Watercraft Dock Holding Control for Lateral Thrust Correction
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Docking a watercraft can be a stressful operation for users, especially when alone, due to the need to navigate, maintain position, and secure contact with the dock while considering obstacles and environmental factors.
Innovation Solution
A watercraft control system that includes an onboard detector for real-time environmental perception, an autopilot mode, and a dock holding mode that autonomously navigates the watercraft to maintain a predetermined lateral thrust against the docking structure, allowing hands-free operation once engaged.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual docking operation is used, then user can control watercraft directly, but user experiences high stress and difficulty especially when alone
Solution Approach 1:
The watercraft control system enables the watercraft to dock autonomously without requiring external assistance. The system automatically navigates to the dock, maintains contact, and holds position, allowing a single user to complete docking alone without the stress of manual operation or needing another person to help secure the vessel.
Solution Approach 2:
The system replaces manual mechanical control with an automated control system that uses sensors, processors, and actuators to perform docking operations. The control system substitutes human physical manipulation with electronic control mechanisms, reducing user stress while maintaining precise control over the watercraft during docking.
2Reliability
If user manually maintains contact with dock, then secure contact can be achieved, but user must continuously monitor and adjust position
Solution Approach 1:
The control system continuously monitors the watercraft's position relative to the dock using sensors and automatically adjusts thrust to maintain secure contact. The system provides real-time feedback on position and contact force, making continuous adjustments without user intervention to ensure reliable contact throughout the docking process.
Solution Approach 2:
The control system maintains continuous automated monitoring and adjustment of the watercraft's position and contact with the dock. Instead of intermittent manual checks, the system operates continuously to ensure secure contact is maintained at all times during the docking and mooring process.
3Ease of operation
If autonomous dock holding mode is activated, then hands-free operation is enabled, but system must autonomously navigate and maintain position
Solution Approach 1:
The control system integrates multiple functions into a single autonomous dock holding mode: navigation to the dock, contact establishment, position maintenance, and lateral thrust control. This multi-functional system handles all aspects of docking autonomously, enabling hands-free operation while managing the complexity of autonomous navigation through integrated control algorithms.
Data Source
Figure 1
Figure 2
Figure 3
AI summary
A watercraft control system comprises a digital controller that controls outboard propulsion units to produce a predetermined lateral thrust to hold a watercraft against a docking structure during a dock holding mode, sets at least one of a target position and a target heading based on at least one of a current position and a current heading during the dock holding mode, and performs a correction operation to restore at least one of the target position and the target heading by generating at least one of a forward-rear thrust using the outboard propulsion units upon determining a deviation of the current position from the target position and a moment using the outboard propulsion units upon determining the current heading has deviated from the target heading while generating the predetermined lateral thrust during the dock holding mode.