagement unit 101 is suitably physically connected to the base 20 in the tilted position, for example via the actuators 118, 118′ and the fluid power unit 200, although for purposes of illustration, the base 20 is separated from the wind engagement unit 101 in FIG. 4.

[0043] 5 shows a flow diagram illustrating a method for controlling reefing of a wind-engagement unit of a vessel, according to an embodiment. In this example, the wind-propulsion mechanism 100 may be configured to include the wind-engagement unit 101 and the base 20, as described above with respect to FIGS. 1 to 4.

[0044] Typically, device 150 is implemented in the form of one or more microprocessors or similar devices having data computation capabilities.

[0045] 1 is a wind speed detector 160 located on the roof of the central control area of ​​the ship 1 for measuring the speed of the wind experienced by the wind-propulsion mechanism 100. There are several wind speed detectors on board the ship, which may be located in various locations on the ship. The wind speed detectors are connected to the control device 150, suitably via a wired connection, but in some cases via a wireless connection.

[0046] 5, in a first step S101, the device 150 determines the wind speed (WS) experienced by the wind propulsion mechanism 100. In this embodiment, the device 150 is in communication with a wind speed detector 160, which measures the wind speed and provides the measured wind speed value to the device 150 configured to accept it.

[0047] In step S102, the device 150 determines whether the measured wind speed exceeds a threshold T, i.e., WS>T, where the threshold is set such that if the measured wind speed exceeds the threshold T, the wind speed is considered to be too high and the wind-engaging area of ​​the wind-engaging unit 101 should be reduced, and therefore the sail should be reefed. In this example, it is assumed that WS>T.

[0048] To achieve reefing, in step S103, the device 150 controls and displaces at least one movable part of the wind-engaging unit 101 relative to the base in order to reduce the load on the wind-engaging unit 101.

[0049] In an embodiment, the movable part is a flap 120, and the device 150 controls the flap 120 to rotate about the first longitudinal axis 111 of the wind engagement unit 101. The flap can be rotated to a neutral position where the flap can be aligned with the main wing sail. The entire wind engagement unit 101 can be rotated to an angle where the wind engagement area facing the wind is minimized. Alternatively, the flap can be controlled to rotate about the first longitudinal axis 111 in the direction of the main wing sail 110 to a retracted position shown in Figure 3 as a first step in reefing. In this way, the wind engagement area is effectively reduced.

[0050] As will be appreciated, if the wind speed decreases below threshold T, device 150 can control the rotation of flap 120 to rotate it back to the unfolded propelled position about first longitudinal axis of rotation 111, again increasing the wind-engaging area of ​​wind-receiving unit 101. Furthermore, if WS≦T, then folding of flap 120 is typically not necessary.

[0051] 2, only a single wind speed detector 160 is shown, device 150 may be in communication with multiple wind speed detectors located at various locations on the vessel. The wind propulsion mechanism may be equipped with wind speed detector 160. The measured wind speed values ​​of the multiple wind speed detectors may be weighted by device 150 to form a wind speed reading for controlling folding, as described previously herein, such as to form an average wind speed value.

[0052] 2, the wind speed detector 160 will detect what is generally referred to as "apparent wind," i.e., the wind actually experienced by the wind propulsion mechanism 100 and / or wind engagement unit 101, which is defined as the "true wind" plus the motion (speed, course, roll, etc.) of the vessel 1; however, the true wind may alternatively take into account the control of reefing, including the folding of the flaps 120 and the tilting of the entire wind engagement unit. In other words, the true wind is the wind that the wind speed detector 160 would experience if the vessel 1 were completely stationary. Thus, the true wind speed and angle can be calculated from the measured apparent wind speed by utilizing information about the motion of the vessel 1 (primarily the course and speed of the vessel 1). Thus, in step S102, the apparent wind speed (AWS) is calculated to be greater than or equal to a threshold T AWS , the device 150 may alternatively determine in step S102 whether the true wind speed (TWS) exceeds a threshold T TWS It can be determined whether the apparent wind speed (AWS) has been exceeded. The threshold determination in step S101 can therefore be based on the determined apparent wind speed (AWS) and can include filtering the measured and / or calculated apparent wind speed (AWS) using one or more of a time constant, a filter algorithm, and / or weighting the wind speed with wind data from a plurality of different positions of the wind engagement unit (101). Alternatively, the threshold determination S101 can be based on the measured true wind speed (TWS) and / or a calculation based on the true wind speed (TWS) and at least one of the vessel speed, speed increase (when the vessel is heading straight into the wind), maximum vessel speed, maximum vessel speed when the vessel is heading straight into the wind, and true wind angle (TWA) range.

[0053] In a further embodiment, assuming that the folding of the flap 120 relative to the main wing sail 110 does not sufficiently reduce the wind-engaging area of ​​the wind-engaging unit 101 that is exposed to the wind, the control device 150 can be configured to control the wind-engaging unit in a second step to pivot the wind-engaging unit 101 toward the main body of the vessel about the horizontal rotation axis 112 relative to the base 20 to a tilted position. The first step can be based on a first threshold (T1) and / or a time point, and the second step can be based on a second threshold (T2) and / or a time point. The first threshold (T1) in wind speed (AWS, TWS) can be lower than the second threshold (T2) in wind speed (AWS, TWS). In this way, the entire wind-engaging unit is tilted only when a wind speed higher than that required for folding is measured by the detector. Therefore, the flexibility of the wind propulsion mechanism can be improved, and a high level of safety is guaranteed.

[0054] This embodiment is illustrated in a flow diagram in Figure 6. In a first step S101, the device 150 determines the wind speed (WS) experienced by the wind propulsion mechanism 100. As with the embodiment of Figure 5, the device 150 is in communication with a wind speed detector 160, which measures the wind speed and provides the measured wind speed value to the device 150 configured to receive it.

[0055] In step S102, the device 150 determines whether the measured wind speed exceeds a first threshold T1, i.e., WS>T1, where the threshold is set such that if the measured wind speed exceeds the threshold T1, the wind speed is considered to be too high and the wind-engaging area of ​​the wind-engaging unit 101 should be reduced, and therefore, reefed. In this example, it is assumed that WS>T1. The wind speed and threshold may be determined as apparent or true wind speed, or as some other suitable measure of wind speed.

[0056] To achieve reefing, the device 150 controls in step S103 the flap 120 of the wind-engagement unit 101 to be displaced relative to the base in order to reduce the load on the wind-engagement unit 101. The device 150 therefore controls the flap 120 to rotate about the first longitudinal axis 111 of the wind-engagement unit 101 to a retracted position as a first step of reefing.

[0057] If the measured wind speed also exceeds a second threshold T2, which is higher than the first threshold T1, the wind speed is also deemed too high for the flaps in the wind-engaging unit to be folded. In that case, the wind-engaging area of ​​the wind-engaging unit 101 should be further reduced, and therefore it should be fully reefed. In this example, it is assumed in step S104 that WS>T2, and as a second step, in step S105, the device 150 controls the wind-engaging unit 101 to pivot to a tilted position about the rotation axis 112 horizontal with respect to the base 20 toward the main body of the vessel. As will be appreciated, tilting in step S105 will significantly reduce the propulsive force compared to the folding of the flaps 120 performed in step S103. As previously mentioned, the wind speed and thresholds can be determined as apparent or true wind speeds, or as some other suitable wind speed measure.

[0058] A two-step approach is shown in FIG. 6 , in which the folding of the flap 120 is first performed in step S103, followed by tilting the wind propulsion mechanism 100 in step S105, but if the measured wind speed significantly exceeds the threshold T, it may also be considered that the wind speed engagement unit 101 is already tilted in step S103 and the folding of the flap 120 is not performed.

[0059] Further in an embodiment, as shown in the flow chart of Figure 7, if the wind speed exceeds a threshold, i.e., WS>T, T1 or T2 in either step S102 or step S104, the device 150 will send a warning to the operator of the vessel 1 that the threshold has indeed been exceeded (and therefore reefing, i.e., folding / heeling, will be performed automatically). This may be done audibly and / or visually, such as via the vessel's human-machine interface (HMI).

[0060] Although wind speed measures in the form of apparent wind speed (AWS) and true wind speed (TWS) have been discussed herein above, other wind speed measures may also be considered.

[0061] In an embodiment, both TWS and vessel speed are taken into account, where folding, i.e., folding of flaps, tilting of wind engagement units, or both, is performed if TWS+vessel speed>T, where T is an appropriately selected threshold value, which is the highest wind speed that the wind propulsion mechanism 100 may experience if the vessel 1 turns into the strongest wind at a constant vessel speed.

[0062] In an embodiment, both TWS and maximum boat speed are considered, where folding is performed if TWS+maximum boat speed>T, where T is an appropriately selected threshold. This is the highest speed at which the wind propulsion mechanism 100 can experience a certain TWS, i.e., the highest speed at which the boat 1 turns into the strongest wind and boat speed is at its maximum.

[0063] In a further embodiment, the true wind angle (TWA) is considered, i.e., the angle at which the wind strikes the wind propulsion mechanism 100 when the vessel is considered to have zero speed. The true wind angle can be combined with the wind speed measures discussed above to determine whether to implement reefing in the form of folding flaps and / or tilting wingsails.

[0064] In an embodiment, folding or listing is performed if TWS+vessel speed>T and TWA is within a predefined range, such as between appropriately selected angles α and β (e.g., a range that can be reached relatively quickly with only small course adjustments). Similarly, the TWA range can be added as a condition for folding and / or listing to the examples given above where vessel speed and maximum vessel speed are considered.

[0065] 8 shows an embodiment in which the true wind angle is taken into account, and in step S102, if the wind speed exceeds a threshold, i.e., W > T, the device 150 proceeds to step S102b and determines whether α≦TWA≦β. If so, in step S103, reefing is performed.

[0066] In an embodiment, based on the measured TWS, device 150 will calculate under what conditions (e.g., course and vessel speed) AWS>T. Device 150 then estimates (e.g., based on simulated or actual vessel characteristics) the time at which vessel 1 will reach such conditions. Based on this estimation, the control device may warn the mariner to avoid these configurations, or fold and / or list, before altering the vessel's course and speed accordingly.

[0067] 1, in some embodiments, the designated wind speed detector 160 may be utilized to measure wind speed, although other sensors or detectors may be used to measure other characteristics such as loads, aerodynamic forces, moments, etc., and make inferences to the vessel, etc. For example, as an alternative to or in addition to using a wind speed detector, a force sensor or torque sensor may be configured to measure the force / torque acting on, for example, the wind engagement unit 101, the flap 102, or the base 20, where folding / tilting is performed if the measured force / torque exceeds an appropriate threshold force / torque value.

[0068] 9 shows a device 150 configured to control reefing of a wind engagement unit of a vessel according to an embodiment, where the method steps actually performed by the device 150 are performed by a processing unit 911 embodied in the form of one or more microprocessors configured to execute a computer program 912 downloaded to a storage device 913 associated with the microprocessor, such as a random access memory (RAM), flash memory, or hard disk drive. The processing unit 911 is configured to cause the device 150 to perform the method according to the embodiments when a suitable computer program 912 comprising computer-executable instructions is downloaded to the storage medium 913 and executed by the processing unit 911. The storage medium 913 can also be a computer program product comprising the computer program 912. Alternatively, the computer program 912 can be transported to the storage medium 913 by a suitable computer program product, such as a digital versatile disc (DVD) or a memory stick. As a further alternative, the computer program 912 can be downloaded to the storage medium 913 via a network. The processing unit 911 may alternatively be implemented in the form of a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a complex programmable logic device (CPLD), etc. The device 150 further comprises a communication interface 914 (wired and / or wireless), via which the device 150 is configured to transmit and receive data.

[0069] Aspects of the present disclosure have been described above primarily with reference to certain embodiments and examples thereof. However, those skilled in the art will readily appreciate that other embodiments besides those disclosed above may also fall within the scope of the present invention as defined by the appended claims.

[0070] Thus, while various aspects and embodiments have been disclosed herein, other aspects and embodiments will be apparent to those skilled in the art. The various aspects and embodiments disclosed herein are illustrative and not intended to be limiting, with the true scope and spirit being indicated by the following claims. [Explanation of symbols]

[0071] 1 ship 3 Main unit 20 base 100 Wind propulsion mechanism 101 Wind engagement unit 110 Main Wing Sail 111 first longitudinal axis of rotation 112 Horizontal tilt axis of rotation 118, 118' fluid actuator 119 Fluid conduit 120 Flap 125 unit rotation axis 130 Upper connecting member 140 Lower connecting member 150 devices 160 Wind Speed ​​Detector 200 Displacement means 911 Processing Unit 912 Computer Programs 913 Storage medium 914 Communication Interface C Warp H horizontal direction L longitudinal axis RU Arrow T lateral extension, threshold V vertical WS wind speed

Claims

1. A method for a device (150) for controlling reefing of a wind-engaging unit (101) of a wind-propulsion mechanism (100) of a ship (1), comprising: said wind-engaging unit comprising at least one moving part (120); a base (20) connected to the wind engaging unit (101) and the main body of the vessel; Equipped with The method comprises: A step (S101) of determining the wind speed (TWS, AWS) received by the wind engaging unit (101); determining (S102) whether the wind speed (WS, TWS, AWS) exceeds one or more thresholds (T) determined for the wind-engaging unit (101); If so, controlling the at least one movable part (120) of the wind-engaging unit (101) to be displaced relative to the base (S103, S101); A method comprising:

2. 2. The method of claim 1, wherein said step (S101) further comprises determining a force and / or torque acting on said wind-engaging unit (101), and wherein said step (S102) further comprises determining whether said force and / or torque exceed one or more thresholds determined for said wind-engaging unit, and if so, performing said controlling steps (S103, S105).

3. The wind-engaging unit comprises a main wing sail (110) and a flap (120), the flap (120) being rotatable about a first longitudinal rotation axis (111), and in the method, the step (S103) of controlling the at least one movable part of the wind-engaging unit (101) comprises: a step (S103) of controlling the flap (120) to rotate around the first longitudinal rotation axis (111) of the wind-engaging unit (101); 3. The method of claim 1 or 2, comprising:

4. The step (S103) of controlling the flap (120) includes, in a first step: rotating the flap (120) about the first longitudinal axis of rotation (111) towards the main wing sail (110) to a folded position.

4. The method of claim 3, comprising:

5. The step (S101) of controlling the displacement of the at least one movable part (120) of the wind-engaging unit (101) is a second step, Pivoting the wind-engaging unit (101) about a horizontal axis of rotation (112) relative to the base (20) towards the body of the vessel to an inclined position.

5. The method of claim 1, comprising:

6. 6. The method of claim 4 or 5, wherein the first step is based on a first threshold (T1) and / or time point, and the second step is based on a second threshold (T2) and / or time point.

7. 7. The method of claim 6, wherein the first threshold (T1) in wind speed (AWS, TWS) and / or force and / or torque is lower than the second threshold (T2) in wind speed (AWS, TWS) and / or force and / or torque.

8. 8. The method according to any one of claims 1 to 7, wherein determining the thresholds (T, T1, T2) is based on a determined apparent wind speed (AWS) and comprises filtering the measured and / or calculated apparent wind speed (AWS) using one or more of a time constant, a filter algorithm, and / or weighting the wind speed with wind data from a plurality of different positions of the wind engaging unit (101).

9. 9. The method according to any one of claims 1 to 8, wherein the step (S101) of determining the thresholds (T, T1, T2) is based on a measured true wind speed (TWS) and / or on a calculation based on the true wind speed (TWS) and at least one of the following: vessel speed, speed increase, maximum vessel speed, maximum vessel speed when the vessel is heading straight into the wind, and true wind angle (TWA) range.

10. 10. The method of claim 9, wherein the steps (S103, S105) of controlling the at least one movable part (120) of the wind-engaging unit (101) are performed only if it is determined (S102b) that the true wind angle of the wind-engaging unit (101) is within a predetermined range.

11. 11. The method according to any one of claims 1 to 10, further comprising the step (S102a, S104a) of alerting an operator of the vessel (1) that the wind speed exceeds the threshold.

12. A computer program (912) comprising computer-executable instructions that, when executed by a processing unit (911) included in a device (150), cause the device (150) to perform the steps of any one of claims 1 to 11.

13. A computer program product comprising a computer readable medium (913), said computer readable medium having the computer program (912) of claim 12 embodied thereon.

14. A controller device (150) configured to control reefing of a wind-engaging unit (101) of a wind-propulsion mechanism (100) of a ship (1), the wind-propulsion mechanism (100) comprising: said wind-engaging unit (101) comprising at least one moving part (120); a base (20) connected to the wind engaging unit (101) and the main body of the vessel; wherein: The controller device comprises a processing unit (911) and a memory (913), the memory including instructions (912) executable by the processing unit (911), such that the controller device (150) obtaining wind speed data from the wind propulsion mechanism (100) associated with the wind speeds (TWS, AWS) experienced by the wind engaging unit (101); Based on the acquired wind speed data, determining whether the wind speed (WS, TWS, AWS) exceeds one or more thresholds (T) determined for the wind-engaging unit (101), and if so, The at least one movable part (120) of the wind-engaging unit (101) is controlled to be displaced relative to the base (S103, S101). a controller device (150) operable to:

15. 15. The controller device (150) of claim 14, wherein the wind-engagement unit (101) comprises a main wing sail (110) and a flap (120) rotatable about a first longitudinal axis of rotation (111), wherein the controller device is further operable to control (S103) the flap (120) to rotate about the first longitudinal axis of rotation (111) of the wind-engagement unit (101).

16. 16. The controller device (150) according to claim 14 or 15, further operable to control (S103, S105) the flaps (120) to rotate in a first step towards the main wing sail (110) to a folded position about the first longitudinal axis of rotation (111) and / or to pivot in a second step towards the body of the vessel to a tilted position about an axis of rotation (112) horizontal with respect to the base (20).

17. 17. The controller device of claim 16, wherein the first step is based on a first threshold (T1) and / or time point, and the second step is based on a second threshold (T2) and / or time point, wherein the first threshold (T1) in wind speed (AWS, TWS) and / or force and / or torque is lower than the second threshold (T2) in wind speed (AWS, TWS) and / or force and / or torque.

18. 18. A controller device according to any one of claims 14 to 17, wherein the controller device is operable to determine the thresholds (T, T1, T2) based on a determined apparent wind speed (AWS), and to filter the measured and / or calculated apparent wind speed (AWS) using one or more of a time constant, a filter algorithm, and / or weighting the wind speed with wind data from a plurality of different positions of the wind engaging unit (101).

19. 19. The controller device according to any one of claims 14 to 18, wherein the controller device is operable to determine (S101) the thresholds (T, T1, T2) based on a measured true wind speed (TWS) and / or based on calculations based on the true wind speed (TWS) and at least one of a vessel speed, a speed increase, a maximum vessel speed, a maximum vessel speed when the vessel is heading straight into the wind, and a true wind angle (TWA) range, and to control (S103, S105) the at least one movable part (120) of the wind engaging unit (101) only if it is determined (S102b) that the true wind angle of the wind engaging unit (101) is within a predetermined range.

20. 20. A controller device according to any one of claims 14 to 19, wherein the controller device is operable to warn (S102a, S104a) an operator of the vessel (1) that the wind speed exceeds the threshold.

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