| 摘要 |
The invention concerns a method for transferring a load between a target position on board a vessel (40) and an outboard position outboard said vessel. The invention further concerns a motion compensation device (1) applying the method. In the method the load is being transferred by a crane (30) carried by a motion compensation device arranged on board the vessel. The motion compensation device comprises a carrier frame (2), a base (3) and an actuator system (8, 9) for moving the carrier frame with respect to the base; the base being fixed to the vessel and the crane being carried by the carrier frame. During picking up a load from the vessel or placing a load on the vessel, the actuator system is being driven in an on board mode such that the carrier frame is being compensated for x-axis rotational movement and y-axis rotational movement of the vessel, and follows, viewed in the vertical direction, the vertical movement of the target location. During picking up a load from the outboard position or placing a load on the outboard position, the actuator system is being driven in an outboard mode such that the carrier frame is being compensated for x-axis rotational movement, y-axis rotational movement and z-axis translational movement of the vessel. |
| 主权项 |
1. A motion compensation device for compensating a load manipulator, such as a crane, on a vessel for water motion
wherein an imaginary set of three orthogonal axes is defined by an x-axis (x), a y-axis (y) and a z-axis (z), the z-axis extending vertically when the device is in use; wherein the device comprises:
a carrier frame for carrying the manipulator;a base for supporting the motion compensation device on the vessel;an actuator system adapted to cause upon actuation of the actuator system one or more of the following movements:
translation of the carrier frame with respect to the base along the z-axis;rotation of the carrier frame with respect to the base around the x-axis;rotation of the carrier frame with respect to the base around the y-axis;a sensor system arranged for sensing at least x-axis rotational movement and y-axis rotational movement of the vessel and generating sensor signals representing said sensed movements of the vessel;a control system generating one or more control signals driving the actuator system in response to said sensor signals; wherein the control system comprises an outboard control mode for outboard load manipulation; wherein, in the outboard control mode, the control system is arranged to generate one or more control signals for driving the actuator system such that the carrier frame is compensated for x-axis rotational movement, y-axis rotational movement and z-axis translational movement of the vessel; wherein the control system further comprises on board control mode for on board load manipulation; wherein, in the on board control mode, the control system is arranged to generate one or more control signals for driving the actuator system such that the carrier frame
is compensated for x-axis rotational movement and y-axis rotational movement of the vessel; andfollows, viewed in vertical direction, the vertical movement of a target location on the vessel. |
