Marine Propulsion Override Control for Collision-Limited Docking
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Solution Overview
Problem
Existing marine vessel propulsion control systems fail to effectively limit velocity when approaching objects, leading to potential collisions due to environmental factors like currents and waves, and struggle to maintain a safe buffer distance, especially during docking operations where precise control is challenging.
Innovation Solution
A propulsion control system that calculates and enforces velocity limits based on proximity to objects, using a buffer distance concept to restrict operator input authority, ensuring the vessel maintains a safe distance and adjusts propulsion accordingly, with algorithms that modify user input via joystick control to prevent collisions and allow controlled docking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the operator input authority is fully permitted for propulsion control, then the vessel can respond quickly to operator commands, but the vessel may collide with objects due to inability to limit velocity in proximity
Solution Approach 1:
The system dynamically adjusts operator control authority based on proximity to objects. When objects are detected within a buffer distance, the system automatically limits velocity in the direction of the object while maintaining full control authority in perpendicular directions. This dynamic adjustment resolves the contradiction by adapting control restrictions to the specific operational context rather than applying static limitations.
Solution Approach 2:
The system applies control limitations locally in the direction of detected objects rather than restricting all propulsion movements uniformly. The velocity limit is specifically applied to the component of velocity toward the object, while allowing unrestricted movement in other directions. This localized approach maintains operator authority where safe while preventing collision where risk exists.
2Reliability
If velocity limits are imposed based on proximity to objects, then collision risk is reduced, but the vessel's ability to perform docking operations efficiently is compromised
Solution Approach 1:
The system dynamically adjusts the stringency of velocity limits based on real-time proximity measurements. As the vessel approaches an object, the velocity limit is automatically calculated and applied only in the critical direction toward the object. This dynamic approach allows efficient docking maneuvers in non-critical directions while maintaining safety in the critical approach direction, resolving the contradiction between safety and efficiency.
Solution Approach 2:
The velocity control is segmented into directional components. The system calculates velocity limits specifically for the direction toward detected objects, while allowing full velocity authority in perpendicular directions. This segmentation enables efficient docking operations to proceed in safe directions while imposing restrictions only where collision risk exists, maintaining both safety and productivity.
3Reliability
If the system automatically maintains buffer distance from objects, then safety is improved, but the operator's ability to perform controlled docking with the object is reduced
Solution Approach 1:
The system dynamically switches between buffer maintenance mode and controlled approach mode based on operator input and operational context. The operator can override the automatic buffer maintenance when intentional contact is desired, such as during docking operations. This dynamic adaptability resolves the contradiction by allowing the system to provide automatic safety protection when needed while permitting operator-controlled contact when required by the operational task.
Solution Approach 2:
The system provides feedback to the operator about proximity to objects and the status of buffer maintenance. This feedback mechanism allows the operator to make informed decisions about whether to override the buffer maintenance for controlled docking operations. The feedback loop enables the operator to maintain safety awareness while having the flexibility to perform controlled contact operations when appropriate.
Data Source
Figure 1
Figure 2
Figure 3A~3B
AI summary
A method of controlling propulsion of a marine vessel (10) includes receiving proximity measurements (90) from one or more proximity sensors (72,74,76,78) on the marine vessel (10) and limiting user input authority over propulsion output in a direction of an object (O) by at least one propulsion device (12a,12b) based on the proximity measurement (90) so as to maintain the marine vessel (10) at least a buffer distance (50) from the object (O). The method further includes suspending maintenance of the buffer distance (50) from the object (O) in response to a user-generated instruction. Then, when user control input is received via a user input device (22,28,29,30,32,34) to move the marine vessel (10) in the direction of the object (O), the at least one propulsion device (12a, 12b) is controlled based on the user control input such that the marine vessel (10) approaches and impacts the object (O).