Yeah canals have used inclined planes with cradles for the boats either holding water or just holding the boat and been hauled up the plane, but from what I gather on wikipedia locks are pretty much the universal go to method and other things are for special rare cases or temporary. I did discover a super cool, but somewhat frightening (I for one would definitely not stay on the boat)type called the Cassion lock, and the shaft lock which could both be useful for moving boats quickly in to more minor lower traffic canals. But likely the busier ways have paired normal locks the kind we are used to. (There was also an early type of lock that just dumped the boat out down the lock channel with all the water and to go the other direction they had to haul the boat against the current, crazy)