Boat Propulsion Control for Precise Shore Arrival Positioning
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Solution Overview
Problem
Existing boat shore arrival systems require high skill and are limited to specific harbors, making smooth shore arrival and trailer loading operations challenging, especially in unfamiliar environments.
Innovation Solution
A boat equipped with a propulsion device, positional sensor, and controller that calculates target speed and propulsion force to automatically navigate to a target position, accounting for outside disturbances, enabling easy shore arrival and trailer loading in any harbor.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a shore arrival assistance device is used to guide boat operators, then shore arrival can be assisted, but the system can only be used in specific harbors for which a locus is recorded
Solution Approach 1:
The system creates a virtual copy of the target position and trajectory in digital space through the controller's memory and processing units. Instead of requiring physical recording devices to store locus data for each harbor, the controller virtually represents any target position and calculates trajectories algorithmically, enabling universal application across different harbors without additional recording infrastructure.
Solution Approach 2:
The system changes the fundamental parameters from pre-recorded fixed loci to dynamically calculated trajectories based on real-time parameters including current boat position, target position, wind speed, wind direction, current speed, and current direction. This parameter-based approach allows the same control system to adapt to any harbor environment by simply changing the input parameters rather than requiring harbor-specific recorded loci.
2Ease of operation
If automatic control is implemented to reduce operator skill requirements, then ease of operation improves, but the system becomes more complex
Solution Approach 1:
The control system performs self-service by automatically calculating the trajectory and controlling the propulsion device without requiring external guidance or complex intervention. The controller independently processes sensor data, determines optimal paths considering environmental factors, and adjusts propulsion forces automatically, reducing the need for operator skill while keeping the system relatively simple through autonomous operation.
Solution Approach 2:
The system implements continuous feedback loops where the controller constantly monitors the boat's actual position through sensors, compares it with the planned trajectory, and automatically adjusts propulsion forces to correct deviations. This feedback mechanism enables automatic control with moderate complexity by using real-time position data to maintain accurate shore arrival without requiring overly complex control algorithms.
3Productivity
If the boat moves quickly to reach the target position, then productivity improves, but the boat may overshoot the target position
Solution Approach 1:
The control system applies periodic adjustment actions by continuously calculating required propulsion forces at different time intervals and adjusting the propulsion device accordingly. This periodic control allows the boat to maintain high speed while making small, frequent corrections to the trajectory, preventing overshooting through continuous rather than single-action control.
Solution Approach 2:
The system dynamically adjusts the propulsion force based on real-time conditions including the boat's current position, distance to target, wind conditions, and water current. Rather than using a fixed propulsion force, the controller dynamically modifies the thrust to match the boat's instantaneous state, enabling high speed approach while automatically reducing force near the target to prevent overshooting and achieve precise positioning.
Data Source
AI summary
A positional sensor detects a current position of a boat body and outputs position information indicating the current position. A controller receives the position information. The controller determines a target position of the boat body. The controller calculates the distance between the current position and the target position. The controller determines a target speed of the boat body to reach the target position in accordance with the distance. The controller calculates the force of an outside disturbance. The controller determines a target propulsion force of a propulsion device based on the force of the outside disturbance and the target speed. The controller generates an instruction signal to control the propulsion device to produce the target propulsion force.