• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    vessel, motion platform, control system, method for compensating movements of a vessel, and computer program product. the invention relates to a vessel (1) including a motion compensation platform (4). the platform comprises at least one conveyor (6) for rolling, moving and/or transferring a load, and a walkway (16) provided with a first end (16a) pivotally connected to the conveyor (6) and a second end (16b) for contact with a target surface. furthermore, the platform comprises a multiple number of first actuators (5) to move the conveyor (6) with respect to the conveyor (6). the platform also includes a control system arranged for directing the multiple number of first actuators (5), and motion sensors for measuring movements relative to at least one element of a target area, where the measurements are used as input to the system. of control. the control system is also provided to drive at least one second actuator.
    公开号:BR112013003365B1
    申请号:R112013003365-7
    申请日:2011-08-12
    公开日:2021-06-29
    发明作者:Jan Van Der Tempel；Freederik Willem Boudewijh Gerner；David Julio Cerda Salzmann；Arie Jan Gobel
    申请人:Ampelmann Operations B.V.；
    IPC主号:
    专利说明:

    [001] The invention relates to a vessel including a motion compensation platform, which platform comprises at least one conveyor to support, move and/or transfer a load, a walkway provided with a first end pivotably connected to the conveyor and a second end for contacting a target area, a multiple number of first actuators for moving the carrier with respect to the vessel, at least one second actuator for moving the bridge with respect to the carrier, a control system arranged to actuate the number multiple of first actuators, and motion sensors for measuring motion in relation to at least one element in a target area, which measurements are used as input to the control system.
    [002] Such a vessel is, for example, known from the international patent publication WO 2007/120039. The platform comprises a conveyor carried by six hydraulic cylinders, and a mobile walkway connected to the conveyor providing a connection between the conveyor and the fixed world, like an offshore construction. During use, with the aid of sensors, the movements of the respective vessel are measured. With the help of these measurements, the orientation of the hydraulic cylinders is actuated continuously so that the conveyor remains approximately stationary in relation to the fixed world. In this way, ship movements are compensated so that a transfer between the ship and the fixed world, or vice versa, is made possible.
    [003] One of the objectives of the invention is to improve a vessel including a movement platform.
    [004] Another objective of the invention is to reduce manufacturing costs of a movement platform.
    [005] At least one of these and other objectives are achieved with a vessel according to the preamble in which the control system is also arranged to drive at least one second actuator.
    [006] By also triggering at least one second actuator, a movement of the vessel with respect to a target area can be at least partially compensated by a movement of the walkway with respect to the carrier, thereby reducing the required compensation performance of the carrier with respect -tion to the vessel. As an example, the platform control system may be arranged to compensate for vessel movement by at least one degree of freedom, eg, the vessel's vertical position, by actuating at least one second actuator. Next, the motion compensation performed by the conveyor has to be performed merely in five degrees of freedom. As requirements to compensate for conveyor performance relax, conveyor design can be made simpler, thereby reducing manufacturing costs.
    [007] The control system can be arranged to drive the multiple number of first actuators and at least one second actuator to keep the second end of the bridge substantially stationary with respect to a target area, so that an approach of Full compensation is applied to compensate for vessel movements, and a safe transfer between the transporter and the target area can be provided.
    [008] Preferably, the control system is arranged to compensate for vessel motion in less than five degrees of freedom, eg three degrees of freedom, by driving the multiple number of first actuators. As an example, the conveyor then compensates for sway, tilt and yaw of the vessel so that the multiple number of first actuators can be implemented relatively compactly, thereby further reducing manufacturing costs.
    [009] It is noted that in this context, the target area should be understood as an area in a structure that is free of the vessel, having a position that is independent of the vessel's position, being stationary, like an offshore construction, or moving in other mode than the vessel, for example another vessel, thereby allowing passage from ship to ship.
    [010] The invention also relates to a movement platform.
    [011] In addition, the invention refers to a control system.
    [012] The invention further relates to a method to compensate for movements of a vessel.
    [013] Furthermore, the invention relates to a computer program product. A computer program product may comprise a set of computer executable instructions stored on a data carrier such as a CD or DVD. The computer-executable instruction set, which allows a programmable computer to perform the method as described above, can also be available for download from a remote server, for example, over the Internet.
    [014] Other advantageous embodiments according to the invention are described in the following claims.
    [015] In clarifying the invention, exemplary embodiments of an in-vessel, movement platform, method and use according to the invention will be further elucidated with reference to the drawing. In the drawing: Figure 1 shows a schematic perspective view of a vessel according to the invention; Figure 2 shows a schematic diagram of the vessel shown in figure 1; Figure 3 shows a schematic perspective of a moving platform according to the invention; and Figure 4 shows a flowchart of an embodiment of a method according to the invention.
    [016] In this description, identical or corresponding parts have identical or corresponding reference numerals. In drawing, modalities are given as examples only. The parts used are mentioned merely by way of example and are not to be construed as limiting in any way. Other parts can also be used in the structure of the present invention.
    [017] Figure 1 schematically shows an embodiment of a vessel 1 according to the invention. With this vessel 1, a load such as people, animals, articles and/or other cargo can be transferred from vessel 1 to a target area, such as a frame or base, for example from a weathervane 2 at sea 3, and vice versa. For transfer, vessel 1 is provided with a motion compensating platform 4. This platform compensates for movements of vessel 1 for the purpose of retaining the part of the platform that contacts weathervane 2 relatively stationary in relation to weathervane 2, of so that, for example, people like weathervane construction personnel can transfer relatively safely. The movements of vessel 1 that can be compensated can comprise linear movements such as forward/reverse, “surge”, (vessel moves from front to back), sink/hease or heave, “hea-ve”, (up and downwards), and lateral drift or slump, "sway" (sideways) and rotational movements such as rocking, "roll", (arc from left to right), tilting or heading, "yaw" (the vessel 1 balance from left to right) and caturro, “pitch”, (u arc up and down). Of course, the movements of vessel 1 are often combinations of these linear and rotational movements.
    [018] This transfer to or from vessel 1 should, of course, not be limited to the transfer to and/or to weathervanes 2. In principle, the transfer can be carried out between vessel 1 and any other element in turn 2. The vessel 1 is suitable for transferring, for example, people, animals and/or cargo to, in principle, any offshore construction, such as offshore platforms 3 and/or other constructions on water 3, etc. in certain embodiments, a vessel 1 according to the invention is designed to transfer to any part connected to the fixed world, such as a pier, a dike, cliffs, steep rocks, (sea) bottom etc. in certain embodiments, a vessel 1 has been made suitable for transferring to other mobile elements and/or floating elements, such as, for example, other vessels. For this purpose, with the aid, for example, of a camera, optical sensor or similar, the movements of such mobile element can be registered and compensated by the active components of the platform.
    [019] In the embodiment shown, the motion compensation platform 4 is provided with a conveyor 6 and a multiple number of first actuators, implemented as six hydraulic cylinders 5a, to move the conveyor. Such a motion platform 4 is known as a simulation platform, as a “Stewart” platform. Conveyor 6 can be designed to be movable in six degrees of freedom. However, according to one aspect of the invention, the conveyor can also be designed to be movable in fewer degrees of freedom, eg three degrees of freedom, eg with respect to roll, yaw and tilt. Platform 4 further comprises a walkway 16 having a first end 16a and a second end 16b. The first end of the gangway 16a is pivotally connected to the conveyor 6. Furthermore, the second end of the gangway 16b is in contact with the weathervane construction 2. The gangway can be moved with respect to the conveyor 6 by driving at least one second. actuator provided by the platform. In operation, the second end of the bridge 16b will be held, in accordance with one aspect of the invention, substantially stationary with respect to the weather vane 2 by actively driving the multiple number of hydraulic cylinders 5a and at least one second actuator. For this purpose, the platform is additionally equipped with motion sensors and a control system to properly actuate the respective actuators.
    [020] Figure 2 shows a schematic diagram of vessel 1. The control system 8 is connected to motion sensors 7 to receive motion sensor data, for example, the oscillation of vessel 1 in water 3. With the help of these measurement data, during use, a first actuation signal and a second actuation signal are generated to actuate the hydraulic cylinders 5a and at least one second actuator 5b, respectively, to move the conveyor 6 with respect to the vessel 1 and to move the walkway 16 with respect to conveyor 6, respectively, to keep the second end 16b of the walkway substantially stable with respect to the target area. To generate the actuation signals, the control system 8 is equipped with a processor 13. The control system also includes a memory 14. The processing of these measurements and active actuation of the hydraulic cylinders 5a and at least one second actuator is a task. to be performed by the control system 8.
    [021] Actuators 5a, 5b may include pneumatic and/or hydraulic means, linear motors, electrical drive elements, etc. in the shown embodiment, the pneumatic means 9 comprise at least one pneumatic cylinder 10 which is placed approximately in the center of the motion compensating platform 4 and is connected through tubes 15 to a pressure compensator in the form of an accumulator 11 for storing air compressed, and a compressor 12 for compressing air. After filling with compressed air in pneumatic cylinder 10 and accumulator 11, after provision of a charge, cylinder 10 will remain pressurized and can continue to support at least a part of the charge. The pneumatic cylinder 10 may have the property of passively moving along in its longitudinal direction. The movements of conveyor 6 in the longitudinal direction of the cylinder are followed by compression and expansion of air in cylinder 10 and accumulator 11. Small pressure drops in pneumatic cylinder 10, through, for example, friction can be measured and compensated for with the aid, for example, of the compressor 12 and/or control system 8. Such pneumatic means 9 are known per se from the so-called “sag compensation” systems, “heave compensation”. By placing this longitudinal direction in the direction of gravity, a large force, for example that of the weight of the conveyor 6 and load, will be continuously absorbed by the passive pneumatic means 9, and consequently also in case of a defect in the active elements of the motion compensating platform 4 such as sensors 7, control system 8 and/or hydraulic cylinders. In specific embodiments, the pneumatic means 9 are advantageously placed in other directions, for example, to compensate for the tilting movements of the conveyor 6, after, for example, a defect. Thereby, after a defect of an element such as a cylinder 5, the pneumatic means 9 can prevent the motion compensation platform from making a relatively unsafe movement, such as bending. Defects that could occur are, for example, insufficient power supply or valves in the active hydraulic system becoming coined. Naturally, also other preferably passive pressure systems 9 can be used in the structure of the invention. In certain embodiments, instead of and/or in addition to pneumatic means 8, i.e. cylinder 10, at least one spring can be used as passive element 10, for example a spiral and/or gas spring. The pneumatic means 9 can, in principle, comprise different types of pressure elements such as, for example, hydraulic means and/or elastic means and/or a traction element, etc. of course, one or more pressure elements can be used. Depending, for example, on expected usage, desired accuracy and/or economic considerations, a specific type, a specific quantity and/or placement can be selected. A passive pressure system 9 provides security that in principle it will not fail and can remain functional without continuous actuation. Furthermore, such a passive system 9 can remain of limited complexity.
    [022] Figure 3 shows a schematic perspective of a movement platform 4 according to the invention. The platform includes a frame 50 rigidly fixed to the vessel 1. The multiple number of first actuators 5 support the carrier 6 on the frame 50. The carrier 6 is provided with an upper surface 6 on which the gangway 16 is pivotally mounted across. of a pivot mechanism 25. In addition, Figure 3 shows the second actuator 5b allowing the second end 16b of the walkway 16 to be raised and lowered with respect to the conveyor 16. More specifically, the second actuator 5b is arranged to pivot the gangway 16 with respect to a first pivot angle A substantially parallel to conveyor 6 and transverse to a longitudinal geometric axis L of gangway 16. Thereby, by pivoting gangway 16 about first pivot angle A, the second end 16b of the walkway can be raised or lowered to follow a target height of target area 2.
    [023] The platform is additionally provided with another second actuator (not shown) which is arranged to pivot the gangway 16 with respect to a second pivot angle B substantially transverse to the plane in which the conveyor 6 extends, so that the walkway can oscillate clockwise or counterclockwise in a substantially horizontal plane.
    [024] The walkway includes a first walkway section 26a and a second walkway section 26b mutually interconnected via a translation mechanism 28. The first walkway end 16a is provided on the first walkway section 26a, while the second end of the walkway section 26a walkway 16b is provided in the second walkway section 26b. The platform is additionally further provided with a second additional drive, for example integrated in the translation mechanism 28, for moving the second walkway section 26b with respect to the first walkway section 26a substantially along the longitudinal geometric axis of walkway L, of so that the second end of walkway 16b can follow a lateral horizontal movement of the vessel with respect to the target area 2.
    [025] By compensating a vessel motion by actively driving all second actuators 5b, a motion compensation in three degrees of freedom can be performed such that conveyor 6 has to compensate for the other three degrees only.
    [026] It is observed that in another modality of the movement platform according to the invention, another design can be implemented, for example, having only two second actuators or only one second actuator. Next, the conveyor has to perform motion compensation in more degrees of freedom, for example, four degrees or five degrees of freedom.
    [027] In specific modalities, motion sensors 7 comprise known motion sensors 7 as to measure movements of vessel 1, for example, accelerometers or dynamometers. With known accelerometers, the movement of vessel 1 relative to the fixed world can be measured. Also, in specific modalities, other types of sensors 7 can be used, such as cameras, GPS (Global Positioning System), sensors using electromagnetic waves, sonic waves, etc. the sensors 7 can measure the position of the vessel 1 in relation to one or more elements in the surrounding area, for example towards another vessel 1 and/or the fixed world. The information that the control system 8 receives from the motion sensors 7 is processed through, for example, pre-programmed algorithms so that the actuators 5a, 5b can be actuated to hold the second end 16b of the walkway 16 approximately stationary in relation to the target area 2.
    [028] Advantageously, motion sensors include orientation sensors and sensors to measure a relative distance towards the target area, so that another orientation and/or other position can be measured, thereby avoiding the use of sensors. absolute position. As a result, motion sensors can be implemented in a relatively inexpensive way.
    [029] Measurements may also include providing measurement data performed from another structure, for example, another vessel, in relation to vessel movements by hand. Measurements can also include providing laser data or video data to retrieve relative position data.
    [030] In this regard, it is observed that the use of orientation sensors and sensors to measure a distance towards the target area can not only be applied to the method according to claim 14, but also, more generally, in combination with a method of compensating for movements of a vessel, comprising the steps of measuring movements relative to at least one element in a target area and driving a multiple number of first actuators to move a carrier relative to the vessel.
    [031] Measurements may include providing sensor data of movements of the vessel, platform and/or gangway, preferably the second end of the gangway, in relation to the target area 2. In particular, vertical position data from the second end 16b of the walkway can be obtained by measuring the height of the second end of walkway 16b with respect to the target area 2, thereby allowing the control system 8 to follow the target area height relatively easily and precisely by actuating the second actuator which controls pivot the walkway with respect to the first pivot axis A.
    [032] Operation of a mode of motion platform 4 is approximately as follows. When vessel 2 is close to weathervane 2, platform 4 is activated. Any movements of the vessel are measured through sensors 7, whose measurement data are used as input to the control system 8. In response to the measurement data, a first trigger signal and a second trigger signal are generated to activate the respective actuators. Through continuous adjustment of the actuators 5a, 5b the second end of the bridge 16b will be able to be virtually stationary relative to the weather vane 2 so that personnel and/or cargo can be transferred safely.
    [033] Figure 4 shows a flowchart of an embodiment of the method according to the invention. The method can be used to compensate for movements of a vessel. The method comprises a step of measuring movements with respect to at least one element in a target area 100, a step of driving a multiple number of first actuators to move a conveyor with respect to the vessel 110, and a step of driving at least one second actuator to move a walkway that is pivotally connected to conveyor 120.
    [034] The method for compensating movements of a vessel can at least partially be executed using dedicated hardware structures, such as FPGA ("Field Programmable Gate Array' - "Programmable Logic Gate Array") and/or ASIC components (" Application-specific Integrated Circuit' - “Application-Specific Integrated Circuit”). Otherwise, the method can also be at least partially carried out using a computer program product comprising instructions for causing a processor of the computer system to perform the steps described above of the method according to the invention. Processing steps can in principle be performed on a single processor, in particular steps of providing first and second drive signals to drive the multiple number of first actuators and at least one second actuator. However, it is noted that at least one step can be performed on a separate processor, for example a step of receiving motion sensor data in relation to at least one element in a target area.
    [035] These and many comparable variations, as well as combinations thereof, are understood to be comprised within the framework of the invention as outlined by the claims. Naturally, different aspects of the different embodiments and/or combinations thereof can be combined with each other and be interchanged within the framework of the invention. Therefore, the mentioned modalities should not be understood as being limiting.
    权利要求:
    Claims (18)
    [0001]
    1. Vessel (1) including a motion compensating platform (4), wherein the platform comprises: at least one conveyor (6) for rolling, moving and/or transferring a load; a multiple number of first actuators (5) to move the conveyor (6) with respect to the vessel (1); a control system (8) arranged to drive the multiple number of first actuators, and CHARACTERIZED by the fact that it further comprises: a walkway (16) provided with a first end (16a) hingedly connected to the conveyor (6) and a second end (16b) for contacting a target area (2); at least one second actuator for moving the walkway (16) with respect to the conveyor (6); and motion sensors (7) or measurement movements in relation to at least one element in a target area, which measurements are used as input to the control system (8), in which the control system (8) it is also arranged to drive at least one second actuator.
    [0002]
    2. Vessel (1), according to claim 1, CHARACTERIZED by the fact that the control system (8) is arranged to actuate the multiple number of first actuators and at least one second actuator to maintain the second end (16b) of the walkway (16) substantially stationary with respect to a target area.
    [0003]
    3. Vessel (1), according to claim 1 or 2, CHARACTERIZED by the fact that the control system (8) is arranged to compensate for a movement of the vessel (1), in at least one degree of freedom by the drive at least one second actuator.
    [0004]
    4. Vessel (1), according to claim 3, CHARACTERIZED by the fact that at least one degree of freedom is substantially the vertical position of the vessel (1).
    [0005]
    5. Vessel (1) according to any one of claims 1 to 4, CHARACTERIZED by the fact that at least one second actuator is arranged to rotate the bridge (16) with respect to a first rotation angle substantially parallel to the conveyor (6) and transverse to a longitudinal axis of the walkway (16).
    [0006]
    6. Vessel (1) according to any one of claims 1 to 5, CHARACTERIZED by the fact that at least one second actuator is arranged to rotate the bridge (16) with respect to a second substantially transverse rotation angle at relation to the carrier (6).
    [0007]
    7. Vessel (1) according to any one of claims 1 to 6, CHARACTERIZED by the fact that the first end (16a) of the bridge (16) is provided in a first section of the bridge (16), wherein the second end (16b) of the bridge (16) is provided in a second section of the bridge (16), and wherein at least one second actuator is arranged to move the second section of the bridge (16) with respect to the first section. of the gangway (16) substantially along the longitudinal axis of the gangway (16).
    [0008]
    8. Vessel (1), according to any one of claims 1 to 7, CHARACTERIZED by the fact that the control system (8) is arranged to compensate for a movement of the vessel (1), in a maximum of five degrees of freedom, preferably three degrees of freedom, by triggering the multiple number of first actuators.
    [0009]
    9. Vessel (1) according to any one of claims 1 to 8, CHARACTERIZED by the fact that motion sensors (7) include orientation sensors and sensors for measuring a distance towards the target area.
    [0010]
    10. Vessel (1), according to any one of claims 1 to 9, CHARACTERIZED by the fact that the multiple number of first actuators comprises pneumatic and/or hydraulic means.
    [0011]
    11. Vessel (1), according to any one of claims 1 to 10, CHARACTERIZED by the fact that the motion compensation platform comprises a Stewart platform with hydraulic cylinders.
    [0012]
    12. Movement platform, particularly suitable for a vessel (1) as defined in any one of claims 1 to 11, the platform CHARACTERIZED by comprising at least one conveyor (6) for rolling, moving and/or transferring a load, a walkway (16) provided with a first end (16a) pivotally connected to the conveyor (6) and a second end (16b) for contacting a target area, a multiple number of first actuators to move the conveyor (6) with respect to the vessel (1), at least one second actuator for moving the bridge (16) with respect to the conveyor (6), a control system (8) arranged to drive the multiple number of first actuators, and motion sensors (7) for measuring in relation to at least one element in a target area, where the measurements are used as input to the control system (8), where the control system (8) is also arranged to actuate at least one second actuator.
    [0013]
    13. Control system (8), particularly suitable for a vessel (1) as defined in any one of claims 1 to 11, the control system (8) CHARACTERIZED by including a processor that is arranged to: receive data from the motion sensor for motions relative to at least one of the elements in a target area; providing a first drive signal to drive a multiple number of first actuators to move at least one conveyor (6) to roll, move and/or transfer a load, and provide a second drive signal to drive at least a second actuator to move a walkway (16) pivotally connected to the conveyor (6).
    [0014]
    14. Method for compensating movements of a vessel (1), CHARACTERIZED by comprising the steps of: measuring movements related to at least one element in a target area; actuating a multiple number of first actuators to move a conveyor (6) with respect to the vessel (1), and actuating at least one second actuator to move a footbridge (16) which is pivotally connected to the conveyor (6).
    [0015]
    15. Method according to claim 14, CHARACTERIZED by the fact that the actuation steps of the multiple number of first actuators and at least one second actuator are performed in response to the movement measurements.
    [0016]
    16. Method according to claim 14 or 15, CHARACTERIZED by the fact that the motion compensation platform is a Stewart platform.
    [0017]
    17. Method according to any one of claims 14 to 16, CHARACTERIZED by the fact that the measurement step includes measuring movements of the vessel (1), the platform and/or the bridge (16), preferably from the second end (16b) of the walkway (16) with respect to at least one element in a target area.
    [0018]
    18. Computer-readable medium for compensating the movements of a vessel (1), the computer-readable medium CHARACTERIZED by comprising instructions that when executed on a computer, cause said computer to perform the steps of the method as defined in any of the claims 14 to 17.
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    同族专利:
    公开号 | 公开日
    US20130212812A1|2013-08-22|
    AU2011289957A1|2013-02-28|
    WO2012021062A1|2012-02-16|
    HRP20140858T1|2014-12-05|
    NL2005231C2|2012-02-14|
    AU2011289957B2|2015-10-01|
    MX2013001702A|2013-06-28|
    PL2603422T3|2015-01-30|
    MY162410A|2017-06-15|
    DK2603422T3|2014-09-29|
    BR112013003365A2|2017-06-27|
    US20160068236A1|2016-03-10|
    EP2603422A1|2013-06-19|
    CY1115947T1|2017-01-25|
    MX342602B|2016-10-04|
    EP2603422B1|2014-07-02|
    SI2603422T1|2014-11-28|
    ES2503217T3|2014-10-06|
    PT2603422E|2014-09-22|
    US9663195B2|2017-05-30|
    US9278736B2|2016-03-08|
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    法律状态:
    2018-12-26| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2019-11-26| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2020-12-01| B06A| Notification to applicant to reply to the report for non-patentability or inadequacy of the application [chapter 6.1 patent gazette]|
    2021-04-20| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2021-06-29| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 12/08/2011, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    NL2005231|2010-08-13|
    NL2005231A|NL2005231C2|2010-08-13|2010-08-13|A vessel, a motion platform, a control system, a method for compensating motions of a vessel and a computer program product.|
    PCT/NL2011/050561|WO2012021062A1|2010-08-13|2011-08-12|A vessel, a motion platform, a control system, a method for compensating motions of a vessel and a computer program product|
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