CONTROL SYSTEM FOR A BOOM MOVABLE VIA AT LEAST ONE ACTUATOR AND CORRESPONDING METHOD

Description

Field of the invention

[0001] The invention relates to a water-bound object with a boom according to the preamble of claim 1. Furthermore, the invention relates to a method for controlling the boom with the control system. Background of the invention

[0002] In the offshore industry, a gangway is often used to create connections between structures, e.g. between different ships and / or fixed structures such as wind turbines and / or drilling platforms, in order to transfer people and / or goods from one structure to another. The gangway is therefore usually movable and can be lengthened or shortened, pivoted and raised or lowered, for example to connect a ship to a fixed structure. However, unwanted and difficult or unpredictable movements due to wave action and weather conditions can make mooring more difficult and can even cause damage to the ships and other structures, or mooring must be postponed or even cancelled due to weather conditions. This can lead to financial losses.

[0003] Technical systems already exist that enable and / or facilitate the berth of two structures and / or vessels, such as heave compensation systems for winches, e.g., with crane hooks, or motion-compensated gangways. Motion compensation is typically performed automatically, while rough positioning, activation of motion compensation, and the berth of one structure to another are still controlled by an operator. Operating errors often result in collisions and damage.

[0004] The publication WO 2011 / 154730 A2 discloses a web construction with hydraulic movement compensation. Disclosure of the invention

[0005] The invention aims to provide an effective, technically simple, and cost-effective water-based object with a control system for a movable boom that at least reduces or prevents operating errors. Furthermore, it is an object of the invention to provide a simple method for controlling a boom using this control system for the water-based object. The object is achieved with respect to the control system according to the features of claim 1, and with respect to the method according to the features of claim 9.

[0006] Other advantageous developments of the invention are the subject of further subclaims.

[0007] According to the invention, a water-bound object is provided with a movable boom and with a control system for the movable boom, such as a crane arm or a jetty, which can be moved via at least one actuator, such as a motor. The boom has at least one free end. In a jetty, for example, one end is attached to a ship, while another end (free end) is attached to the ship, for example in a pivotable manner. The jetty can additionally or alternatively be extendable or shortenable, whereby the free end can move away from the ship and / or towards the ship. An up and down movement of the free end and / or the jetty can also be possible, for example. At least one sensor can be attached to the free end. The sensor is preferably an ultrasonic sensor.The ultrasonic sensor can be used to determine the distance from the free end to a mooring point of an object, such as another ship and / or an oil rig and / or a wind turbine. Furthermore, the control system includes a display device that displays the distance determined by the ultrasonic sensor.

[0008] One advantage of this invention is that the distance from the free end of the jetty to the mooring point is displayed to the operator without the operator having to estimate the distance, as is the case with a mooring where a camera is attached to the front of the free end. In other words, the distance display on the display device can show the operator the distance in such a way that operating errors are less likely, as is the case with mooring using only a camera, since when mooring with a camera the operator has to estimate a small distance to the mooring point at a relatively large distance, for example over 20m, and can also only view the landing stage from behind, for example. Furthermore, from this perspective it is difficult for humans to determine the necessary depth information, i.e. the distance from the free end to the mooring point.Furthermore, without a camera, the operator cannot normally see the side of the pier facing away from him. A further advantage of the invention is that the display device makes it possible, for example, to control the movable boom in foggy weather, thus enabling mooring, since the ultrasonic sensor is not affected by the fog, unlike a laser light sensor. Even in the rain and / or in the dark, for example, a mooring process can be carried out, since the display device shows the operator the distance from the object to the free end. This means that there is no need to wait, for example, until the weather changes and / or until daylight arrives to carry out the mooring process. This can, for example, reduce downtime costs due to late delivery of necessary parts.Another advantage of the ultrasonic sensor over a camera or laser light sensor is that it is robust and cost-effective. Furthermore, because the operator knows the distance from the free end to the mooring point at all times, mooring operations can be carried out effectively and quickly. Especially with short distances between the free end and the mooring point, the boom must be moved very slowly to avoid damage from collisions if the exact distance is not known. This problem can be solved with the invention. This allows costs, for example operating and / or personnel costs, to be saved and supply bottlenecks, which may arise from late deliveries due to bad weather, for example, to be reduced.

[0009] The display device can preferably indicate the distance to the operator via an acoustic signal. For example, the acoustic signal can become more frequent as the distance between the free end and the landing point decreases. This has the advantage that the operator does not have to look at a display to read the distance; instead, they can hear the acoustic signal at any time. Furthermore, this is very simple and inexpensive to implement, thus saving costs.

[0010] In a further embodiment, the distance can alternatively or additionally be shown on a screen or display. The display can, for example, be integrated into the imaging of a camera, which is also provided and in particular attached to the free end. This means that the operator can see the landing point by looking at the screen, and a scale that shows the distance tells them at any time how far away it is. This has the advantage that the distance can be shown very precisely on the display, and by integrating a scale into the imaging of a camera, the operator can control the boom very precisely without having to take their eyes off the screen. Another option is to install a scale without imaging.This has the advantage that the display device and control system are very easy to retrofit and do not require an additional camera. Furthermore, this can be achieved with a simple and robust LED display, for example, making implementation cost-effective.

[0011] The control system preferably has at least two ultrasonic sensors, both of which are preferably arranged at the free end of the boom. This makes it possible to determine the distance at two points on the free end of the boom and thus, for example, to determine whether the boom is aligned at a horizontal and / or vertical angle to the mooring point. This enables better control of the boom and also more precise control. A further advantage is that this creates redundancy; i.e., if one ultrasonic sensor is defective, the second ultrasonic sensor can measure the distance and transmit it to the display device. This reduces the risk of a complete failure of the control system and prevents mooring from being impossible due to a defective ultrasonic sensor.

[0012] In a further embodiment, at least one computing element can also be provided. This can be configured to determine a three-dimensional position of the mooring point and / or the location of the mooring point by means of triangulation between at least two ultrasonic sensors. For this purpose, a distance is determined for each ultrasonic sensor and the triangulation can thus be used to approximate the design of the mooring point and, additionally or alternatively, the exact location of the mooring point. Obstacles or other objects can also be detected in this way. This has the advantage that no cameras and / or other imaging elements are necessary and thus the boom can be precisely controlled by the operator in all weather and lighting conditions. This reduces the probability that the mooring process will be postponed and / or canceled due to external influences such as weather and / or daylight.

[0013] Preferably, the computing element can additionally or alternatively be configured to determine the minimum distance, particularly in the horizontal direction, between the free end of the boom and the landing point. This is advantageous because the operator is aware of the minimum distance at all times, making misjudging the distance less likely.

[0014] In a further embodiment, the control system can have at least one controller. This controller can transmit the distance between the free end of the boom and the landing point, which is determined by the ultrasonic sensor(s), and / or the three-dimensional position and / or the orientation determined by the computing element through triangulation. The controller is also preferably configured to limit the maximum adjustment speed at which the operator can move the boom, in particular as a function of the distance from the end of the boom to the landing point. In other words, the maximum adjustment speed at which the operator can move the boom decreases the closer the free end of the boom approaches the landing point, i.e., the smaller the distance between the free end and the landing point becomes.For example, the maximum adjustment speed can be further limited as the distance decreases, preventing unintentional rapid movements that could cause damage to either the dock or the boom. This also reduces operator error and allows for a safe mooring operation.

[0015] In a first embodiment, the adjustment speed can be limited for some of the axes or for each axis. In other words, the raising and / or lowering of the boom, and / or the forward and retraction, and / or the swivel speed can each be limited. This means that the resulting speed can depend on the direction in which the boom is moved. In a further embodiment, a resulting speed at the free end of the boom can also be limited.

[0016] Furthermore, the control system can be configured to perform motion compensation; in particular, the controller can perform motion compensation. Motion compensation serves to prevent unwanted adjustment of the end of the boom due to external influences, such as waves and / or wind. Additionally or alternatively, motion compensation can also compensate for a change in the position of the mooring, for example, if the mooring is located next to another vessel. Motion compensation can preferably be activated by the operator and can still be deactivated, for example, during rough positioning of the boom.Thanks to motion compensation, the operator no longer needs to compensate for external influences. Instead, the free end of the boom can maintain the same position relative to the docking point despite external influences, as long as the end is not adjusted by the operator. This enables a quick, safe, and efficient docking process of the boom by the operator.

[0017] Furthermore, the end of the boom has a mooring side that can be connected to the mooring point. In other words, the mooring side is connected to the mooring point, particularly after the mooring process is completed, thus creating a connection between the mooring point and the structure, and allowing, for example, goods and / or people to be transported via the mooring point. The mooring side is preferably opposite the mooring point during the mooring process.

[0018] Furthermore, the boom may have two lateral surfaces extending away from the vessel and / or the object on which the movable boom is arranged, and wherein the lateral surfaces in particular enclose or delimit the surface or ground surface on which, for example, a person can walk over the boom.

[0019] At least some of the ultrasonic sensors are preferably arranged on the mooring side and thus directly opposite the mooring point during the mooring process. This is advantageous because there are no obstacles in the range of the ultrasonic sensors' sound cone and, moreover, no additional distance needs to be calculated with the distance determined by the ultrasonic sensors, so the operator knows the exact distance from the free end, especially the mooring side, to the mooring point.

[0020] Preferably, the ultrasonic sensors are spaced apart from each other on the contact side if at least two ultrasonic sensors are arranged on the contact side. This has the advantage that a distance can be determined more precisely and the triangulation of the computation element is easier to perform.

[0021] Furthermore, it is advantageous if at least one of the ultrasonic sensors is arranged to the side of the landing side, in particular on the side surfaces. This makes it possible to have one ultrasonic sensor on each side surface and / or several ultrasonic sensors on each side surface. This is advantageous because it also allows lateral obstacles to be detected and the sound cones of the ultrasonic sensors are not all directed forwards, towards the landing point. This has the advantage that the laterally mounted ultrasonic sensor(s) can cover the side area with their respective sound cones. This means that lateral obstacles can be detected and communicated to the operator, for example via the display device, so that operating errors and / or damage can be avoided.It is also possible to position at least one of the ultrasonic sensors so that it can emit sound waves at least partially downwards and / or upwards (i.e., in a vertical direction). This allows obstacles and / or objects and / or the docking point to be detected even if they are located below or above the boom.

[0022] The ultrasonic sensors can also be arranged in a row, in particular on a common plane, particularly horizontally, and / or in multiple rows. The former is advantageous because it allows for cost savings, while the second embodiment creates redundancy, making control system failures less likely.

[0023] Furthermore, the control system has at least one operating element, for example a joystick with at least one axis, in which the operator can move the joystick to control the boom. The operating element preferably has several axes in which the operating element can be moved, wherein each axis can be assigned to a degree of freedom of movement of the boom. The position of the end of the boom can preferably be adjusted using the operating element. Using this operating element, the operator can, for example, determine the telescoping speed and / or the telescoping direction and / or the swivel speed and / or the swivel direction and / or the lifting or lowering speed and / or the lifting or lowering direction of the boom.If, for example, the adjustment speed is limited by the control system, even if the operator specifies a maximum adjustment speed, the adjustment speed cannot exceed the limited adjustment speed.

[0024] In a method for controlling the boom with the control system of the waterborne object, the distance from a free end of the boom to the mooring point is first determined using the ultrasonic sensor, and this distance is then displayed to the operator by the display device. Specifically, the display device displays the distance in real time, so there is no delay between the display and any change in the distance. This allows for targeted and precise operation.

[0025] Furthermore, the method for controlling the boom may include a further step. In this step, the maximum adjustment speed is limited depending on the distance from the end of the boom to the landing point. This step is carried out in real time, i.e., simultaneously with the distance being determined by the ultrasonic sensors.

[0026] Furthermore, the method can be used in a mooring process, where rough positioning occurs prior to the mooring process. In other words, the mooring takes place in two steps, the first step being the rough positioning and the second step being the mooring process. During the rough positioning, motion compensation may or may not be active, but it is advantageous if it is active during the mooring process.

[0027] During rough positioning, the movement speed of the end of the movable boom is particularly high to enable rapid mooring. This allows for short cycle times. This can lead to cost reduction. Since rough positioning preferably requires a high adjustment speed, it is preferable to maintain a safe distance from the mooring point. However, rapid movement towards the mooring point, e.g. when swinging out the boom, can lead to incorrect operation and / or misjudgment by the operator, for example with regard to the length and position of the boom and / or the free end of the boom, resulting in a collision between the boom and the mooring point or another obstacle. To prevent this, the control system can, for example, change the adjustment speed, preferably by reducing it, if a minimum distance is not met.For example, a movement can be automatically stopped if the minimum distance is not reached and / or the boom can be moved in the other direction, in particular away from the pier and / or the boom can be retracted, for example. This means that by changing the adjustment speed when a minimum distance is not reached, accidents can be prevented and / or unwanted contact can be prevented. The minimum distance can be one meter, for example. If the distance between the free end of the boom and the pier falls below one meter, the control system changes the adjustment speed, in particular abruptly.

[0028] In another embodiment, the adjustment speed can, for example, be changed linearly as the distance from the free end to the mooring point approaches the minimum distance. This means that the controller continuously reduces the adjustment speed the closer the distance between the free end of the boom and the mooring point approaches the minimum distance.

[0029] The actual mooring process then takes place. During the mooring process, the control system's motion compensation is particularly active, allowing the operator to control the boom better and more precisely. During this step, the adjustment speed can be dependent on the distance between the free end of the movable boom and the mooring point. This means that a higher speed is permitted at greater distances than at shorter distances. This can prevent damage and / or unnecessary material stress due to excessively rapid and thus abrupt contact.

[0030] During rough positioning, the display device can show the distance to the operator, or the operator can perform rough positioning based on a visual display.

[0031] The control system is preferably arranged on a watercraft, for example a ship, and / or on another water-based object, for example an oil rig.

[0032] Disclosed is a control system for a boom movable by an actuator. A free end of the boom is equipped with at least one sensor, which is an ultrasonic sensor and determines the distance of the free end of the boom from a landing point of an object. A display device is additionally provided to display the distance. Short description of the drawings

[0033] Preferred embodiments of the invention are explained in more detail below with reference to schematic drawings. They show: Figure 1 a control system for a boom according to a first embodiment, Figure 2an arrangement of ultrasonic sensors according to an embodiment, and Figure 3 a schematic drawing of a structure of a control system according to an embodiment.

[0034] Figure 1 shows a control system 1 that is arranged on a boom 2 of a ship 4, which is a watercraft. Furthermore, a mooring 6 is shown, which is arranged, for example, on an oil rig 8 or another object. Furthermore, an operator 10 is shown who can control the movable boom 2 via an operating element 12, wherein the operating element 12 controls at least one actuator 14. The actuator 14 can move the boom 2, in particular the boom 2 can be pivoted about a vertical axis of the vehicle and / or pivoted about an axis that extends transversely to the vertical axis, i.e. raised and lowered. Furthermore, the boom 2 can be retracted and extended.

[0035] Furthermore, the control system 1 has an ultrasonic sensor 18, which is arranged at a free end 20 of the boom, wherein the free end 20 of the boom 2 extends in the direction of the landing point 6. The ultrasonic sensor 18 emits sound waves 22 in the direction of the landing point 6 in order to determine a distance between the free end 20 and the landing point 6. This distance is transmitted from the ultrasonic sensor 18 to a display 24. This displays the distance to the operator 10, so that the operator can control the actuator 14 with the aid of the control element 12 such that the free end 20 reaches the landing point 6. Furthermore, the control system 1 has a controller 26, which limits the adjustment speed that the operator 10 can specify via the control element 12.

[0036] Figure 2shows a plan view of a boom 28, at the free end 30 of which ultrasonic sensors 32 are arranged. Some of the ultrasonic sensors 32 are arranged on a landing side 34, which, in particular during a landing process, faces the landing point, in this case a landing point 36. Furthermore, further ultrasonic sensors 32 are arranged laterally from the landing side 34 on side surfaces 38 of the boom 28. The ultrasonic sensors 32, which are arranged on the side surfaces 38, are arranged close to the landing side 34, at the front of the free end 30. In summary, the ultrasonic sensors 32 are arranged in a U-shape around the free end 30 of the boom 28. The ultrasonic sensors 32 each emit a sound wave to determine the distance between the landing side 34 and the landing point 36.The ultrasonic sensors 32 can transmit the measured distance to a computing element 40, which determines a three-dimensional position and / or a location of the landing point 36 by triangulation between several ultrasonic sensors 34. The computing element 40 can additionally be connected to a controller 42, which limits the adjustment speed of the boom 28 when the distance between the free end 30 and the landing point 36 becomes smaller, and to a display device 44, which can display the distance and / or a three-dimensional image of the landing point 36.

[0037] Figure 3 shows a schematic structure of a control system 46. In the control system, one or more ultrasonic sensors 48 measure the distance from the free end 20 of the boom 2, see Figure 1, up to the mooring point 6. The data can then be forwarded to a computing element 50, which can determine a three-dimensional position of the mooring point 6 via triangulation between several ultrasonic sensors 48. This information can then be forwarded to a display device 52, which displays the distance. Alternatively, the distance determined by the ultrasonic sensor(s) 48 can be forwarded directly to the display device 52. Furthermore, the computing element 50 can forward information to a controller 54.

[0038] The controller 54 can determine a multiplier, for example between 0 and 1, by which the speed specified by an operator via the control element 56 can be multiplied, whereby the multiplier value depends on the measured distance. If the free end 20 of the boom 2 is still a long way away, for example, the maximum possible adjustment speed enabled by an actuator 58 that drives the boom 6 can be multiplied by 1. If the distance then falls below a minimum distance, the multiplier becomes less than 1, so that the adjustment speed is limited. If the free end 20 is, for example, half the distance from the landing point 6, the operator can only move the boom at half the maximum possible adjustment speed.

[0039] Then the speed is limited accordingly, i.e. an actuator 58 via which the boom 6 is moved moves the boom 6 at a maximum of a previously defined maximum adjustment speed. List of reference symbols

[0040] 1, 46Control system 2, 28Boom 4Ship 6, 36Berth 8Drilling rig 10Operator 12, 56Control element 14, 58Actuator 18, 32Ultrasonic sensor 20, 30Free end 22Sound waves 24, 44, 52Display device 26, 42Control 34Berth side 38Side surfaces 40, 50Calculating element

Claims

1. Water-bound object (4) comprising a boom (2, 28) that is movable via at least one actuator (14, 58) and comprising a control system (1, 46) for the boom (2, 28), the free end (20, 30) of which boom is equipped with at least one sensor, the sensor being an ultrasonic sensor (18, 32) via which the distance to a landing point (6, 36) of an object (8) can be determined, characterized in that a display device (24, 44, 52) is provided which is designed to display the distance, the control system (1, 46) having at least one operating element (12, 56) for control of the boom (2, 28) by an operator (10), the control system (1, 46) having a controller (26, 42) which is configured to limit an adjustment speed with which the operator (10) can move the boom (2, 28) depending on the distance from the free end (20, 30) of the boom (2, 28) to the landing point (6, 36).

2. Water-bound object (4) according to claim 1, wherein at least two ultrasonic sensors (18, 32) are provided at the free end (20, 30).

3. Water-bound object (4) according to claim 2, wherein at least one computing element (40, 50) is provided in the control system (1, 46), which is configured to determine a position of the landing point (6, 36) and / or a three-dimensional position of the landing point (6, 36) by means of triangulation between the at least two ultrasonic sensors (18, 32).

4. Water-bound object (4) according to any of claims 1 to 3, wherein the control system (1, 46) is configured to perform a movement compensation which prevents an unwanted adjustment of the free end (20, 30) of the boom (2, 28) due to external influences and / or is configured to compensate for a change in the position of the landing point (6, 36).

5. Water-bound object (4) according to any of claims 1 to 4, wherein the free end (20, 30) of the boom (2, 28) has a landing side (34) which is connectable to the landing point (6, 36) and faces the landing point (6, 36), wherein at least the ultrasonic sensor or one of the or at least some of the or all of the ultrasonic sensors (18, 32) is / are arranged on the landing side (34).

6. Water-bound object (4) according to any of claims 2 to 5, wherein at least one of the ultrasonic sensors (18, 32) is arranged laterally at the free end (20, 30) of the boom (2, 28).

7. Water-bound object (4) according to any of claims 1 to 6, wherein the operating element (12, 56) is designed to adjust the position of the free end (20, 30) of the boom (2, 28).

8. Water-bound object (4) according to any of claims 1 to 7, wherein the boom (2, 28) is a jetty and / or a crane arm.

9. Method for controlling a boom (2, 28) using the control system (1, 46) of the water-bound object (4) according to any of claims 1 to 8, wherein the distance from the free end (20, 30) of the boom (2, 28) to the landing point (6, 36) is determined by the ultrasonic sensor (18, 32) and this distance is displayed by the display device (24, 44, 52), wherein the controller (26, 42) limits the maximum adjustment speed with which the operator (10) can move the boom (2, 28) depending on the distance from the free end (20, 30) of the boom (2, 28) to the landing point (6, 36).

10. Method according to claim 9, wherein the method can be used during a mooring process of a watercraft (4).

11. Method according to claim 10, wherein before the mooring process, in which fine positioning of the boom (2, 28) takes place, rough positioning takes place, wherein during the rough positioning, the adjustment speed changes if a minimum distance from the free end (20, 30) of the boom (2, 28) to the landing point (6, 36) on the object (8) is not met.

12. Method according to one of claims 10 or 11, wherein a motion compensation is activated during the mooring process.

13. Water-bound object (4) according to any of claims 1 to 7, wherein the object (4) is a watercraft.