CONTROL DEVICE FOR CONTROLLING A WATERCRAFT, WATERCRAFT HAVING SUCH A CONTROL DEVICE, AND METHOD FOR CONTROLLING A WATERCRAFT

Abstract

A control device for controlling a watercraft includes: a position detection module configured to detect a current position of the watercraft; a positioning module configured to determine a new position for the watercraft within a delimited region depending on at least one positioning parameter when the watercraft approaches a boundary of the delimited region to within a predetermined distance or a parameterizable distance.

Claims

1. A control device for controlling a watercraft, the control device comprising: a position detection module configured to detect a current position of the watercraft; a positioning module configured to determine a new position for the watercraft within a delimited region depending on at least one positioning parameter when the watercraft approaches a boundary of the delimited region to within a predetermined distance or a parameterizable distance.

2. The control device according to claim 1, wherein the position detection module is configured to repeatedly detect the current position of watercraft.

3. The control device according to claim 1, wherein the positioning module is configured to generate a plurality of control commands, based on which the watercraft is configured for being moved into the new position, when the plurality of control commands are carried out in the watercraft.

4. The control device according to claim 1, wherein the at least one positioning parameter is selected from a group consisting of: a drift speed of the watercraft; an angular speed of the watercraft; a drift acceleration of the watercraft; an angular acceleration of the watercraft; a size of the watercraft; an area expanse of the delimited region; a time at which the watercraft will leave the delimited region as intended; another position of at least one other watercraft in the delimited region; and a movement of the at least one other watercraft.

5. The control device according to claim 4, wherein the control device is configured to detect at least one repositioning parameter selected from a group consisting of: the drift speed of the watercraft; the angular speed of the watercraft; the drift acceleration of the watercraft; and the angular acceleration of the watercraft in a repetitive and location-dependent manner.

6. The control device according to claim 5, further comprising a mapping module, which is configured to assign the at least one repositioning parameter to a location inside the delimited region, where the at least one repositioning parameter is detected by the control device.

7. The control device according to claim 5, further comprising a communication module, which is configured to receive at least one information from another watercraft, wherein the at least one information is selected from a group consisting of: another position of the other watercraft and another repositioning parameter of the other watercraft.

8. A watercraft, comprising: a control device for controlling a watercraft, the control device comprising: a position detection module configured to detect a current position of the watercraft; a positioning module configured to determine a new position for the watercraft within a delimited region depending on at least one positioning parameter when the watercraft approaches a boundary of the delimited region to within a predetermined distance or a parameterizable distance.

9. A method for controlling a watercraft the method comprising the steps of: specifying a delimited region in which the watercraft is configured for being present; detecting a current position of the watercraft; determining, when the watercraft approaches a boundary of the delimited region up to a predetermined distance or a parameterizable distance, a new position for the watercraft within the delimited region depending on at least one positioning parameter.

10. The method according to claim 9, wherein, as the at least one positioning parameter, at least one repositioning parameter of the watercraft is determined in that, starting from a first position of the watercraft, at least one of a time and a change in an angular position of the watercraft until approaching a boundary of the delimited region or until reaching the boundary is or are detected, the step of detecting occurring repeatedly.

11. The method according to claim 9, wherein the at least one positioning parameter is selected from a group consisting of: a repositioning parameter; a size of the watercraft; an area expanse of the delimited region; a point in time at which the watercraft will leave the delimited region as intended; another position of at least one other watercraft in the delimited region; and a movement of the at least one other watercraft.

12. The method according to claim 11, wherein the at least one repositioning parameter is selected from a group consisting of: a drift speed of the watercraft; an angular speed of the watercraft; a drift acceleration of the watercraft; and an angular acceleration of the watercraft.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0084] The above-mentioned and other features and advantages of this invention, and the manner of attaining them, will become more apparent and the invention will be better understood by reference to the following description of embodiments of the invention taken in conjunction with the accompanying drawings, wherein:

[0085] FIG. 1 is a schematic representation of one design example of a watercraft with a design example of a control device, and a first step of an embodiment of a method for controlling the watercraft;

[0086] FIG. 2 is a schematic representation of a second step of the method;

[0087] FIG. 3 is a schematic representation of a third step of the method, and

[0088] FIG. 4 is a schematic representation of a second embodiment of the method.

[0089] Corresponding reference characters indicate corresponding parts throughout the several views. The exemplifications set out herein illustrate embodiments of the invention, and such exemplifications are not to be construed as limiting the scope of the invention in any manner.

DETAILED DESCRIPTION OF THE INVENTION

[0090] FIG. 1 shows a schematic representation of a design example of a watercraft 1, which in this case is in the embodiment of a ship. Watercraft 1 includes a design example of a control device 3, which is designed in particular to carry out a method described in more detail below.

[0091] Control device 3 includes a position detection module 2 which is designed, to detect a current position of watercraft 1. Control device 3 also includes a positioning module 4, which is designed to determine a new position, in particular as a second position for watercraft 1 within delimited region 5, depending on at least one positioning parameter, when watercraft 1 approaches a boundary of delimited region 5, in particular when coming from a first position and approaching said boundary to within a predetermined or parameterizable distance, the second position optionally being different from the first position.

[0092] Position detection module 2 is optionally designed to repeatedly detect the current position of watercraft 1.

[0093] Positioning module 4 is optionally designed to generate control commands, based on which watercraft 1 is moved to the new position when the control commands are executed in watercraft 1.

[0094] The at least one positioning parameter is selected from a group, consisting of a drift speed of watercraft 1, an angular speed of watercraft 1, a drift acceleration of watercraft 1, an angular acceleration of watercraft 1, collectively also referred to as repositioning parameters, a size of watercraft 1, an area expanse of delimited region 5, a time at which watercraft 1 will leave delimited region 5 as intended, another position of at least one other watercraft 19 shown in FIG. 4 in delimited region 5, and a movement of the at least one other watercraft 19.

[0095] Control device 3 is in particular designed to detect the at least one repositioning parameter, repetitively and location-dependent.

[0096] Control device 3 optionally includes a mapping module 6, which is designed to assign the at least one repositioning parameter to a location inside delimited region 5, where the at least one repositioning parameter is detected by control device 3.

[0097] In addition, control device 3 optionally includes a communication module 8, which is designed to receive at least one information from other watercraft 19, wherein the at least one information is optionally selected from a group, consisting of another position of other watercraft 19 and another repositioning parameter of other watercraft 19.

[0098] Within the scope of the method for controlling watercraft 1, delimited region 5 in which watercraft 1 may stay is in particular specified. The current position of watercraft 1 is detected—optionally repeatedly—wherein, when watercraft 1 approaches a boundary of delimited region 5 up to the predetermined or parameterizable distance, in particular when coming from the first position, the new, in particular second position for watercraft 1 within delimited region 5 is determined depending on at least one positioning parameter, the second position optionally being selected to be different from the first position.

[0099] Within the scope of the method, watercraft 1 is positioned in particular within delimited region 5 in such a way that a drive of watercraft 1 needs to be actuated as little as possible in order to keep watercraft 1 inside delimited region 5. Thus, watercraft 1 can advantageously be positioned in particular cost-efficiently, with low noise emissions, pollutant emissions, and in particular without anchoring.

[0100] Delimited region 5 is specified in particular virtually in control device 3 for watercraft 1.

[0101] In an optional embodiment the steps explained in more detail below are carried out for implementation of the method.

[0102] FIG. 1 shows in particular a first step of a first embodiment of a method for controlling, in particular positioning of watercraft 1.

[0103] A current position of watercraft 1 inside the delimited region is a) detected repeatedly, in particular regularly. Watercraft 1 is shown herein in a first position, referred to as “position 1”, in particular a starting position, within delimited region 5.

[0104] In an optional embodiment, delimited region 5 is arranged within a bay 7 of a body of water 9. In particular, it is possible that delimited region 5 is arranged within an anchor prohibition zone in which watercraft 1 is not allowed to drop anchor. Starting from the first position in FIG. 1, watercraft 1 is optionally in delimited region 5 without propulsion, that is with the drive switched off or with the drive in idling mode.

[0105] A boundary of delimited region 5 is shown in FIG. 1 and in the following drawings, in particular as a dashed line. Outside the delimited region—divided by the dashed line—there is an exclusion zone 11 where watercraft 1 is not permitted and into which watercraft 1 is not allowed to enter.

[0106] Delimited region 5 is in particular smaller than the body of water 9, but larger, in particular much larger, than watercraft 1. Within the scope of the method explained in more detail below, watercraft 1 is thus not kept in a position narrowly limited by its own dimensions—possibly with tolerances—but it is only required that watercraft 1 remains within delimited region 5.

[0107] FIG. 2 illustrates a second step of the first embodiment of the method.

[0108] Identical, and functionally identical elements have the same reference identifications, so that in this respect reference is always made to the previous identifications.

[0109] In past or future positions, watercraft 1 is always shown with dashed lines, but current positions are indicated in solid lines. Moreover, control unit 3 is always only shown in the respective current position of watercraft 1.

[0110] FIG. 2 shows that watercraft 1, which is arranged without propulsion in delimited region 5, moves from first position, position 1, to another position, referred to herein as “position 2”. In doing so, watercraft 1 is moved in particular by currents as well as winds in delimited region 5. Watercraft 1 thereby approaches exclusion zone 11, and in particular in FIG. 2 already touches on the boundary of delimited region 5.

[0111] During this movement of watercraft 1, at least one relocation parameter for watercraft 1 is in particular determined, in which, starting from the first position, position 1, a time and/or a change in an angular position of watercraft 1 up to the approach to exclusion zone 11, in particular up to the other position, position 2, are detected. In particular, a drift speed 13—represented by a dashed arrow—as a vectorial quantity—as well as an angular speed 15 are detected here as repositioning parameters, optionally also a drift acceleration and/or an angular acceleration.

[0112] FIG. 3 shows a third step of the embodiment of the method.

[0113] When watercraft 1 approaches exclusion zone 11—without propulsion—b) a new position is determined as a second position for watercraft 1, referred to as “position 3” in the third step shown here; the new position being determined in such a way that a number of necessary relocations of watercraft 1 in delimited region 5 become as few as possible. Watercraft 1 is then c) relocated to the new position, in particular driven there by its own drive. The result of this active relocation of watercraft 1 is shown in FIG. 3. Watercraft 1 is then located in its new position, position 3. In particular, this position 3 is determined in such a way that a repositioning vector 17 predicted in particular on the basis of the detected repositioning parameters—in particular drift speed 13 and angular speed 15—becomes as large as possible up to a predicted future position, “position 4”, of watercraft 1 at which it again approaches exclusion zone 11. In particular, in this way, the time span that elapses until the next approach to exclusion zone 11 becomes as long as possible. In particular, it is calculated to which position watercraft 1 must be maneuvered so that predicted repositioning vector 17 within delimited region 5 becomes as long as possible before watercraft 1 again performs a boundary violation. If watercraft 1 is now at the new position, position 3, it can remain without active drive until the future position, position 4.

[0114] This procedure is optionally carried out repetitively or iteratively, so that as a result, watercraft 1 is kept within delimited region 5, whereby however engagement of the drive occurs infrequently. This saves costs, emissions, and avoids noise.

[0115] Moreover, watercraft 1 can stay in bay 7 without having to drop anchor; an anchoring prohibition that may exist can therefore be observed without any danger resulting therefrom, or watercraft 1 having to be held in a position essentially defined by its dimensions and which would be associated with high power and cost expenditure as well as high emissions and noise pollution.

[0116] As already discussed, in determining the new position the at least one repositioning parameter it is optionally taken into account, in particular drift speed 13 and/or wind velocity 15.

[0117] Optionally, the at least one repositioning parameter is detected multiple times during repetitions of steps a) to c), wherein mapping of the at least one repositioning parameter is performed on delimited region 5 and used for the determination of the respective new position in step b).

[0118] Except for the active repositioning of watercraft 1 in step c) to the respective new position, watercraft 1 is optionally operated without propulsion in delimited region 5, that is, in particular with the drive switched off, or with the drive in idling mode.

[0119] FIG. 4 is a schematic representation of a second embodiment of the method.

[0120] In this instance, another watercraft 19 is also arranged in addition to watercraft 1 in delimited region 5. Within the scope of the second embodiment of the method—in particular in addition to the steps and procedures described in connection with the first embodiment of the method—another position and/or a movement, in particular another repositioning parameter of the other watercraft 19 in delimited region 5, is herein taken into account when determining the second, new position for the watercraft 1. This other position and/or movement is optionally determined by distance measurement, in particular by way of radar, lidar, or another suitable system, or is received as information from other watercraft 19. The consideration of the other position and/or movement of other watercraft 19 during the repositioning of watercraft 1 makes it possible in an advantageous manner to avoid a collision between watercraft 1 and other watercraft 19, particularly optionally without additional intervention in the drive of watercraft 1.

[0121] Watercraft 1 and the at least one other watercraft 19 optionally exchange at least one piece of information, in particular selected from a group consisting of a current position and at least one repositioning parameter, especially optionally a vectorial drift speed. To this extent, drift speed 13 for watercraft 1 and another drift speed 13′ for other watercraft 19 are shown in FIG. 4.

[0122] Watercraft 1 is especially optionally positioned depending on a comparison between drift speed 13 and other drift speed 13′, in particular either in drift direction before other watercraft 19, or—as shown in FIG. 4—behind other watercraft 19.

[0123] The other repositioning parameters received from other watercraft 19 are optionally included into the mapping of the at least one repositioning parameter.

[0124] While this invention has been described with respect to at least one embodiment, the present invention can be further modified within the spirit and scope of this disclosure. This application is therefore intended to cover any variations, uses, or adaptations of the invention using its general principles. Further, this application is intended to cover such departures from the present disclosure as come within known or customary practice in the art to which this invention pertains and which fall within the limits of the appended claims.