Dual-Motor SIP&PUFF Controlled Kayak System

A highly disabled (quadriplegic) person can fully control this kayak via a SIP & PUFF Switch!

My design is a stand-alone fixture consisting of a Deck Plate that can be fastened to ANY kayak.   Off each end of the plate is a pontoon which rides above a fixed direction trolling motor.  Each system has two pontoons and two trolling motors.  There is no need for a rudder or any mechanism to steer the trolling motors, as turning is accomplished by varying the speed of one or the other trolling motors.

The Motor Control Program is entirely controlled by a single SIP&PUFF switch!

The on-board Arduino Duemilanove Microcontroller puts the Motor Driver into Serial Input Control Mode and accepts Sip&Puff Switch inputs from the Rider.

It then sends appropriate Serial Commands to the Motor Driver to operate the two Drive Motors.

Split-second (0.1 - 0.6 seconds) Sips and Puffs control Left and Right Turning, respectively, and slightly longer (0.6 - 2.5 seconds) Sips & Puffs control REV and FWD movement.

Even longer Sips and Puffs Stop the motors or command them equally to Full Speed. Steering is accomplished via differential motor speed.

Step 1: Advantages & Safety Features of the Design

This design has several great advantages over a single-motor system:

1: No need to develop a directional control system as turning is accomplished by differential motor speed.
An inexpensive single-board computer (eg. Arduino Duemilinove) drives the inputs of the
motor drive circuitry. Functionality is easily modified as a S/W change.

2: Designed as a stand-alone assembly, it is designed for use on just about any kayak, particularly sit-on-tops.
The user does not need to buy another kayak, or any at all if they can rent one.
The wing can be easily positioned in front of or behind the user.

3: The SIP&PUFF interface is fatigue free, and does not bring any electrical circuitry up to the user.
All electrical and electronics components are contained in a (semi-)waterproof enclosure typically placed
above the deck plate. Only the battery is separate, and can be positioned in front of or behind the rider.

4: The system incorporates an RC Remote Control override by which a safety observer can take full
and precise control over the kayak in any case where the rider is unable to control it as required.

5: All switches are debounced and timed in the software.

SAFETY FEATURES:

1. An RC Remote Control override capability.

2. A Lanyard Switch to detect the rider falling off without capsizing.

3. A toggle switch on the Control Unit to ensure motors off during boarding, etc.

4. A "secret" system startup sequence and "Practice Mode" to allow safe power-up.

5. A remotely-operated switch to electrically disconnect both motors in case of major system failure.

Comments

[shteef]

Fantastic build and a nice and thoughtful idea, I would be a little concerned that the disabled user would not be able to swim if the fell overboard. I took my kids kayaking the other day and we all spent more time in the sea than we did in the kayak(not by choice).

[hg341]

the whole time i was reading this i though that too(about falling) in till i saw that it was also rc

[kayakdiver]

I totally understand your concern...

The pontoons make the kayak so stable that I, at over 200 pounds, can stand on the very edge of the kayak without causing any tipping of concern. The pontoons draw 1 inch of water (not counting the motors) under normal conditions, and when I stand on the very edge of the kayak the pontoons sink to about 5 inches of draft.

Still, it is conceivable that a paddler may tip forward and fall out over the side of the kayak. The following aspects of using the system mitigate the danger somewhat:

(1) The Man-Overboard switch, with lanyard connected to the rider's vest, will stop the motors before the rider hits the water.

(2) The seat adaption seats the rider in quite a reclined position to reduce the liklihood that a rider suffering a spasm or seizure would fall forward enough to come out of the seat.

(3) The rider would be wearing a high-quality paddler's jacket that, at the least, would keep him or her at the surface. Some jackets are very good at turning the wearer face up, and others could easily be modified to do so. The prospective rider is one who would not panic in this situation and could hold their breath for 15-20 seconds.

(4) We would never use this system without having several safety paddlers very nearby at all times. The top speed of the system is 3.7 MPH, and an experienced able-bodied paddler can easily match this speed in a touring kayak. Safety paddlers in our outings have often been certified lifeguards as well as scuba instructors and paddling instructors.

It is impperative that the prospective rider be interviewed and provide honest answers about his or her ability to handle this worst-case-scenario. Negative answers would not necessarily preclude the rider from participating, but would indicate the need for closer monitoring by, and proximity of, the safety paddlers.

[shteef]

You have certainly gone about this project with a great deal of thought and preparation. Please don't feel that my previous comment was in any way disparaging. I have nothing but respect for your workmanship, technical skills and most of all noble motives.
I hope the users of your creation gain as much enjoyment from it as you no doubt got making it and we have had reading about it.

[kayakdiver]

Thanks SHTEEF, and I didn't take your previous comment in a bad way at all. In fact, I very much appreciate your comment and concern. It is often this very type of feed back that prompts me to scrutinize and modify my own designs. Safety is always the highest priority.

I have been extremely lucky to have a group of Occupational Therapists, from Santa Barbara, to mentor me and evaluate my designs, as well as bring groups of participants together to enjoy them. In many cases, these therapists have worked quite a bit with the participants and are very familiar with their capabilities.

I welcome ALL comments, both positive and constructively negative!

[lizhenry]

Awesome! I love your one-switch approach! And regarding safety, I would not think it would be a problem in calm waters.

[vectorges]

I love your project. This has been sitting in the back of my brain for about a year, but procrastination has gotten the best of me. I have been amassing parts for my build. It seems like the rice for your motor controller is high. I don't have the specs for the Minn Kota motors in front of me, but I have seen electric car controllers made for around $500 that will handle 144 volts and 60 amps.

Great job on the build, and a very well thought out presentation.

[kayakdiver]

Yes, at first I also considered the price to be quite high. I investigated making one myself from plans and schematics readily available on the internet. The total cost for the parts alone was going to be more than half the total cost for this Turn-Key solution. I would not have been able to implement all the functionality of the RS160D, at least not nearly as elegantly as David (the designer) did.

The RS160D accepts several types of Speed Control inputs, and the RS-232 and RC inputs were exactly what my design required. Adding the Remote Control Overide feature was so easy with the functionality provided! The driver always listens to the serial port, so the uController can maintain complete control over the system at all times.

The User Guide is freely available on their web site, so take a further look and see if it doesn't make more sense. The RS160D also has nice protective circuits and functionality, for temperature and overcurrent, built into it.

[vectorges]

Is there a problem with disabledadventurer.com? Maybe it is just an overload caused by all of the people checking out your instructable.

[kayakdiver]

Thanks for your interest! Just add an 's' to the end of that URL and it will work fine.

www.DisabledAdventurers.com

[angelabchua]

Absolutely amazing

[Aerospaced]

Add an umbrella and you good to go!

[Jackofallnutz]

That is incredible! Excellent job!