Marine Vessel Position Control for Precise Docking Near Objects
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Solution Overview
Problem
Current marine vessel control systems lack precision in maintaining position and orientation near objects, particularly when operating in close proximity, as they rely heavily on GPS data which can be inaccurate at low speeds, and do not effectively counteract current movement to achieve precise docking.
Innovation Solution
A control system that includes a location sensor, speed sensor, and control module to determine if the vessel is within a predetermined range of an object, and automatically applies braking linear thrust and moment to counteract current movement, using a combination of GPS, proximity, and vision-based sensors for accurate positioning and rotation control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If GPS data is used for position control at low speeds, then the system can maintain basic navigation capability, but the positioning accuracy deteriorates significantly
Solution Approach 1:
The patent combines GPS, proximity sensors, and vision-based sensors into an integrated positioning system. The control module fuses data from multiple sensor sources to determine vessel position and orientation, compensating for GPS inaccuracies at low speeds through alternative measurement methods provided by proximity and vision sensors.
Solution Approach 2:
The patent introduces proximity sensors and vision-based sensors as intermediary measurement devices that provide alternative positioning data when GPS becomes unreliable at low speeds. These sensors act as mediators to bridge the gap in positioning accuracy when traditional GPS-based navigation deteriorates.
2Ease of operation
If manual control is used for docking, then the operator has full control over vessel movement, but the docking precision and safety deteriorate due to human reaction time and momentum control difficulties
Solution Approach 1:
The patent implements a feedback control system where the control module continuously monitors vessel position, speed, and orientation through multiple sensors, then automatically adjusts propulsion system output to counteract momentum and maintain precise positioning. The system provides real-time feedback on vessel state and automatically corrects deviations from the desired docking position.
Solution Approach 2:
The patent enables the vessel control system to automatically manage its own positioning and momentum control without continuous human intervention. The control module independently processes sensor data, calculates required thrust adjustments, and commands the propulsion system to maintain precise position and orientation during docking operations.
3Productivity
If the vessel approaches an object at normal speed, then the docking process is efficient, but the ability to stop and maintain precise position deteriorates due to momentum
Solution Approach 1:
The patent applies preliminary braking action by automatically reducing propulsion thrust before the vessel reaches the target position. The control module anticipates the need to stop by monitoring approach speed and distance, gradually reducing thrust to minimize momentum buildup, allowing the vessel to slow down progressively and stop more precisely at the target location.
Solution Approach 2:
The patent applies preliminary counter-thrust by commanding the propulsion system to generate opposing thrust before the vessel reaches its target position. The control module calculates the required counter-thrust based on current speed, mass, and distance to target, applying braking force in advance to counteract the vessel's momentum and enable precise stopping at the docking position.
Data Source
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AI summary
A method and system for controlling a position of a marine vessel near an object are disclosed. A location sensor determines a location of the marine vessel, and a speed sensor determines a speed of the marine vessel. A control module is in signal communication with the location sensor and the speed sensor. A marine propulsion system is in signal communication with the control module. The control module determines if the marine vessel is within a predetermined range of the object based on the marine vessel's location. In response to determining that the marine vessel is within the predetermined range of the object, the control module controls the propulsion system to produce at least one of a braking linear thrust and a braking moment to counter current movement of the marine vessel.