Marine Vessel Thrust Vector Nullification for Collision Avoidance
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Solution Overview
Problem
Existing marine vessel control systems lack effective methods to prevent collisions with objects while maintaining precise movement and positioning, especially when operating near obstacles, due to limitations in sensing and adaptive thrust vector management.
Innovation Solution
A method that uses a controller to accept movement commands from a joystick, senses the distance and direction of objects, and adjusts thrust vectors to prevent net thrust in the direction of obstacles, ensuring a predetermined safe range is maintained, by nullifying or reversing thrust components as necessary.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the marine vessel operates close to objects for precise positioning, then positioning precision is improved, but collision risk increases
Solution Approach 1:
The control system preemptively nullifies thrust vector components that would cause the vessel to move toward detected objects. Before collision can occur, the system calculates which thrust components would be harmful and cancels them, allowing the vessel to maintain precise positioning near objects without actual contact.
Solution Approach 2:
The system continuously monitors the vessel's position relative to objects using sensors, compares actual position to desired position, and dynamically adjusts thrust vector components. This closed-loop feedback enables the vessel to operate close to objects while automatically preventing movement that would result in collision.
2Reliability
If the controller automatically nullifies thrust components near objects, then collision avoidance is improved, but movement control flexibility deteriorates
Solution Approach 1:
The control system applies different control strategies to different spatial directions. Thrust components directed toward objects are automatically nullified, while thrust components in safe directions remain fully controllable by the operator. This localized control approach maintains collision avoidance while preserving movement flexibility in permitted directions.
Solution Approach 2:
The system dynamically adjusts the available thrust vector based on real-time object detection and vessel position. The nullification of specific thrust components is not fixed but changes continuously as the vessel moves and objects are detected, allowing maximum operational flexibility within safety constraints.
3Reliability
If additional sensors and control algorithms are added for collision prevention, then safety is improved, but system complexity increases
Solution Approach 1:
The control system performs multiple functions using the same hardware infrastructure. The sensor system detects both objects for collision avoidance and provides positioning data for precise maneuvering. The control algorithm simultaneously manages thrust vector nullification for safety and thrust distribution for positioning accuracy, eliminating the need for separate dedicated systems.
Solution Approach 2:
The patent combines collision avoidance functionality with existing marine vessel propulsion and positioning systems. Rather than adding completely separate systems, the control algorithm integrates object detection and thrust management into the vessel's existing control architecture, reducing overall system complexity despite enhanced safety capabilities.
Data Source
AI summary
A method for controlling movement of a marine vessel near an object includes accepting a signal representing a desired movement of the marine vessel from a joystick. A sensor senses a shortest distance between the object and the marine vessel and a direction of the object with respect to the marine vessel. A controller compares the desired movement of the marine vessel with the shortest distance and the direction. Based on the comparison, the controller selects whether to command the marine propulsion system to generate thrust to achieve the desired movement, or alternatively whether to command the marine propulsion system to generate thrust to achieve a modified movement that ensures the marine vessel maintains at least a predetermined range from the object. The marine propulsion system then generates thrust to achieve the desired movement or the modified movement, as commanded.