Manoeuvring device for a vessel or craft and a method for manoeuvring

Abstract

The invention relates to a device for manoeuvring a vessel or craft, such as a tender servicing e.g. a yacht or ship. The device comprising a series of outputs for connected to nozzles to create water jets for producing a thrust to move the vessel or craft. A pump is provided to take in water and supply the nozzles. Control is dependent on an input received from an interface, and effected using valves. A similar method is disclosed, and so is a system and a vessel comprising such a device.

Description

[0001] MANOEUVRING DEVICE FOR A VESSEL OR CRAFT AND A METHOD FOR MANOEUVRING

[0002] The disclosure relates to a manoeuvring device for a vessel or craft, such as a tender servicing e.g. a yacht or ship, and to a method for manoeuvring a vessel of craft using the manoeuvring device.

[0003] It is known that seagoing vessels or crafts are provided with steering or manoeuvring means to allow the vessel or craft to be steered in a desired direction. Generally, such steering takes place by means of a rudder that is positioned at the stern of the vessel or craft. Alternatively or additionally, some vessels or crafts have propulsion screws that can be rotated along a vertical axis to provide steering and manoeuvring capability, or screws located at e.g. the bow directed sideways to complement the steering capabilities of the rudder at the stern of the vessel.

[0004] A disadvantage of the known manoeuvring devices and systems is they require a relatively complex system of components, including hydraulic or electric actuators, to allow the rudder and / or the screws to be rotated. This increases the weight of the vessel or craft. In addition, the vulnerability of the system to malfunctioning due to ruptured cables or conduits provides a disadvantage of the known systems. A further disadvantage may be, that steering by a rudder may require a forward speed to make a sideways motion. Such a system is therefore fundamentally nonholonomic, and thus requires relatively complex control and path planning to effectively change its position and / or orientation.

[0005] The present invention is aimed at obviating or at least reducing at least some of the aforementioned problems by providing an improved manoeuvring device, the device for manoeuvring a vessel or craft comprising:

[0006] - at least one water intake for taking in water;

[0007] - a plurality of steerer outputs, for providing water to corresponding steerer nozzles of the vessel or craft, the steerer nozzles each being oriented to produce a thrust in at least a horizontal plane defined by the vessel or craft when water is sprayed through the nozzles, wherein each of the plurality of steerer outputs comprises a controllable valve for at least partially closing and / or opening the respective output selectively,

[0008] - a motor driven pump configured to take water from the water intake and pump it towards the at least four steerer outputs;

[0009] - an interface for accepting a control input, such as a signal indicative of a user operating a control; and

[0010] - a controller operatively connected to the interface for receiving the control input and to the controllable valves of the plurality of steerer outputs, wherein the controller is configured to: - control said valves in dependence of the control input in order to supply the steerer nozzles such that they produce a thrust in correspondence with the control input to manoeuvre the vessel or craft.

[0011] An advantage of the device for manoeuvring according to the disclosure is that it provides a simple and direct control of the manoeuvres of the vessel or craft. Another advantage of the manoeuvring device according to the invention is that it is less susceptible to damage by external objects due to the fact that it can be embedded or even integrated into the hull of a vessel or craft. In particular a rudder, often positioned near the stern of a vessel or craft, is susceptible to damage from collision with other vessels / crafts or solid objects such as a dock wall or rocks. This risk is obviated with the device according to the disclosure. It is noted that the device according to the disclosure, if so desired, may also be used in conjunction with the known devices and systems for manoeuvring a vessel or craft.

[0012] A further advantage may be, that the steerer nozzles can be advantageously directed to provide thrust in directions which are needed for successful manoeuvring. In particular, the dependence of forward motion to create a steering effect with a rudder can be removed, as long as the nozzles are directed in a suitable direction. Given sufficient nozzles in suitable directions, the system may even become completely holonomic, thereby making control and path planning particularly easy. This may prepare the vessel for automatic manoeuvring, or for control by less experienced personnel.

[0013] It is noted that the phrase ‘device for manoeuvring’ is used interchangeably with the term ‘manoeuvring device’ throughout the disclosure and both are considered synonymous for the purpose of the disclosure.

[0014] It is noted that the device as described in the current application can be used in any type of vessel or craft, ranging from big ships to small boats, ranging from motor yachts and to sailing yachts, not even being limited to any one of these particular applications. As such, the application does not necessarily distinguish between crafts, vessels, ships, tenders, boats and similar terms. In general, the invention can be applied on all of these, and the terms are used interchangeably, unless stated otherwise.

[0015] It is advantageous if the plurality of steerer outputs includes at least four outputs. By increasing the number of steerer outputs, more precise steering and thus more precise control of the vessel or craft can be achieved. For example, in the case of four steerer outputs, two of them can be connected to steerer nozzles on the rear of the vessel or craft, while two of them can be connected to steerer nozzles at the front end. This way, even sharper turns can be made by producing water jets from a front and read nozzle that are present on opposing lateral sides of the vessel or craft. It is particularly advantageous, if the device is integrated in a housing as a whole, with the intake and outputs being interfaces of the housing.

[0016] Accordingly, the device can be pre -produced and delivered to shipyards, who therefore do not need to deal with the complexity of the device itself. Accordingly, the device may be relatively easy to install in a new or existing vessel.

[0017] In practice, the at least two outputs of the plurality of steerer outputs are positioned on opposite sides of each other with respect to the pump and / or the at least one water intake.

[0018] Such a configuration reduces the amount of ducting needed to steer water to the nozzles. Additionally or alternatively such a configuration may be relatively or substantially symmetrical, at least in terms of weight, so that the device, when installed in the centre of a vessel, does not negatively affect the boats balance. Additionally or alternatively, the water intake being arranged in the centre of the device, may reduce the influence of water intake on the roll, so that the device’s operation can be more easily controlled using the outputs.

[0019] A more versatile device can be obtained when the controller is further operatively connected to the motor driven pump in order to control at least a flow generated by the pump, and is further configured to control the flow generated by the pump in dependence of the signal from the at least one sensor.

[0020] By controlling the flow generated by the pump, a higher or lower steering intensity can be achieved by additionally controlling the flow generated by the pump. In particular, this can be useful to compensate for smaller or larger steering inputs given by an operator on demand, and / or to save energy when little or no steering is required.

[0021] It is practical if some or each of the controllable valves is a butterfly valve.

[0022] Such valves are particularly suitable for allowing some, no or a high flow on demand, and do not offer a large flow resistance. As such, it is an efficient and effective way to control flow.

[0023] Each of said valves may be operated by a separate valve drive connected to the controller for being controlled thereby.

[0024] Such configuration enables full independent control of all valves.

[0025] It is advantageous if the valves can be moved relatively quickly, for instance by having the valve drives be relatively quick. As such each of the valve drives may have a response time of less than 500 ms, preferably less than 200 ms, most preferably 100 ms or less.

[0026] Such speeds are sufficient to compensate for most operational conditions. Additionally, having a low response time can increase the precision with which an operator can steer the vessel or craft, and allow for a more pleasurable experience operating the vessel.

[0027] Of course, the same can be achieved if operating the valves can be performed in 500, 200 or 100 ms or less to move the valves from open to closed or vice versa, regardless of how said operation is achieved. In practice, the device itself would comprise an (electric) motor for driving the pump. Accordingly, no separate motor would need to be provided, thereby facilitating installation. The electric character of the motor allows relatively silent operation, and fast switching between low and high capacities, which may be advantageous for compensating for rapidly changing excitations, such as multiple turns in rapid succession.

[0028] The device may further include a battery configured for powering the motor, so that a standalone device is obtained, thereby further facilitating installation.

[0029] Advantageously, the motor has a maximum power output of at least 10 kW, more preferably at least 15 kW, most preferably of 18 kW or more.

[0030] Motors which such a capacity have been found sufficiently strong to be able to power steering of vessels of above 5 meters, e.g. up to 25 meters.

[0031] The invention further relates to a system comprising a device as described in the paragraphs hereabove, and steerer nozzles corresponding to and connected to the plurality of steerer outputs. Said steerer nozzles can be integrated parts of the hull of a vessel or craft, or could be separate nozzles arranged on the vessel or craft. Depending on the layout of the vessel or craft, the connection between steerer outputs and the steerer nozzles can be provided through pipes, or alternatively they can be connected to each other directly.

[0032] It is especially advantageous if the steerer nozzles are longitudinal in shape as seen in a plane normal to an outflow direction defined by the respective nozzle. This longitudinal shape can lead to more stability, as it induces a less turbulent flow and can reduce the pitch moment induced by the waterjet, thus reducing movement in undesired directions.

[0033] In one further embodiment, the system further comprises a user controllable element for accepting a user input and generating a control input, the user controllable element being connected to the interface for providing the control input thereto. This way, a user of the vessel or craft such as an operator can use the controllable element to directly and / or indirectly steer and commandeer the vessel or craft, which can increase the versatility of the vessel or craft.

[0034] Said user controllable element can comprise any one or more of the following: a joystick, a touchscreen, and a navigation device configured to generate the control input in dependence of a current position and / or orientation and / or velocity on the one hand, and a desired position and / or orientation and / or velocity on the other hand. The term desired position herein could for example mean using waypoint navigation in order to establish a desired route and thus steering plan for the vessel or craft. By having, for example, both a joystick as well as a navigation device using a desired position, the ability to steer the vessel directly as well as indirectly is maintained, and thus a more versatile vessel can be obtained. If a navigation device is included, the system can advantageously further comprise any one or more of the following: a GPS module connected to the navigation device for providing a current position thereto, an IMU or MPU connected to the navigation device for providing a current orientation and / or velocity thereto; and / or a communications module, such as a Bluetooth module, connected to the navigation device for providing a current and / or desired position and / or orientation and or velocity thereto.

[0035] Any of these options offers advantages in the form of information being fed back to a user of the vessel, as well as offering the ability for more autonomous steering. Depending on the specific needs for a vessel or craft, a GPS module might be sufficient and an IMU or a communications module might not be necessary. However, a navigation device comprising multiple of these options is especially advantageous, as if one of the modules errs, a backup option is still available.

[0036] The system can further comprises an object sensing system configured to detect objects in the vicinity of the system, and provide a result of said detection to the navigation device, wherein the navigation device is configured to provide the control input additionally based on said detection result.

[0037] Thus, any collisions with objects nearby the vessel or craft can be prevented.

[0038] The object sensing system can also be used without a navigation device, for instance in order block user input that would otherwise result in a collision with a sensed object. Said blocking could be performed by the controller.

[0039] Additionally, the invention also relates to a vessel or craft comprising a system as described in the previous paragraphs, the steerer nozzles debouching in a hull of the vessel or craft, in a direction that has at least an alongships component. As the steerer nozzles are used to steer the vessel or craft, it is important for them to be able to turn the vessel or craft. Therefore, the nozzles are pointed in a direction that has at least an alongships component and this turning can be achieved.

[0040] Debouching herein can either mean a nozzle integrated in the hull, wherein an outflow opening of the nozzle is flush with said hull, or a nozzle protruding from the inside of the vessel or craft, through the hull, to the outside of the vessel or craft.

[0041] In particular, the vessel or craft comprises four steerer nozzles arranged in two pairs on opposing lateral sides of the vessel or craft, each pair of nozzles being directed to the front and aft of the vessel or craft respectively.

[0042] In this way, faster and / or sharper turns can be achieved, by activating the opposing steerer nozzles on opposing lateral sides, that is to say for example the nozzles directed to the front on starboard side and the nozzles directed to the aft on port side, at the same time. Another possibility using this layout is lateral movement, which can be achieved by activating both the front and aft facing nozzles on one side simultaneously. In particular, each pair of nozzles can be stacked. This can allow for a more compact system, both on the hull as well as in the necessary piping inside the hull.

[0043] It is possible for said direction to, aside from the alongships component, also have an athwartships component. In particular, the direction of each nozzle can be under an angle with the alongships direction, said angle being between 20° and 40°, preferably between 25° and 35°. This can result in even more precise steering of the vessel or craft. This is especially advantageous in tighter spaces, such as in port, where the vessel has to be manoeuvred with greater precision, where using the conventional propeller may result in movement that is too fast or too imprecise.

[0044] The invention further relates to a method of manoeuvring a vessel or craft, such as a tender servicing e.g. a yacht or ship, the method comprising:

[0045] - using a plurality of steerer nozzles arranged in different directions on the vessel or craft in order to provide thrust and / or a moment to manoeuvre the vessel or craft; and

[0046] - selectively control the flow through each of the plurality of steerer nozzles to perform a desired manoeuvre.

[0047] This selective control can be provided by opening or closing the steerer nozzles, based on input given by the vessel or craft. This can stem from user input such as a joystick or steering wheel, or from automated input such as given by a navigation device.

[0048] As the steerer nozzles are arranged in different directions, it is possible to achieve very precise control over the steering and manoeuvring, which is especially advantageous when in places like a harbour or a narrow passage of water.

[0049] In another embodiment of the device described previously, it further comprises at least two stabilizer outputs, for providing water to corresponding stabilizer nozzles of the vessel or craft, the stabilizer nozzles each being oriented to produce a moment along a roll axis of the vessel or craft in mutually opposite directions when water is sprayed through the nozzles, wherein each of the at least two stabilizer outputs comprises a controllable valve for at least partially closing and / or opening the respective output selectively. Furthermore, it comprises at least one sensor configured to output a signal representative of at least a roll of the vessel or craft.

[0050] In this embodiment, the motor driven pump is configured to pump water towards the at least two stabilizer outputs, while the controller is operatively connected to at least the at least one sensor and the controllable valves of the at least two stabilizer outputs; and the controller is further configured to control said controllable valves of the at least two stabilizer outputs in dependence of the signal from the at least one sensor in order to supply the stabilizer nozzles such that they produce a moment at least partially counteracting at least the roll represented by said signal. This way, both the stabilisation as well as the steering of the vessel or craft can be performed using a single system. This can have several advantages, such as further reducing the weight, used space and / or the energy usage of the vessel or craft. Furthermore, the overall complexity of the combined steering and stabilisation system can be lower than that of separated systems that still have to function in tandem. For example, this can be noticed when a roll is induced when a sharp turn is initiated by the vessel or craft. By incorporating the steering and stabilisation in a single system, this roll can more easily be accounted for without separate systems having to communicate at high speed.

[0051] Accordingly, this multi-purpose device can be provided in a more cost-effective manner than compared to two separate systems, both in regards to investment costs as well as costs of running and maintaining the vessel.

[0052] It is noted that while the counteracting performed by this device is mostly in reaction to a rolling movement, theoretically the device can be configured for this to be in reaction to any movement represented by said signal, at thus is not limited to only counteracting rolling. Therefore, sensors are necessary that can measure other factors than merely rolling. This can be achieved by providing more intricate sensors that can measure both rolling as well as other movement, or by adding additional, purpose-specific sensors to the device.

[0053] The invention will be further elucidated with reference to the attached drawings, in which:

[0054] Figure 1 shows schematically a cross sectional view of a vessel with a device as described herein;

[0055] Figure 2 shows schematically the components of the device;

[0056] Figures 3A and 3B show schematically features of a steerer nozzle;

[0057] Figures 4A - 4F show schematically how a vessel can be controlled with nozzles;

[0058] Figure 5 shows schematically a bottom view of a vessel with stabilizer nozzles;

[0059] Figure 6 shows a flow chart of a method of stabilizing a vessel; and

[0060] Figure 7 shows a flow chart of a method of manoeuvring a vessel.

[0061] Throughout the figures, like elements are referred to using like reference numerals.

[0062] Figure 1 shows a vessel 1 with a device 2 for stabilising said vessel 1. The vessel 1 in this case is a tender 1. The device 2, which is also shown schematically in figure 2, comprises a water intake 3, through which water can be taken in. The device 2 further includes two stabilizer outputs 4, on both sides of the device 2. The vessel 1 comprises stabilizer nozzles 5, which are oriented in this case substantially vertically downward, so as to create a jet 6 in that direction. As a result, the jetting water 6 produces a reactive upwards force F, which urges the vessel 1 to roll R around its roll axis A. The outputs 4 are provided with valves 7, which are controllable. In this case, the valves 7 are butterfly valves 7, controlled by a separate drive 8 for each valve 7. Accordingly, the outputs 4 can be closed and / or opened as desired. The device 2 also comprises a pump 9 which is driven by a motor 10. The motor is an electric motor 10, powered e.g. by a battery (not shown). The pump 9 receives water from the intake 3 and pumps it towards the outputs 4. A sensor 11 is provided, that can measure the roll R of the vessel 1 and provide a signal corresponding thereto to a controller 12. The controller 12 in turn connects to the valves 7 to control them. The controller 12 is configured to control the valves in dependence of the signal from the sensor 11 in order to supply the stabilizer nozzles 5 such that they produce a moment at least partially counteracting at least the roll R represented by said signal. The device is integrated in a housing 13, the intake 4 and outputs 5 being interfaces of the housing 13.

[0063] The device 2 further includes four steerer outputs 20, 21, 22, 23 which are connected to respective steerer nozzles 16, 17, 18, 19 of the vessel 1. The steerer nozzles 16, 17, 18, 19 are arranged to produce a thrust in at least a horizontal plane defined by the vessel 1 when water is sprayed through the nozzles 16, 17, 18, 19. Each steerer output 20, 21, 22, 23 is outfitted with a respective controllable valve 24, which in this case as an example is a butterfly valve 24, which in this case as an example is controlled by a separate valve drive (not shown). The steerer oututs 20,

[0064] 21, 22, 23 are arranged in pairs on respective sides of the device 2. The pump 9 is further connected to the steerer outputs 20, 21, 22, 23 to provide water to them for making jets at the nozzles 16, 17, 18, 19. An interface 26 is also shown, which can accept a control input, such as a signal indicative of a user operating a control (not shown). The controller 12 is further configured to control the controllable valves 25 of the plurality of steerer outputs 20, 21, 22, 23 in dependence of the signal received from the sensor 11, in particular to further counteract a movement represented by the signal. The interface 26, which is not strictly needed for the above-mentioned purpose, can be used to provide an input to the controller 12 in order to control the valves 25 of the steerer outputs 20, 21,

[0065] 22, 23 so that jets are created at the steerer nozzles 16, 17, 18, 19 to create a thrust in correspondence with the control input (from the interface 26) to manoeuvre the vessel 1.

[0066] In figure 1, it can further be seen how a system of internal ducts 14, 25 connects the pump 9 to the outputs 4, 20, 21, 22, 23. External ducts 15, 25 (i.e. external to the device 2) connect the outputs 4, 20, 21, 22, 23 to the respective nozzles 5, 16, 17, 18, 19.

[0067] The stabilizing nozzles 5 can best be seen in the bottom view of figure 5, which shows the device in dotted lines for clarity. The nozzles 5 are substantially rectangular in shape in this case, but more importantly are longitudinal in the alongships direction. In this case the nozzles are 25 cm long and can be e.g. 4 cm wide. The external duct 15 can be used to change shape from e.g. a circular output 4 to a suitable shape corresponding to the nozzle 5 gradually. The size of the output can be e.g. 12 cm in diameter. To facilitate redirection of the flow, the nozzles 5 and optionally the external ducts 15 can comprise an internal guide placed therein to help direct the fluid in correspondence with the outflow direction of the nozzles 5. The same can be done for the steerer nozzles 16, 17, 18, 19 independently of the configuration of the stabilising nozzles 5. In general however, the steerer nozzles would be 2 by 25 cm, with a corresponding output 20, 21, 22, 23 size of 8 cm diameter. It is noted the stabilising nozzles 5 are placed at lateral sides of the vessel 1, i.e. in symmetrical positions lateral of the roll axis A, i.e. athwartships. As an example, the nozzles 5 are arranged where the vessel 1 is widest.

[0068] As shown in figure 1 , the device 2 is located centrally in the vessel 1. The intake 3 and pump 9 are also arranged centrally in the device 2 and thus in the vessel 1. The controller 12 is configured so that it may control the throughput, i.e. the flow, generated by the pump 9, e.g. in dependence of the signal from the sensor 11 and / or the interface 26. The sensor 11 in this case is comprised by an MPU, i.e. a motion processing unit, which measures the motion and rotation of the vessel 1. The MPU can process the position and orientation of the vessel 1 if needed.

[0069] The steerer nozzles 16, 17, 18, 19 can be seen in more detail in figures 3A and 3B. in figure 3 A, two steerer nozzles 16, 17 are shown, stacked on top of each other. Each steerer nozzle 16, 17 opens in a rectangular shape, which can be placed in the hull on the side of the vessel 1. The nozzles 16, 17 are fed via the external duct 25. Figure 3B shows in more detail the inside of a nozzle 16 and its external duct 25 in plan view. The external duct 25 comprises a gradually widening piece 27 which changes shape from circular at a base 30 to a nozzle exit area 28, which can be rectangular as described above. At the exit area 28 of the nozzle 16, baffles 29 are arranged to direct a jet from the nozzle 16 sideways. The complementary nozzle 17 would have baffles 29 in the opposing direction.

[0070] Figures 4A - 4F show schematically a top view of a vessel. In all cases, two steerer nozzles 16, 17 are arranged on the port side of the vessel 1 and two steerer nozzles 18, 19 are arranged on the starboard side of the vessel. The first-mentioned nozzles 16, 18 on each side point rearwards, whereas the latter 17, 19 point forwards. Figure 4 A shows how by producing water jets at the rearwards pointing steerer nozzles 16, 18, a net forward thrust can be produced. Figure 4B shows how by producing waterjets at the forward pointing steerer nozzles 17, 19, a net rearward thrust can be produced. The following images show ways of producing sideways thrust (4C, 4D) and moments around the (vertical) yaw axis (figures 4E and 4F). Thus, by selectively jetting through the respective nozzles 16, 17, 18, 19, the vessel 1 can be steered. Of course, any nozzle may be supplied with any amount of water to create a suitable jet, to for instance combine desired thrusts into a desired motion of the vessel 1.

[0071] Figure 6 shows a flowchart representing a method 100 of stabilizing a vessel or craft, such as a tender servicing e.g. a yacht or ship. The method comprises a first step S100 of sensing a roll of the vessel or craft, and a second step SI 00 of at least partially counteracting said roll automatically. When the roll is at least partially counteracted, this can be sensed again by repeating the first step SI 00 and thereby creating a feedback loop. The second step SI 00 is performed by producing at least one waterjet from at least one nozzle pointing substantially downwards and being arranged lateral of a roll axis of the vessel or craft.

[0072] Figure 7 shows a flowchart representing a method 200 of manoeuvring a vessel or craft, such as a tender servicing e.g. a yacht or ship. The method comprises a first step S200 of using a plurality of steerer nozzles arranged in different directions on the vessel or craft in order to provide thrust and / or a moment to manoeuvre the vessel or craft, and a second step S201 of selectively controlling the flow through each of the plurality of steerer nozzles to perform a desired manoeuvre.

[0073] Although the invention has been described herein with reference to specific examples and embodiments, even specific figures, the invention is not limited necessarily thereto. In fact, the invention is described by the claims, which now follow.

Claims

Claims1. Device for manoeuvring a vessel or craft, such as a tender servicing e.g. a yacht or ship, the device comprising:- at least one water intake for taking in water;- a plurality of steerer outputs, for providing water to corresponding steerer nozzles of the vessel or craft, the steerer nozzles each being oriented to produce a thrust in at least a horizontal plane defined by the vessel or craft when water is sprayed through the nozzles, wherein each of the plurality of steerer outputs comprises a controllable valve for at least partially closing and / or opening the respective output selectively,- a motor driven pump configured to take water from the water intake and pump it towards the at least four steerer outputs;- an interface for accepting a control input, such as a signal indicative of a user operating a control; and- a controller operatively connected to the interface for receiving the control input and to the controllable valves of the plurality of steerer outputs, wherein the controller is configured to:- control said valves in dependence of the control input in order to supply the steerer nozzles such that they produce a thrust in correspondence with the control input to manoeuvre the vessel or craft.

2. Device according to any of the preceding claims, wherein the plurality of steerer outputs includes at least four outputs.

3. Device according to any of the preceding claims, wherein the device is integrated in a housing as a whole, with the water intake and the plurality of steerer outputs being interfaces of the housing.

4. Device according to any of the preceding claims, wherein at least two outputs of the plurality of steerer outputs are positioned on opposite sides of each other with respect to the pump and / or the at least one water intake, wherein preferably two pairs of outputs of the plurality of steerer outputs are positioned on opposite sides of each other with respect to the pump and / or the at least one water intake.

5. Device according to any of the preceding claims, wherein the controller is further operatively connected to the motor driven pump in order to control at least a flow generated by thepump, and is further configured to control the flow generated by the pump in dependence of the control input.

6. Device according to any of the preceding claims, wherein each of the controllable valves is a butterfly valve.

7. Device according to any of the preceding claims, wherein each of the controllable valves is operated by a separate valve drive connected to the controller for being controlled thereby.

8. Device according to the previous claim, wherein each of the valve drives has a response time of less than 500 ms, preferably less than 200 ms, most preferably 100 ms or less.

9. Device according to any of the preceding claims, the device comprising a motor for driving the pump.

10. Device according to the previous claim, wherein the motor is an electric motor.

11. Device according to the previous claim, the device further including a battery configured for powering the motor.

12. Device according to the previous claim, wherein the motor has a maximum power output of at least 10 kW, more preferably at least 15 kW, most preferably of 18 kW or more.

13. System comprising a device according to any of the preceding claims, and steerer nozzles corresponding to and connected to the plurality of steerer outputs.

14. System according to the previous claim, wherein the steerer nozzles are longitudinal in shape as seen in a plane normal to an outflow direction defined by the respective nozzle.

15. System according to the previous claim, further including a user controllable element for accepting a user input and generating a control input, the user controllable element being connected to the interface for providing the control input thereto.

16. System according to the previous claim, the user controllable element comprising one or more of the following:- a joystick;- a touchscreen; and- a navigation device configured to generate the control input in dependence of a current position and / or orientation and / or velocity on the one hand, and a desired position and / or orientation and / or velocity on the other hand.

17. System according to the previous claim, including the navigation device, the system further comprising any one or more of the following:- a GPS module connected to the navigation device for providing a current position thereto;- an IMU or MPU connected to the navigation device for providing a current orientation and / or velocity thereto;- a communications module, such as a Bluetooth module, connected to the navigation device for providing a current and / or desired position and / or orientation and or velocity thereto.

18. System according to claim 16 or 17 comprising the navigation device, wherein the system further comprises an object sensing system configured to detect objects in the vicinity of the system, and provide a result of said detection to the navigation device, wherein the navigation device is configured to provide the control input additionally based on said detection result.

19. Vessel or craft comprising a system according to any of the preceding system claims, the steerer nozzles debouching in a hull of the vessel or craft, in a direction that has at least an alongships component.

20. Vessel or craft according to the previous claim, comprising four steerer nozzles arranged in two pairs on opposing lateral sides of the vessel or craft, each pair of nozzles being directed to the front and aft of the vessel or craft respectively.

21. Vessel or craft according to the previous claim, wherein each pair of nozzles is stacked.

22. Vessel or craft according to any one of claims 19 - 21, wherein said direction also has an athwartships component.

23. Vessel or craft according to the previous claim, wherein the direction of each nozzle is under an angle with the alongships direction, said angle being between 20° and 40°, preferably between 25° and 35°.

24. Method of manoeuvring a vessel or craft, such as a tender servicing e.g. a yacht or ship, the method comprising:- using a plurality of steerer nozzles arranged in different directions on the vessel or craft in order to provide thrust and / or a moment to manoeuvre the vessel or craft; and- selectively control the flow through each of the plurality of steerer nozzles to perform a desired manoeuvre.

25. Device for manoeuvring a vessel or craft according to any of the preceding device claims, the device further comprising:- at least two stabilizer outputs, for providing water to corresponding stabilizer nozzles of the vessel or craft, the stabilizer nozzles each being oriented to produce a moment along a roll axis of the vessel or craft in mutually opposite directions when water is sprayed through the nozzles, wherein each of the at least two stabilizer outputs comprises a controllable valve for at least partially closing and / or opening the respective output selectively;- at least one sensor configured to output a signal representative of at least a roll of the vessel or craft; wherein further:- the motor driven pump is configured to pump water towards the at least two stabilizer outputs; and- the controller is operatively connected to at least the at least one sensor and the controllable valves of the at least two stabilizer outputs; and wherein the controller is further configured to:- control said controllable valves of the at least two stabilizer outputs in dependence of the signal from the at least one sensor in order to supply the stabilizer nozzles such that they produce a moment at least partially counteracting at least the roll represented by said signal.

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