Method and system for canceling out the motion of a suspended object

Abstract

The present invention relates to a method and system for offsetting the motion of an object (24) suspended from a hoisting device (16) movably mounted on a vessel (10) associated with a target reference frame and moving relative to an external reference frame. The system includes a winch (38) connected to the vessel and a tagline (39) interconnecting the winch (38) to the object to apply tension. The system includes a pose sensor (45) for measuring the object's pose (82) and a control device (50) for operating the winch to adjust the tagline length, calculating a target pose with a non-zero offset for the object relative to the target reference frame, and dynamically operating the winch (75) to adjust the tagline length to cause the object to assume the target pose while the vessel is moving relative to an external reference frame, based on the error determined between the object's target pose and a momentary pose.

Description

Technical Field

[0001]

[0001] The present invention relates to a method for counteracting the swinging motion of an object suspended from a hoisting device movably mounted in / on a ship or other moving platform, and a system configured to perform such a method. Furthermore, the present invention relates to a computer program product configured to perform the proposed method, and a computer-readable medium comprising such a computer program.

Background Art

[0002]

[0002] The deployment of offshore wind turbines may initially require the installation of a monopile foundation on the seabed. When the turbines are located far from the coastline, the installation of the monopile foundation is typically carried out by a construction ship having a hoisting device such as a crane mounted on the deck. Known deployment scenarios involve the use of so-called "jack-up ships", which are provided with extendable support legs that enable the ship to be temporarily immobilized with respect to the seabed. More difficult deployment scenarios involve operating the monopile while the ship remains afloat and is subject to wave and wind effects, relying on motion compensation capabilities.

[0003]

[0003] Figures 1a - 1b show a ship 10 configured to drive a monopile 26 into a submerged surface such as the seabed forming a water-soil interface between a body of water 11 (e.g., the sea) and a portion of the earth below it. The exemplary ship 10 is configured to transport monopiles 26a - c to their intended installation locations offshore. The ship 10 comprises a deck 12 adapted to support several monopiles. In the example shown in Figures 1a - 1b, the ship 10 is adapted to transport the monopiles 26 arranged parallel to each other, wherein the piles extend horizontally in a lateral direction across the deck 12.

[0004]

[0004] The exemplary vessel 10 is further provided with hoisting devices 16-22 for lifting and moving the monopile 26a, and an additional frame 28 for pivoting and guiding the monopile 26a when lowering the monopile 26a into the water. In the example shown, the hoisting device is formed by a jib crane 16 comprising a base 17, a turret 18, and an arm 19. The base 17 is fixed in an upright position relative to the deck 12. The turret 18 is rotatably fixed to the base 17 so as to allow the turret to pivot laterally ("slew") about a nominal vertical pivot axis As relative to the deck 12. The arm 19 is rotatably fixed to the turret 18 so as to allow the arm 19 to pivot upward / downward ("luff") about a nominal luffing axis Al relative to the turret 18.

[0005]

[0005] The crane 16 is further provided with a hoistline 20 having a free lower distal end from which a rider block 21 and a hook 22 are suspended. The monopile 26a can be attached to the hoistline 20 and the rider block 21 via the hook 22 and a specially designed tool 24, which will be described with reference to Figures 2a-2b. Before being placed on the seabed and driven into the seabed, the monopile 26a must be lifted by the crane 16 from a substantially horizontal position across the deck 12 (Figure 1a) to a substantially vertical position suspended (Figure 1b). This lifting is also called “righting up”. This righting up operation requires the use of an engaging tool 24 suspended from the distal end of the hoistline 20. This tool 24 is commonly called a “righting up tool”. Before the monopile 26 can be lifted from the deck 12, the tool 24 must first be inserted into an opening 27 formed at the distal (upper) end of the monopile 26 while the monopile 26 is horizontal on the deck 12. Since the monopile 26 is often provided with a circular mounting flange at the upper opening 27, the erection tool 24 may also be called a "flanged pile erection tool (FPUT)" or a "flanged monopile erection tool (FMUT)". Once inserted, the tool 24 must be firmly clamped or latched to the monopile 26. This engagement and gripping of the pile 26 by the tool 24 is also called "piercing". Piercing requires careful operation of the hoisting devices 16-22.

[0006]

[0006] After the piercing operation is successful, the crane 16 can operate the hoist line 20 to lift the tool 24 and monopile 26a upward from the deck 12. The crane 16 can then operate the turret 18 together with the arm 19 to rotate the turret 18 and arm 19 together with the suspended monopile 26 above the deck 12, and at the same time, the arm 19 can luff up and down to move the suspended monopile 26 closer to or further away from the pivot axis As. A normal erection allows the crane 16 to position the monopile 26 vertically next to the vessel 10 via the pivot frame 28, as shown in Figure 1b. From this position, the monopile 26 can be lowered into the water until its lower distal end is on the seabed. The monopile 26 can then be driven into the seabed by a pile driver to an intended insertion depth, thereby forming a foundation for a wind turbine generator.

[0007]

[0007] Patent document WO2021 / 180515A1 describes an example of a erection tool that can be used for driving and erecting monopiles, having a cable shift mechanism for inducing transitions and being repositionable between horizontal and vertical orientations.

[0008]

[0008] When performing a piercing operation on land, the tool may be placed on the ground at a location corresponding to the static reference system of the pile. In this case, the tool can be easily moved and aligned with a horizontally positioned pile, for example, by placing the tool on a cart that can be moved horizontally and vertically to align the tool with the pile opening. In such a ground setting, a human operator can remain near the tool to monitor the precise alignment between the tool and the pile.

[0009]

[0009] In contrast, alignment and piercing are extremely difficult from a moving vessel. Maneuvering and piercing are hindered by the wave-induced motion and wind loads of the floating vessel 10, as the vessel 10 is subject to motion in six degrees of freedom, including three translational directions and three rotational directions. In the Cartesian reference frame {Cv} associated with the vessel 10, the Xv axis extends parallel to the longitudinal direction of the vessel 10, the Yv axis extends parallel to the transverse direction of the vessel 10, and the Zv axis extends perpendicular to the deck 12 of the vessel 10. Since the vessel 10 may move relative to the surrounding waters 11, the spatial relationship between the vessel reference frame {Cv} and the fixed external reference frame {Ce} associated with the Earth is expected to differ at different times. The translation of the vessel 10 in the Xv, Yv, and Zv directions is called "surge," "sway," and "heave," respectively. The rotations of the ship 10 around the Xv, Yv, and Zv axes are called "roll," "pitch," and "yaw," respectively. All of these degrees of freedom of motion can result in complex oscillations of objects suspended from the hoisting devices, as the hoisting devices 16-22 are connected to the ship's deck 12 and therefore inevitably follow the movement of the ship.

[0010]

[0010] The tool 24 may be associated with a local reference frame {Co} having corresponding Cartesian axes Xo, Yo, and Zo. This local frame {Co} is generally different from the ship reference frame {Cv}. When the tool 24 is suspended from the crane 16, the spatial relationship between the ship reference frame {Cv}, the fixed external reference frame {Ce}, and the tool reference frame {Co} is expected to change continuously. The suspended tool 24 may be subjected to large and unpredictable rocking motion in multiple directions relative to the ship 10 and the water area 11 (and seabed). Except for the vertical Zo direction, the suspended tool 24 may rock in any of the remaining degrees of freedom. For example, it may translate in both the horizontal translation Xo and Yo directions and simultaneously rotate around any / all of its three axes, thus exhibiting complex rocking motion.

[0011]

[0011] During piercing, the tool 24 needs to be aligned with the pile 26. Piercing typically requires adherence to strict geometric and mechanical tolerances. Excessive swinging can cause uncontrolled collision and impact loads ("bump loads") between the tool 24 and the pile 26. Such loads are not permitted to exceed strict, predefined tolerances to prevent damage to the structure and / or protective coating of the pile 26 (or the tool 24). If the swinging motion of the suspended tool 24 is greater than the permissible tolerance, the piercing operation may lead to damage or may not be permitted to be performed, in which case it must be postponed.

[0012]

[0012] When the pile 26 is stored laterally on the vessel 10 (i.e., port-starboard at a 90° angle to the vessel hull), precise alignment between the tool 24 and the opening 27 of the pile 26 must be performed far outward around the deck 12 in locations that are difficult for human operators to reach. Even when the pile 26 is stored longitudinally along the deck 12 in the bow-stern direction, the pile 26 may protrude beyond the bow or stern. In all cases, driving the pile 26 with the erection tool 24 in an offshore setting is difficult when external factors cause considerable movement of the vessel 10, the pile 26, the crane 16, and the suspended driving tool 24.

[0013]

[0013] Patent document WO2022 / 096523A1 describes a projecting deck structure for reducing the swing of a piercing tool suspended from a moving construction vessel. This projecting structure helps to align the piercing tool with the pile opening and prepare it for piercing, but this structure is bulky and requires excessive deck space.

[0014]

[0014] It would be desirable to provide a system and method that enables safe and reliable tool alignment and insertion of a monopile from within a mobile reference frame, such as an offshore setting, without requiring a bulky structure. [Overview of the Initiative]

[0015]

[0015] Accordingly, according to a first aspect, a system is provided for offsetting the motion of an object suspended from a hoisting device that is movably mounted in / on a ship or other moving platform. The ship or platform is associated with a target reference frame and is made movable relative to a fixed external reference frame, which may be, for example, an earth-fixed reference frame. The ship includes winches that can be connected to the ship, for example, mechanically directly to the ship so that each winch position is fixed relative to the ship's deck, or movably connected to the ship so as to allow repositioning (e.g., along the deck). The winches are coupled to their respective taglines. Each tagline interconnects its respective winch to a corresponding mounting portion on the object, allowing tension to be applied between the winch and the object. The system includes a pose sensor and a control device. The pose sensor may be configured to measure the instantaneous pose of the object relative to the target reference frame. The control device may be configured to operate the winches independently to adjust the length of the corresponding taglines, thereby changing the tension. The control device may be further configured to calculate a target pose for the object relative to the target reference frame. This instantaneous target pose may include an offset from the initial pose the object would take when suspended from the hoisting device in the absence of a tagline and force. The offset may include a non-zero lateral displacement along each tagline and directed toward the corresponding winch. The control device may be configured to dynamically calculate the target pose, updating the calculated parameters for the target pose on the fly in response to received sensor reading updates. The offset may also be calculated as an instantaneous offset or as a pre-calculated or otherwise supplied fixed offset. The control device may be further configured to dynamically actuate the winches to adjust the length of each tagline, causing the object to assume and maintain the target pose while the vessel moves relative to an external reference frame.The calculation of the desired tension distribution for operating the winch can be based on the error determined between the object's target pose and its momentary pose.

[0016]

[0016] The proposed system enables the generation of a determined preload, which can be generated or predefined between the hoisting device (e.g., a crane), the suspended object, and the winch having a tag line, so that the pose of the suspended object can be offset and thereby controlled in a direction substantially different from only the pulling direction that the winch itself would allow (because the flexible cable / line cannot transmit the pushing force).

[0017]

[0017] The term “position” is used herein to refer to a translation vector relative to a three-dimensional set of coordinates or a given coordinate reference frame. The position of an object, or a representative point of this object such as its center of mass,

[0018]

number

[0019] It can be represented in 3D space by a vector. The term "orientation" is used herein to refer to the three-dimensional rotation state of an object about a predefined axis, which can be represented either with respect to a local reference frame of the object itself or to an external reference frame. The orientation of an object can be represented in 3D space by an orthonormal rotation matrix, Euler angles, roll-pitch-yaw angles, unit quaternions, or matrix exponential functions. The combination of the position and orientation of an object is referred herein to as the object's "pose".

[0020]

[0018] The target reference frame may be associated with a vessel (e.g., a fixed position on the vessel's deck) such that its spatial relationship with the vessel reference frame is fixed and known. The pose sensor may be configured to measure the instantaneous pose of an object directly with respect to the target reference frame by being installed, for example, at a fixed and known position within this target reference frame. Alternatively, the sensor may be configured to measure the instantaneous pose of an object directly in a fixed reference frame, which may then be associated with the target reference frame by an additionally calculated coordinate transformation.

[0021]

[0019] The term “line” (as in, for example, “hoist line” and “tug line”) is used herein to generally refer to any kind of elongated connection, such as wire, cable, chain, rope, cord, etc. (or any combination thereof), and is assumed to be strong enough to lift a load to which it is connected and / or to control the position of the load. The term “tug line” is used herein to refer to an elongated connection between a winch and a load, configured to apply a tensile force between the winch and the load. A tag line can structurally consist of a single continuous line, a group of parallel lines, and / or a series of interconnected line segments. Regardless of this structure, a tag line is assumed to have some degree of flexibility so as not to be suitable for applying a pushing force. The phrase “connected to a load” may mean, but is not necessarily, that the end of the tag line is rigidly fixed to the load. Alternatively, a tag line may pass through a sheave connected to the load and then return to its original attachment point (e.g., a ship). The term "winch" is used to refer to any machine or apparatus for towing or pulling, including a drum or spool, from there / on thereof, possibly by a rotary actuator powered, for example, by electricity, pneumatics, hydraulics, or combustion drive, on which a line can be wound (and unwound).

[0022] According to an embodiment, the system may further include a force sensor associated with each tag line. Each such force sensor may be configured to measure an indication of an instantaneous tension acting in or on the corresponding tag line. The control device may be in signal connection with the force sensor and may be configured to dynamically operate the winch based on the instantaneous tension measured by the force sensor and an instantaneous error determined between the target pose of the object and the measured instantaneous pose.

[0023] Dynamically measuring the instantaneous tension in the tag line allows for a more rapid response time to changing the target pose of the object, as impending changes can be detected before they cause a significant change in the measured object pose.

[0024] In an embodiment, the vessel is an offshore construction vessel having a deck that supports a monopile. The monopile has an elongated shape along a pile centerline and defines an opening at a distal pile end. The monopile may initially be placed on the deck along its pile centerline. In this case, the hoisting device may include, for example, a crane, and the object may be a erection tool suspended from the crane. The erection tool may be configured to engage and latch (i.e., "stab") with the opening of the monopile to enable the crane to lift (i.e., "erect") the monopile from the deck. The system may thus be configured to counteract the movement of the erection tool while the erection tool approaches and engages the opening of the monopile.

[0025] The proposed method enables a reliable stabbing operation in severe sea conditions without the risk of uncontrolled movement or damage to the stabbing tool or pile and without requiring a bulky deck structure.

[0026]

[0024] In a further embodiment, the monopile is initially substantially horizontal along the deck such that the sagittal plane of the monopile extends vertically from the deck and upwardly through the pile centerline. In this case, the system may include at least two winches which are attached to a moving vessel at determined positions on sides on opposite sides of the sagittal plane and relative to a target reference frame.

[0027]

[0025] In a further embodiment, the erection tool may be suspended from a hoisting device via a hoist line. The erection tool may define a further sagittal plane extending downwardly through the erection tool from the hoist line attachment point. Here, at least two tag lines may be connected at attachment portions on the erection tool positioned on sides on opposite sides of the further sagittal plane.

[0028]

[0026] The proposed arrangement of the winches and tag lines enables efficient stabilization for a suspended object with respect to sway motion corresponding to surge and yaw of the object (referring to the directions as described above at the coordinates of the vessel 10 when two tag lines are used), or sway, surge, and yaw motions of the object (when three tag lines are used). Other combinations of prohibited and partially permitted motions may be selected, for example, so that sway is permitted up to a limited range, while yaw, surge, and roll of the object are cancelled, or yaw, surge, and pitch (all interpreted from the perspective of the vessel direction).

[0029]

[0027] In a further embodiment, the monopile may be positioned transversely across the ship's deck, having a pile opening that projects beyond the side of the ship. The tool may then define a front face extending transversely through its center of mass, downward along the direction corresponding to gravity, and parallel to the side of the ship. The pile opening and winch may then be located in the half-space on the side of the front face facing the ship. In contrast, the distal end of the hoisting device, e.g., the crane tip, can be repositioned on either side of the front face to allow for reversing the lateral offset with respect to the tool.

[0030]

[0028] In the embodiment, the winch may include three winches having three corresponding taglines. At least two of the taglines may then be connected at connecting portions located at the distal ends opposite each other laterally at the bottom of the erecting tool. Another tagline may then be connected at the lateral edge of the erecting tool.

[0031]

[0029] Such winch and tagline devices have been found to be very effective in offsetting the motion of the suspended erecting tool during the thrusting of a monopile initially positioned horizontally on the deck of a moving vessel. In alternative embodiments, any of the taglines may be attached to the upper or lower edge of the tool, or to any possible combination of attachment points on the tool.

[0032]

[0030] According to the embodiment, at least one of the taglines may include a double leaving device, the tagline being connected at one distal end to a corresponding winch, extending to an object, and then returning via a rolling or sliding connection at the attachment portion of the object to a fixed or releaseable connection on the vessel. In this case, the force sensor may be located at or near the fixed or releaseable connection. Alternatively, the force sensor may be connected on / in the attachment portion of the object, or in the sheave or sliding portion.

[0033]

[0031] This double leaving connection allows the tagline to be easily reached, cut, and stored by personnel positioned on the deck.

[0034]

[0032] According to one embodiment, the pause sensor includes an imaging sensor provided on the ship. The imaging sensor may be configured to detect one or more features of the object being observed (e.g., corners or edges) and / or markers provided on the object, and may be configured to measure the indication of a momentary pause of the object relative to a target reference frame.

[0035]

[0033] Optical imaging and photogrammetry techniques for detecting markers provide a robust, flexible, and reliable method for measuring poses. By using removable markers, a desired marker constellation can be easily adapted to the dimensions of ships and tools.

[0036]

[0034] According to a second aspect, and with reference to the advantages and effects described herein above, a method is provided for offsetting the motion of an object suspended from a hoisting device such as a crane. The hoisting device is movably mounted in / on a moving vessel associated with a target reference frame that is moving relative to a fixed external reference frame. The vessel includes winches having taglines that interconnect each winch with corresponding mounting portions on the object. The method is, - Measuring the instantaneous pose of an object relative to a target reference frame, - Applying tension between each winch and the object via the corresponding tagline, operating the winch independently, and adjusting the length of the corresponding tagline, -Calculate the target pose for an object relative to a target reference frame, where the target pose includes an offset from the initial pose for an object suspended from a hoisting device in the absence of a tagline, and the offset may include a non-zero lateral displacement oriented along each tagline and toward the corresponding winch connected to the vessel. -Based on the error determined between the object's target pose and its momentary pose, the winch is dynamically activated to adjust the length of each tagline, causing the object to assume and maintain the target pose while the vessel moves relative to an external reference frame. It may be accompanied by.

[0037]

[0035] In this case as well, the method may involve dynamically calculating the target pose by, for example, receiving updated sensor readings of the actual pose for a moment and then generating updated values ​​for the target pose. In this case as well, the measurement of the object pose for a moment may occur directly with respect to the target reference frame, or alternatively, it may be performed on a fixed (e.g., Earth) reference frame and then associated with the target reference frame by an additionally calculated coordinate transformation.

[0038]

[0036] According to one embodiment, the method may include measuring an indication of instantaneous tension in the corresponding tagline. The method may further include dynamically operating a winch based on the instantaneous tension and the error between the target pose of the object and the measured pose.

[0039]

[0037] As shown above, the vessel may be an offshore construction vessel having a deck supporting a horizontal monopile having an opening and a pile centerline. The object may then be an erection tool suspended from a hoisting device.

[0040]

[0038] In the embodiment, the erection tool may include two lower-positioned piercing members and pile clamp members. The method then proceeds, - Lower the erection tool in a target pose that includes a non-zero offset substantially below the monopile, thereby positioning the thrusting finger directly below the radial outer surface of the monopile near the opening of the monopile, -The erection tool is wound upwards, thereby engaging the piercing finger portion with the lower outer surface, - The erection tool is wound up and pulled toward the monopile, thereby aligning the erection tool with the monopile until the erection tool and the monopile are in complete contact and the center line of the erection tool is coaxial with the pile center line of the monopile. - Activating the pile clamp members to rigidly connect the erection tool to the monopile, enabling the monopile to be lifted from the vessel. This may include controlling a winch having a hoisting device and a tag line to perform the following actions:

[0041]

[0039] In the embodiment, the monopile projects laterally across the ship's deck, having a pile opening that extends beyond the side of the ship. The tool may then define a front face that extends laterally through its center of mass, downward along the direction corresponding to gravity, and parallel to the side of the ship. The pile opening and winch may then be located in the half-space on the side of the front face facing the ship. In this case, the method may further include repositioning the distal ends of the hoisting device on both sides of the front face, thereby reversing the non-zero offset lateral direction for the erecting tool.

[0042]

[0040] In a further embodiment, a computer program product is provided which, when loaded onto a computer device, is configured to provide instructions for carrying out the method according to the second embodiment.

[0043]

[0041] Further embodiments relate to computer-readable media (e.g., non-temporary computer-readable media) comprising computer program products according to the preceding embodiments.

[0044]

[0042] Here, embodiments are described only by reference to the accompanying schematic drawings, in which corresponding reference numerals indicate corresponding parts. In the drawings, similar numbers indicate similar elements. Multiple instances of an element may each include a separate label appended to the reference numeral (e.g., "39a" and "39b"). A reference numeral may be used without the accompanying label to refer generally to an unspecified or all instances of that element (e.g., "39"). [Brief explanation of the drawing]

[0045] [Figure 1a]

[0043] A schematic diagram of a known pile erection operation in offshore setting is shown. [Figure 1b] The known pile erection procedures in offshore settings are outlined below. [Figure 2a]

[0044] A schematic side view of an erection tool that may be used in embodiments of the proposed system and method is shown. [Figure 2b] A schematic front view of an erection tool that may be used in embodiments of the proposed system and method is shown. [Figure 3]

[0045] The system and method according to the embodiment are shown in general terms. [Figure 4a]

[0046] A schematic perspective view of the embodiment, with further details, is shown from Figure 3. [Figure 4b] A schematic perspective view of the embodiment, with further details, is shown from Figure 3. [Figure 4c]

[0047] A schematic side view of the force distribution that may occur in the embodiment shown in Figure 3 is provided. [Figure 5] A flowchart of the control method according to the embodiment is shown. [Figure 6a]

[0049] The sequence of the object placement stage according to an embodiment of the method is schematically shown. [Figure 6b] The sequence of the object placement stage according to an embodiment of the method is schematically shown. [Figure 6c]The sequence of the object placement stage according to an embodiment of the method is schematically shown. [Figure 6d] The sequence of the object placement stage according to an embodiment of the method is schematically shown. [Figure 6e] The sequence of the object placement stage according to an embodiment of the method is schematically shown. [Figure 7]

[0050] A schematic diagram of a dual-leaving tagline connection that may be used in embodiments of the system and method is shown. [Figure 8a]

[0051] An alternative embodiment of the system and method, comprising three winches and a tag line, is schematically shown. [Figure 8b] An alternative embodiment of the system and method, involving three winches and a tag line, is schematically shown. [Figure 9]

[0052] Another embodiment with three winches and a tag line is schematically shown. [Modes for carrying out the invention]

[0046]

[0053] The drawings are intended for illustrative purposes only and are not intended to serve as limitations on the scope or protection defined by the claims.

[0047]

[0054] The following is a description of a particular embodiment of the present invention, given only by reference to the drawings.

[0048]

[0055] Figures 2a and 2b schematically show side and front views of an illustrative erection tool 24 that may be used in the system and method of the present invention. The erection tool 24 includes a base 30 and a piercing portion 31, which are pivotally interconnected via a hinge 32, allowing the piercing portion 31 to be repositioned from a position facing laterally (Figures 1a and 2a) to a position facing downward (Figure 1b). The characteristic cross-sectional dimension (e.g., diameter) Dt of the tool 24 may be similar to the diameter Dp of the pile 26 to be pierced.

[0049]

[0056] The piercing portion 31 generally has a shape that matches, or can be adjusted to match, the rounded shape of the pile 26 at its upper opening 27. This piercing portion 31 is centered on the nominal tool centerline At. This centerline At corresponds to the direction in which the tool 24 approaches the opening 27 during the piercing operation, and it ultimately needs to be aligned with the nominal centerline Ap of the pile 26 (see, for example, Figures 6a-6e) within a certain tolerance. The erecting tool 24 may comprise a plurality of pile engaging members 34. In the example shown in Figures 2a-b, several engaging members 34 are formed as lower piercing fingers 34a-b that extend axially parallel to the tool centerline At and are adapted to approach and surround the radially outward-facing surface of the monopile 26 from below. The illustrative tool 24 has two lower-positioned piercing fingers 34a-b. The (nominal) sagittal plane St divides the piercing portion 31 of the tool 24 into similar left and right halves, and the lower piercing fingers 34a-b are preferably arranged mirror-symmetrically with respect to this sagittal plane St to facilitate alignment with the pile. The length Lf of the lower piercing fingers 34a-b may be about 2-4 meters or more. The tool 24 may also include higher-positioned piercing fingers 34c-d for surrounding the outer monopile surface from above, but these additional piercing members 34c-d are preferably small or absent altogether (see, for example, Figures 6b-c) to prevent interference when the tool is moved upward from a position below the pile opening 27 toward the outer pile surface 29.

[0050]

[0057] The piercing portion 31 of the tool 24 additionally includes a clamping member 35 for temporarily gripping and securing the monopile 26 to the tool 24. In the example shown in Figures 2a-2b, the clamping member 35 is formed as a clamp surface 35 that faces radially outward from the tool centerline At and is initially located within a circumscribing boundary smaller than the pile opening 27. The piercing fingers 34 and the clamping surface 35 may be movable relative to each other to clamp or latch the pile 26 once the tool 24 is inserted. The clamping member 35 may be movable, for example, radially outward toward the corresponding piercing fingers 34. The piercing portion 31 may include one or more actuators adapted to move the clamping member 35 radially outward in a coordinated manner until the surface of the clamping member 35 engages with a radially inward-facing surface of the monopile 26. Typically, the monopile 26 defines a radially inward-facing flange at its opening 27. When the clamp members 35 are extended radially outward, these members 35 come into contact with the axially inward-facing surface of the radial flange when the pile 26 is lifted.

[0051]

[0058] The base 30 of the tool 24 includes a holding point 36 adapted to be attached to the hook 22 of the crane 16 by one or more auxiliary rigging members 37, such as a strap or cable loop. The holding point 36 is preferably located in a vertical position substantially above the center of mass of the tool 24. This ensures that the tool 24 can be suspended from the crane 16 without tilting or causing inadvertent pivoting of the piercing portion 31 around the hinge 32. This ensures that the piercing portion 31 remains facing laterally, and thus ensures that the centerline At and the finger portion 34 project laterally in a direction that coincides with the orientation of the centerline Ap and opening 27 of the horizontal pile 26.

[0052]

[0059] Figure 3 schematically illustrates an illustrative embodiment of the proposed system. In this example, the vessel 10 is provided with hoisting devices 16-22 for lifting and moving the erection tool 24 and monopile 26, as previously discussed with reference to Figures 1a-1b. Such elements are assumed to be implicitly present and will not be discussed in detail again here. The system further includes at least two winches 38a, 38b located at determined locations on the deck 12 of the vessel 10, and at least two corresponding taglines 39a, 39b that interconnect the two winches 38 with relevant connection points 43 on the erection tool 24 to provide motion cancellation and facilitate alignment of the erection tool 24 with the monopile 26. In the example of Figure 3, the two winches 38 are located on the deck 12 and attached to the suspended object 24 via the two taglines 39. These taglines 39 may form a single leaving connection, each extending straight from its respective winch 38 to a corresponding connection 43 to which the tagline 39 is secured to the tool 24 from which it is suspended.

[0053]

[0060] The system includes two tagline load measuring sensors 42 configured to measure indications of momentary tension acting on / occurring in the corresponding tagline 39. This tagline tension measuring function may, alternatively, be provided by measuring winch motor torque or shaft torque, load pins in the winch or leaving, or any other commonly known means of measuring cable load (e.g., inside a pulley or set of pulleys, etc.).

[0054]

[0061] Figure 3 further illustrates that the illustrative system includes a control device 50 which is signal-connected to a load sensor 42 to receive load measurement signals 77 indicating the tension acting within each tagline 39. The control device 50 is further signal-connected to a controller of a winch 38, allowing the winch 38 to be operated individually, for example, to independently change the wire length Lt of the corresponding tagline 39. The system further includes a pose sensor 44 for measuring the pose of a suspended erection tool 24 relative to a selected target reference frame {Ct}, which is attached to a vessel 10 and whose spatial relationship with the vessel reference frame {Cv} is fixed and known. In this example, the sensor 44 is formed by a photogrammetry camera 45 configured to detect at least one optical positioning marker (not shown) located at one or more determined positions on the tool 24. The camera 45 is configured to acquire measurement data (continuously or intermittently) representing the actual momentary pose 82 of the tool 24 relative to the target reference frame {Ct}. Camera 45 communicates with control device 50 and transmits this data (or possibly a portion thereof, with preprocessing) to control device 50. The instantaneous pose measurement of tool 24 can be represented, for example, by the orthogonal coordinate parameters of tool reference frame {Co} expressed relative to target reference frame {Ct} derived from the image at a specific timestamp.

[0055]

[0062] The control device 50 further receives as input the load measurement signal at each tagline 39 and the relative position of the winch 38, i.e., the poses of {Cwa} and {Cwb} relative to the target reference frame {Cref}, in order to calculate the required extension or shortening of the tagline 39 required to adjust the actual tool pose of the tool 24 to a desired target pose. This adjustment of the tagline length can be achieved by the winch's rotatable position controller, or by the winch's torque controller, or by the winch's speed controller, or by any other suitable known mechanism.

[0056]

[0063] In this example, the control device 50 is further signal-connected to the control module 54 of the crane 16, enabling it to receive crane pose 61 and possibly other kinematic or dynamic sensing information. The control device 50 may further incorporate a human-machine interface 52, which may enable or disable the system's sway prevention function or adjust certain parameters during operation.

[0057]

[0064] Figures 4a-c illustrate embodiments of the proposed method, in which the net preload is generated by the distribution of tension Ft applied by the winches 38 via taglines 39 on the suspended tool 24. The suspended tool 24 is connected to these winches 38 via taglines 39, and the position of the reference frame {Cw} with respect to the winches 38 relative to the target reference frame {Ct} is known.

[0058]

[0065] When tool 24 is suspended from crane 16 but there is no tagline 39, tool 24 assumes a stationary pose corresponding to its local reference frame {Co} and is subjected to an upward crane force Fc directed along the hoistline 20 and toward the crane suspension point corresponding to the crane reference frame {Cc}, as well as a gravity Fg pointing approximately downward in the fixed external reference frame {Ce}. In equilibrium, where no further forces exist, the crane force Fc and gravity Fg cancel each other out.

[0059]

[0066] Figures 4a and 4b illustrate a state in which two taglines 39 are attached to an object 24, and two corresponding winches 38 are actively controlled to reduce the length Lt of the taglines 39, thereby displacing the tool 24 away from its stationary pose and moving it closer to the vessel 10 associated with the offset 55. The new pose of the tool 24 and the corresponding reference frame are indicated by {Co'}. Looking down along the negative vertical direction Ze of the external reference frame {Ce}, the vertical projection of the displaced tool location (i.e., the origin of the local frame {Co'}) would lie within a projected polygon having a projected edge extending between the projected vertex of the crane suspension point (i.e., the origin of the crane frame {Cc}) and the location of the winch 38 (i.e., the origin of the winch frame {Cw}).

[0060]

[0067] Figures 4b–c show a nominal frontal plane Sf extending in the -Ze direction, corresponding to the gravity vector Fg passing through the center of mass of tool 24, and extending in the ±Xe direction parallel to the side of vessel 10. This frontal plane Sf divides 3D space into two half-spaces. In all examples shown in the figures, all winches 38 are positioned in the same half-space on the side of the frontal plane Sf facing tool 24 and vessel 10, while the crane tip {Cc} can be repositioned on either side of the frontal plane Sf depending on the desired direction of the pre-tension and offset 55 for tool 24 (see, for example, Figures 6a–6e).

[0061]

[0068] As shown in Figures 4b-4c, as the suspended tool 24 moves, the hook 22, rider block 21, and / or hoist line 20 of the crane 16 may deflect along with the suspended tool 24, thereby changing the direction and possibly amplitude of the crane force Fc. The updated crane force is denoted by Fc' and is directed along a different direction than the initial Fc. The change in direction can be represented by an angle α with respect to the nominal axis corresponding to the direction of gravity Fg. If the length of the hoist line 20 is kept constant, the lateral deflection also results in a (slight) upward displacement of the tool 24, which temporarily increases the gravitational potential energy of the tool 24. In addition, the hook 22 and rider block 21 may be supported by an additional tagline winch that can be attached to the turret 18 and / or crane arm 19 to prevent double pendulum motion in the hoisting system.

[0062]

[0069] As shown in Figure 4c, a portion of the gravitational force Fg that is not canceled out by the crane force Fc is a restoring force component Fg acting on the tool 24 in the direction returning to a non-perturbed stationary pose. ⊥ This would result in the following: In the static equilibrium constellation of the hoist line 20, tag line 39, vessel 10, and crane 16 relative to the external reference frame {Ce}, the various forces Fg, Fc, and Ft cancel each other out, and therefore the tool 24 remains suspended in a predetermined pose with an offset 55. This also results in the restoring force Fg ⊥ However, this implies that the opposing force components, resulting from the combined effect of gravity and the tagline force, will cancel each other out.

[0063]

[0070] However, instantaneous changes in this equilibrium constellation (in particular, due to changes in the direction of gravity Fg or a decrease in the tagline tension Ft) are caused by Fg ⊥This allows a restoring force and / or torque (i.e., wrench) to be exerted on tool 24, which will allow tool 24 to return outward in a direction substantially different from the direction initially made possible by the tension Ft in the direction of winch 38. The term "wrench" (symbol w) is used herein to indicate joint-vector representations of net 3D linear force vectors (symbol F) and net 3D torque vectors (symbol M) acting on an object.

[0064]

[0071] According to the proposed system and method, by carefully selecting (and possibly dynamically adjusting) the positional offset 55, and by correspondingly dynamic adjustment of the tagline tension Ft, the inability of the tagline 39 to exert a pressing force on the suspended tool 24 can be overcome, and the suspended tool 24 can be moved and undesirable oscillating motion can be offset in a direction different from (at least partially) the direction toward the winch 38.

[0065]

[0072] The proposed system's control device 50 coordinates and dynamically adjusts the separate tensions Ft exerted by the winch 38 and tagline 39 on the erecting tool 24 in accordance with the instantaneous position of the crane 16 and tool 24 relative to the vessel 10 and the external reference frame {Ce}, thereby creating an instantaneous restoring force Fg in the desired direction. ⊥ This generates this restoring force Fg ⊥ The system is configured to (dynamically) calculate a desired pose, including its non-perturbed pose and an (pre-calculated or dynamically calculated) offset 55 for the tool 24 relative to the crane suspension point {Cc}, so as to adjust the amplitude and / or direction over time.

[0066]

[0073] In one possible approach, the desired offset 55 may be determined offline based on a dynamic system simulation, for example, before the system is deployed in the real environment. In the simulation, representative values ​​for assumed deployment scenarios would be selected for ambient factors such as the dynamic properties of the vessel and tools (e.g., mass and moment of inertia), as well as wind and wave intensity (e.g., wave height, period, and diffusion coefficient), to simulate which pause offset 55 is optimal for a given situation. Preferably, the pause offset 55 is determined such that none of the calculated tensions in the tagline fall below a minimum threshold for a preset sea condition and throughout the entire simulation run, and it is set to last for a representative number of hours (e.g., 3 hours or more).

[0067]

[0074] In general, it is preferable that none of the tagline tensions Ft fall below a certain positive value. For example, when running a simulation for a typical monopile erection tool, the minimum tension value may be in the range of 10kN to 20kN, or 20kN to 50kN, or even 50kN to 100kN. The maximum allowable tension load for taglines present in an actual system may be in the range of 50kN to 100kN, or 100kN to 150kN, or even 150kN to 300kN. Depending on the environmental conditions and the dynamic parameters of the system, the offset 55 determined through the simulation may then be in the range of 20cm to 400cm or more, for example, 30cm to 100cm (all of the above ranges include the endpoints).

[0068]

[0075] In alternative methods, the determination of the pause offset 55 occurs online, i.e., dynamically during the deployment of the system in a realistic operating setting, through offline simulation (as described above), or using estimated initialization parameters determined based on empirical inference. During the online determination of the desired offset 55, the tension in the tagline may then be continuously monitored, and the desired pause offset may be iteratively increased until it is established that the measured tagline tension Ft no longer takes the value of zero, or alternatively, that the measured tagline tension always remains above a predetermined threshold. Depending on the selected constellation of hoistlines and taglines, as well as the type and direction of the oscillating motion that the system should counteract, the tension in a particular tagline may have a different threshold compared to other taglines.

[0069]

[0076] It should be noted that the desired offset 55 can be translational, rotational, or any combination thereof, and can be in any direction. For a typical monopile erection tool, the translational offset may be in the range of, for example, 0.3 meters to 4 meters, for example, about 3 meters, and the rotational offset may be in the range of, for example, 5° to 45°.

[0070]

[0077] Figure 5 shows a flowchart of an illustrative embodiment of the proposed method. The control device 50 of the illustrative system from Figure 3 is adapted to receive (continuously or intermittently) measurement data from sensors, including a momentary pause of the tool 24 relative to a target reference frame {Ct} and a momentary tension Ft applied by at least two taglines 39. The control device 50 includes a processing unit 51 configured to calculate the desired pause 67 and offset 55, as well as the required tagline tension Ft that the control device 50 uses to control the winch 38, in order to dynamically adjust the individual tagline lengths Lt, for example, to counteract undesirable oscillating motion of the suspended tool 24. The example in Figure 5 shows an illustrative method in which tension control branching for only two winches is demonstrated. However, it should be understood that other embodiments may involve more than two winches and tension control branching.

[0071]

[0078] The control device 50 is configured to receive data representing a momentary pose 61 or movement of the crane 16 as input from a crane position change instruction issued by the crane control module 54. From this target crane pose 61 and general external conditions such as a momentary pose 63 of the vessel 10, the control device 50 can derive the unperturbed pose that the suspended tool 24 would take when subjected to gravity Fg in the absence of the tagline 39.

[0072]

[0079] The processing unit 51 then calculates a desired target object pose 67, including a lateral offset 55, by comparing it to an unperturbed pose 66. Based on this target pose 67, the control device 50 may instruct its tool motion control module to compare the target pose 67 with the currently measured pose 82 of the tool 24 in order to calculate a pose error metric 69. Based on this error 69, the processing unit 51 calculates a target wrench 71 to be applied to the tool 24 in order to reposition the tool 24 toward the target pose 67.

[0073]

[0080] Based on the calculated target wrench 71, the processor unit 51 uses a tension distribution algorithm to calculate how the wrench 71 will be realized by the distribution of tension values ​​Ft in the tagline 39 72. The separation of tension values ​​Ft for each winch 38 can be determined using an analytical matrix equation that can take into account the known position of the tagline attachment point 43 on the tool 24 relative to the tool reference frame {Co}, the measured instantaneous pose 82 of the tool 24 relative to the target reference frame {Ct}, the known position {Cw} of the winch 38 on the deck 12 relative to the target reference frame {Ct}, the desired target pose 67 of the tool 24 relative to the target reference frame {Ct}, and the desired instantaneous pose of the unperturbed tool 24 when suspended under the crane 16 in the absence of a tagline.

[0074]

[0081] The control module 50 then sends the respective calculated target tension values ​​73 to the individual winches 38, thereby instructing each winch 38 to operate its drive mechanism to achieve the newly set target tension 73. Meanwhile, each tension sensor 42 continuously or intermittently samples the instantaneous tension 77 in the corresponding tagline 39 in subsequent time instances 76. Each individual winch 38 then compares its currently measured tension 77 74 to determine the instantaneous error between the target force 73 and the actual force 77 to determine whether the winch drive mechanism needs to continue changing the tagline length Lt or whether the set point has been reached. As shown above, embodiments of the alternative method may involve tension control branches 73-77 for third, fourth, or more separate winches.

[0075]

[0082] The cable tension Ft generated by the winch 38 ultimately acts on the tool 24 at the mounting portion 43 on the tool via the tagline 39. These tensions apply (linear) force and (angular) torque to the tool 24, causing the tool 24 to change position 78.

[0076]

[0083] Step 80 involves continuous or intermittent measurement of a momentary pose 82 of the tool 24 in a target reference frame {Ct}, which can be measured, for example, by a camera 45 viewing a marker(s) on the tool. According to the iterative active feedback procedure shown in Figure 5, this measured tool pose 82 is used in determining the pose error 69 in step 68 and also as a partial input parameter for calculating the target tension distribution in step 72.

[0077]

[0084] Figure 5 illustrates that the proposed method may involve a hierarchy of active feedback control loops, where the tension feedback control loop for each tagline sensor is nested inside the pause feedback control loop for tool motion control 68.

[0078]

[0085] In an alternative embodiment, each winch may also utilize position or speed control set to a threshold value of a determined tension value.

[0079]

[0086] Alternatively, or in addition, the control device 50 may optionally be switched to manual mode by a monitoring controller function which can be operated via the operator interface 52.

[0080]

[0087] Figures 6a-6e illustrate an illustrative sequence of motion during the piercing of the pile 26 according to an embodiment of the present method and using a piercing tool 24 having lower piercing fingers 34a-b as shown in Figures 2a-b. In a preliminary stage, the operator of the crane 16 may position the suspended tool 24 near the horizontal pile 26, so that the tool 24 and the winch 38 can be interconnected (e.g., by another operator or crew) using a tagline 39.

[0081]

[0088] Figure 6a shows the initial course alignment stage, in which preloads are applied via the tag line 39 and hoist line 20 so that the tool 24 takes a pose offset 55 along its positive Xo and Yo directions, thereby tilting it slightly backward about its Xo axis compared to its unperturbed pose in the absence of the tag line 39.

[0082]

[0089] Figure 6b shows a subsequent pre-positioning step in which a suspended tool 24 with a pose offset is lowered relative to the pile 26 by extending the hoist line 20 of the crane 16. The tool 24 is thereby suspended substantially directly below the pile 26, positioning the piercing finger portion 34 directly below the radial outer surface 29 of the pile 26 near the opening 27 without engaging with the pile 26. The tool 24 remains in a backward-tilted offset pose 55 to counteract any possible oscillating motion.

[0083]

[0090] Figure 6c shows the subsequent self-alignment stage, in which the tool 24 is wound upward by pulling back the hoist line 20, so that the piercing finger portion 34 will contact the lower outer surface 29 of the pile 26. If the piercing finger portion 34 is positioned mirror-symmetrically below the tool 24 (see Figure 2b with respect to the sagittal plane St), the tool 24 will automatically self-align with the lower outer surface 29 of the pile, and the centerline At of the tool 24 will move toward the centerline Ap of the pile 26.

[0084]

[0091] Figure 6d shows a further step in which the crane 16 changes the direction of its preload contribution Fc by moving the tip of the crane 16 horizontally toward the pile 26 in the positive Yt direction, so that the lower part of the suspended tool 24 directly contacts the lower rim of the pile 26 near its lower outer surface 29.

[0085]

[0092] Figure 6e shows the final thrusting stage in which the tool 24 rotates to align with the top of the pile and the crane preload contribution Fc in the +Yt direction is increased so that the centerlines Ap and At are substantially coaxial. In this pose, the clamping member 35 of the tool 24 passes through the pile opening 27, where it can be actuated and moved radially outward to perform the pile clamping function (Figure 2b).

[0086]

[0093] Throughout all the steps described above, the control device 50 (dynamically) determines the intended target pose, which includes an offset 55 that is dynamically changed in the examples shown in Figures 6a-6e.

[0087]

[0094] The example in Figures 3-4c involves a tagline 39 connection between an attachment point 43 on the tool 24 and a winch 38 on the deck 12, and these are of the single-leaving type. In an alternative embodiment, however, it is possible for individual or all of the tagline connections to be multiple leaves. Such a multiple-leaving tagline is arranged to form one or more loops, starting from the corresponding winch 38 on the vessel 10, through the corresponding attachment point 43 on the suspended object 24, and then returning to a sheave or further attachment point on the vessel 10. In an alternative embodiment, the tagline may also continue toward an attachment point fixed to a different target reference frame, such as a fixed external frame {Ce}.

[0088]

[0095] Figure 7 illustrates an example with a double-leaving tagline connection. In this case, the tagline 39 has one distal end wrapped around a winch 38, and a load measuring sensor 42 is provided at the opposite distal end. This distal end is similarly fixed to a connection point 81 located on or near the ship's deck 12. The mounting portion 43 on the tool 24 includes a freely rotatable sheave 82 that allows the tagline 39 to be guided along the mounting point 43 with little to no friction. This ensures that the tagline connection portion 43 remains in the same position relative to the object reference frame {Co} when the tagline 39 is extended or retracted by the rotating winch 38. This double-leaving connection allows the tagline 39 to be easily accessed and cut from the deck 12. In this concept, the tagline may consist of two lines connected in series, one of which is permanently fixed to the winch, and the other which is looped through the mounting point and can be detached from the line permanently fixed on the winch. Such connections may be added to facilitate manual operation on the deck by human operators.

[0089]

[0096] In a preferred embodiment, the system includes at least three tag lines attached to an object suspended via at least three winches. Each tag line includes a dedicated tension sensor.

[0090]

[0097] Figures 8a-b show an illustrative embodiment in which three winches 138a-c and corresponding taglines 139a-c and tension sensors 142a-c are provided. The three winches 138 are arranged substantially horizontally and linearly along the deck 112 near the side of the vessel 110, along with their respective local reference frames {Cw}. The first winch 138a is positioned below the centerline Ap of the pile (not shown) at a short distance in the negative Zv direction and at a longer distance in the positive Xv direction with respect to the sagittal plane Sp of the pile. This sagittal plane Sp is substantially perpendicular to the deck 112 and extends vertically through the pile centerline Ap. The corresponding first tagline 139a is connected to the tool 124 at a first connection portion 143a at the lower proximal corner of the tool body. The second winch 138b is positioned directly below the pile centerline Ap. The corresponding second tagline 139b connects to the tool 124 at a second connection point 143b at the lower corner opposite the tool body. The third winch 138c is positioned at the maximum distance in the negative Xv direction from the sagittal plane Sp of the pile. The corresponding third tagline 139c forms an acute angle with the ship side. This tagline 139c connects to the tool 124 at a third connection point 143c that is above the second connection point 143b but is located along the lateral edge of the tool body.

[0091]

[0098] Figure 9 shows yet another illustrative embodiment having a tagline constellation that efficiently utilizes only two connection points symmetrically positioned in the lateral dimension of tool 224. Here, winches 238a-c are positioned as in Figures 8a-b. However, the corresponding first tagline 239a here connects to tool 224 at a first connection point 243a located below the first lateral edge of the tool body. In contrast, the second and third taglines 239b-c connect together to tool 124 at a second connection point 243b located at the same height but on the opposite lateral edge of the tool body.

[0092]

[0099] Through optimization and experience, the tagline arrangement in Figures 8a–9 has been found to be highly effective in offsetting the motion of the suspended erecting tool during the thrusting of horizontal monopiles on the deck. It is clear that, in general, many other configurations besides those shown in the figures can be selected to achieve substantial minimization of the undesirable oscillating motion of the suspended tool. The winch and tagline constellation can be adjusted to improve the damping effect of a particular subset of the undesirable motion. For example, it may be desirable to position one or both of the first or third winches at the maximum possible distance along the side of the vessel in the positive and negative Xv directions, as permitted by the length of the vessel. Alternatively, one or more protruding structures may be attached to the vessel, providing remote deployment sections for winches with corresponding taglines projecting laterally outward from the side of the vessel and connecting to the tool longitudinal direction which is (approximately) parallel to the +Xv or -Xv direction. The protruding structure may also be provided for additional winches and taglines connecting the tool to a remote Zv location, for example, for a winch in a crane or crane turret. Alternatively or in addition, the tagline may be connected to the tool along the upper and / or lower edge of the tool, or any other suitable location.

[0093]

[0100] The present invention may be embodied in other specific forms. The embodiments described should be considered in all respects to be illustrative and not limiting. The scope of the present invention is therefore indicated by the appended claims rather than by the foregoing description. It will be apparent to those skilled in the art that alternative embodiments of the present invention may be conceived and put into practice. All modifications that fall within the meaning and scope of the equivalents of the claims should be encompassed within those scopes to the extent permitted by national law.

[0094]

[0101] In the example discussed with reference to the drawings, the suspended object was formed by a construction tool, and the vessel was an offshore construction vessel. However, the proposed system and method can also be used to stabilize the rocking motion of other types of objects suspended from other types of vessels or platforms that are continuously subjected to undesirable surge / sway / heave / roll / pitch / yaw motions relative to a fixed external reference frame. Another example of an object is a pile driving hammer, which needs to be precisely positioned on the top of the pile once the pile's lower end is located above the seabed.

[0095]

[0102] In the example discussed with reference to the drawings, the winches and corresponding tagline connectors were mounted along the ship's deck near the side of the vessel. The winches may be repositionably mounted on or on the vessel, so that their positions can be adjusted according to the desired location and operation with the suspended tool. Each winch may be mounted, for example, on a local platform (e.g., a cart or truck) that is movable transversely in the Xv / Yv direction along the ship's deck, allowing for optimization of the usable on-the-fly workspace. In such cases, the method may involve an additional measurement step, in which the location of the winch reference frame {Cw} is initially or intermittently determined so that it can be used as an input parameter in the motion compensation method for the suspended tool.

[0096]

[0103] In the example, the winch and corresponding tagline connections were generally distributed along the horizontal plane corresponding to the ship's deck. However, by attaching multiple taglines above or below the plane, the proposed system and method can generate the resulting net restoring force in any direction required to suppress the rocking motion. For example, the principle shown in Figures 4a-c, which is applied to the Ye axis relative to a fixed external reference frame {Ce}, can also be applied along the Xe and / or Ze axes of the external reference frame {Ce}. The only requirement is that the winch is positioned in a constellation that allows the corresponding tagline tensions to form an independent (though not necessarily orthogonal) vector basis of the solution space (i.e., degrees of freedom) of the motion cancellation algorithm.

[0097]

[0104] In the example, the pose of the suspended tool was measured remotely by one or more cameras. In alternative embodiments, other types of remote imaging or ranging sensors (e.g., LiDAR) may be used to measure the indication of the suspended object's instantaneous 6DOF pose relative to a target reference frame. In yet another alternative embodiment, pose measurement may be accompanied by field measurements by, for example, positioning units (e.g., GPS and INS on a ship) and internal measuring units (IMUs) attached to the object. In such cases, measurements may also be performed directly in the Earth reference frame {Ce} and then later associated with the target reference frame {Ct} by additional calculations within the control unit 50.

[0098]

[0105] Separately, those skilled in the art will understand that information and signals can be represented using any of a variety of different technologies and techniques. Those skilled in the art will further recognize that various exemplary logic blocks, modules, circuits, and algorithmic steps described in relation to the embodiments disclosed herein can be implemented as electronic hardware, computer software, or a combination of both. To illustrate this hardware and software compatibility, various exemplary components, blocks, modules, circuits, and steps have been described above in general terms of their functionality. Whether such functionality is implemented as hardware or as software depends on the specific application and the design constraints imposed on the overall system.

[0099]

[0106] For example, referring to Figure 5, various exemplary logic blocks, modules, and circuits described in relation to the embodiments disclosed herein may be implemented or run using general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, graphical processor units (GPUs), or any combination thereof designed to perform the functions described herein. A general-purpose processor may be a microprocessor, but alternatively, the processor may be any conventional processor, controller, microcontroller, or state machine. The processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor or a combination of a DSP and an FPGA, multiple microprocessors, one or more microprocessors working in conjunction with a DSP core, or any other such configuration.

[0100]

[0107] Steps of methods or algorithms described in relation to embodiments disclosed herein may be embodied directly in hardware, in software modules executed by a processor, or in a combination of both. Software modules may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM® memory, registers, hard disks, solid-state disks, removable disks, CD / DVD-ROMs, or any other form of storage medium known in the art. An illustrative storage medium is coupled to a processor so that the processor can read information from and write information to the storage medium. Alternatively, the storage medium may be integrated with the processor. The processor and storage medium may reside in an ASIC. The ASIC may reside in a user terminal. Alternatively, the processor and storage medium may reside as separate components in a user terminal. [Explanation of symbols]

[0101] Similar reference numbers (except for the hundreds digit) used in the descriptions to indicate similar elements are omitted from the list below, but should be considered implicitly included. 10 ships 11. Bodies of water (e.g., the sea) 12 decks 14. Side of the ship 16. Cranes (e.g., jib cranes) 17. Crane base (fixed) 18. Crane turret (rotating) 19 Crane Arm 20 Hoist lines 21 Rider Block 22. Suspension members (e.g., crane hooks) 24. Objects (e.g., erection tools; FPUT / FMUT) 26. Cargo (e.g., monopile) 27 Pile opening (e.g., with flange) 28. Load pivot frame 29 Lower outer pile surface 30 base 31. Piercing part 32 hinges 34 Engaging member (e.g., piercing finger portion) 35. Clamping member (e.g., clamp surface) 36. Winding point 37. Auxiliary mounting components (e.g., straps) 38 winches 39 Tagline 40 Winch sheaves with actuators 41 Winch Controller 42. Tagline tension sensor (or winch force / torque sensor) 43 Mounting part 44 Pose Sensor 45 Camera 46 Optical Markers 50 Control Devices 51 Processing Units 52 Operator Interface 54 Crane Controller 55 offset 60 Controlling the crane pose 61. Instructions / Measurements for Crane Pose 62 Measuring the ship's pose 63. Ship Pose 64. Calculating an object's trajectory 65 Initial (unperturbed) object poses 66. Calculate the object pose with an offset. 67 Target object pose with offset 68. Evaluate the offset between the target pose and the measured pose. 69. Pause Error Metric 70 Calculate the desired wrench on the object. 71 Desired wrench on an object 72. Calculate the tagline tension distribution. 73 Desired tagline tension 74. Compare the target tension with the measured tension. 75 Adjust the tension 76. Measure the tagline tension. 77 Measured tension 78 Adjust the tool pose 80 Tool Pose Measurement 80 Actual Object Poses 81 Fixed connection 82 sieve α is the angle with the gravity vector. As rotation axis Al Rough Axis Ap Monopile Centerline at tool centerline X First direction Y Second direction Z Third direction Dp Pile Diameter DT Tool Diameter Fg Gravity vector Fc Crane force vector Fc' is the modified crane force vector. Ft / Tt Tagline Tension Lf finger length Lt tagline length Pt tagline mounting position Pw winch position St sagittal tool surface Sf Frontal Tool Surface Sp sagittal pile surface {Co} Object-Based Frame {Co'} Displaced object reference frame {Cv} Ship Standards Frame {Ct} Target Criteria Frame {Cc} Crane base frame {Ce} Fixed external reference frame {Cw} Winch base frame

Claims

1. A system for offsetting the motion of an object (24) suspended from a hoisting device (16) movably mounted in / on a moving vessel (10), which is associated with a target reference frame ({Ct}) and moves relative to an external reference frame ({Ce}), wherein the moving vessel comprises the winches (38) having taglines (39) that interconnect each winch (38) to corresponding mounting portions (43) on the object (24) so ​​as to apply tension (Ft) between the winch and the object, and the system is, A pose sensor (44, 45) configured to measure the instantaneous pose (82) of the object relative to the target reference frame ({Ct}), A control device (50) is configured to independently operate the winch (38) to adjust the length (Lt) of the corresponding tagline (39) and change the tension. The winch (38) is connected to the moving vessel, The control device is Calculating (66) a target pose (67) for the object with respect to the target reference frame ({Ct}), wherein the target pose includes a non-zero offset (55) for the pose of the object suspended from the hoisting device in the absence of the tagline. Based on the error (69) determined between the target pose and the momentary pose of the object, the winch is dynamically operated (75) to adjust the length (Lt) of each tag line so that the object assumes the target pose while the moving vessel is in motion. A system further configured to perform the following actions.

2. Each tagline (39) is further associated with a force sensor (42), each force sensor configured to measure an indication of instantaneous tension in the corresponding tagline (76), The system according to claim 1, wherein the control device (50) is signal-connected to the force sensor and is configured to dynamically operate the winch (38) based on the instantaneous tension measured by the force sensor and the instantaneous error (69) between the target pose of the object and the measured instantaneous pose.

3. The moving vessel (10) is an offshore construction vessel having a deck (12) supporting a monopile (26), the monopile being elongated along the pile centerline (Ap) and defining an opening (27) at its distal end, the monopile initially being along the deck on the pile centerline, The object is an erection tool (24) suspended from the hoisting device (16), the erection tool is configured to engage and latch with the opening of the monopile in order to enable the hoisting device to lift the monopile from the deck, The system according to claim 1 or 2, wherein the system is configured to counteract the movement of the erecting tool (24) while the erecting tool approaches and engages with the opening of the monopile.

4. The monopile (26) is initially substantially horizontal along the deck (12) such that the sagittal plane (Sp) of the monopile extends perpendicularly from the deck and upward through the pile centerline (Ap), The system according to claim 3, wherein at least two winches (38) are attached to the moving vessel (10) on the side opposite to the sagittal plane (Sp) and at a determined position ({Cw}) relative to the target reference frame ({Ct}).

5. The erection tool (24) is suspended from the hoisting device (16) via the hoist line (20), and the erection tool defines a further sagittal plane (St) extending downward from the hoist line attachment point (36) through the erection tool. At least two taglines (39) are connected at the mounting portion (43) on the erecting tool, which is located on the side opposite to the further sagittal plane (St). The system according to claim 3 or 4.

6. The system according to any one of claims 3 to 5, wherein the monopile (26) protrudes laterally across the deck (12) of the moving vessel with an opening (27) of the monopile extending beyond the side of the moving vessel, the erecting tool (24) defines a front face (Sf) extending laterally through its center of mass downward along the direction corresponding to gravity (Fg) and parallel to the side of the moving vessel (10), the opening (27) of the monopile and the winch (38) are located in the half-space on the side of the front face (Sf) facing the moving vessel (10), and therewith the distal end ({Cc}) of the hoisting device (16) is repositionable on either side of the front face (Sf) to allow the lateral direction of the non-zero offset (55) relative to the erecting tool (24) to be reversed.

7. The system according to any one of claims 1 to 6, wherein the winch comprises three winches (138) having three corresponding taglines (139), at least two of the taglines (139a, 139b) are connected at connecting portions (134a, 134b) located at the laterally opposite distal ends of the lower part of the erecting tool (124), and the other tagline (139c) is connected at the lateral edge (143c) of the erecting tool (124).

8. The system according to any one of claims 1 to 7, wherein at least one of the taglines (39) is connected at one distal end to the corresponding winch (38) and includes a dual leaving device that returns via a rolling or sliding connection (82) at the mounting portion (43) of the object (24) to a fixed or detachable connection (81) on the moving vessel (10), and optionally the force sensor (42) is located at or near the fixed or detachable connection (81).

9. The system according to any one of claims 1 to 8, wherein the pause sensor (44) includes an imaging sensor (45) provided on the moving vessel (10), the imaging sensor being configured to detect one or more markers provided on the object (24) and to measure the indication of the instantaneous pause (82) of the object with respect to the target reference frame ({Ct}).

10. A method for offsetting the motion of an object (24) suspended from a hoisting device (16) movably mounted in / on a vessel (10) associated with a target reference frame ({Ct}) and moving relative to an external reference frame ({Ce}), wherein the vessel comprises winches (38) having taglines (39) interconnecting each winch (38) to corresponding mounting portions (43) on the object (24), and the method is: Measuring (80) the pose (82) of the object relative to the target reference frame, The winches (38) are operated independently (75) to adjust the length of the corresponding taglines (39) and thereby change the tension (Ft) applied between each winch and the object (77), Calculating (66) a target pose (67) for the object with respect to the target reference frame ({Ct}), wherein the target pose includes a non-zero offset (55) for the pose of the object suspended from the hoisting device in the absence of the tagline. Based on the error (69) determined between the target pose and the momentary pose of the object, the winch is dynamically operated (75) to adjust the length (Lt) of each tag line so that the object assumes the target pose while the vessel is moving. A method that includes [a certain feature].

11. Measuring the instantaneous tension indication in the corresponding tag line (39) (76), The winch (38) is dynamically operated (75) based on the instantaneous tension and the error (69) between the target pose of the object and the measured pose. The method according to claim 10, further comprising:

12. The vessel (10) is an offshore construction vessel having a deck (12) that supports a monopile (26), the monopile being elongated along the pile centerline (Ap) and having an opening (27) defined at its distal end, the monopile initially being along the deck on the pile centerline, and the object being an erection tool (24) suspended from the hoisting device (16), The method according to claim 10 or 11, further comprising controlling the hoisting device (16) and the winch (38) having a tagline (39) to bring the hoisting tool closer to and engage with the opening of the monopile, while offsetting the movement of the hoisting tool (24) by holding the hoisting tool in the target pose including the non-zero offset (55), wherein the non-zero offset may include a non-zero lateral displacement directed along each tagline and toward the corresponding winch.

13. The erection tool (24) includes lower-positioned piercing members (34a, 34b) and pile clamp members (35), and the method controls the hoisting device (16) and a winch (38) having a tagline (39), thereby, The erection tool is lowered in the target pose, which includes the non-zero offset (55), substantially below the monopile (26), thereby positioning the piercing finger portion (34) directly below the radial outer surface (29) of the monopile (26) near the opening (27) of the monopile, The erection tool is wound upward, thereby engaging the piercing finger portion (34) with the lower outer surface (29), The erection tool is wound up and pulled toward the monopile, thereby aligning the erection tool with the monopile until the erection tool and the monopile are in complete contact and the center line (At) of the erection tool (24) is coaxial with the pile center line (Ap) of the monopile (26). The pile clamp member (35) is activated to rigidly connect the erection tool to the monopile, thereby enabling the monopile to be lifted from the vessel (10). The method according to claim 12, further comprising:

14. The monopile (26) protrudes laterally across the deck (12) of the vessel with its opening (27) extending beyond the side of the vessel, the erecting tool (24) defines a front face (Sf) that extends laterally through its center of mass downward in the direction corresponding to gravity (Fg) and parallel to the side of the vessel (10), the opening (27) of the monopile and the winch (38) are located in the half-space on the side of the front face (Sf) facing the vessel (10), The method according to claim 12 or 13, further comprising repositioning the distal end ({Cc}) of the hoisting device (16) on both sides of the frontal surface (Sf), thereby reversing the lateral direction of the non-zero offset (55) relative to the erecting tool (24).

15. A computer program product configured to, when loaded onto a computer device (50), provide instructions for carrying out the method described in any one of claims 10 to 14.

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