A system for lifting and moving heavy objects.

Abstract

The present invention relates to a transportation system (1) for transporting items (6) back and forth between a storage area (4) and a target area (5), the transportation system (1) comprising a pedestal (10) mounted on one of the storage area (4) and the target area (5). The transportation system (1) further comprises a main boom (11) pivotally connected to the pedestal (10), the main boom (11) having a distal end (11e) configured to be supported by the other of the storage area (4) and the target area (5) while allowing at least one rotational degree of freedom between the main boom (10) and the other of the storage area (4) and the target area (5). The span of the main boom (10) is passively adjustable. The transport system (1) further comprises a transport boom (12) connected to the main boom (11) and an article handler (13) guided by the transport boom (12) and configured to handle articles (6) transported between the storage area (4) and the target area (5).

Description

Detailed Description of the Invention

[0001] [Technical Field] The present invention relates to a transportation system for lifting and handling articles, and more specifically, to a transportation system for loading and unloading battery packs onto marine vessels.

[0002] [Background] In recent years, efforts have been made to convert marine vessels from fuel-driven motors to electric propulsion systems in order to reduce the CO2 footprint of the maritime industry.

[0003] Marine vessels such as boats, ships, and ferries that obtain power from batteries usually have a stationary battery that is charged when the vessel is docked. The dock stay time of some ferries and most lightweight high-speed vessels used for transporting passengers and vehicles back and forth is only a few minutes, which is not enough time to charge the high-capacity batteries required for such types of marine vessels.

[0004] One type of shuttle service vessel usually operates continuously for several hours in the morning and afternoon and docks at the port during that time. A large battery pack is required for the stationary battery device required for continuous operation for several hours, and a large additional weight is loaded onto the vessel. Lightweight high-speed vessels are sensitive to weight and energy consumption increases, so it is not desirable to load excessive weight.

[0005] Other high-speed vessels operate long-distance routes along the coast or within fjords. These journeys, including intermediate stops along the route, typically take several hours. There are usually no opportunities for recharging at these intermediate stops. Therefore, recharging must only occur at the final destination, and a diesel engine is typically required to extend the range. If this entire distance were to be covered by electricity, a very large, permanently installed battery pack would be necessary. The weight and size of such a battery pack would become a dimensional issue on the vessel, inevitably increasing its size and cost. Furthermore, the power required for recharging at the final destination would be very high, potentially leading to high grid reinforcement costs.

[0006] As an alternative to large, permanently installed battery packs, the use of smaller battery packs that can be replaced and charged at the pier, whether at the terminal or intermediate berthing points, can be considered, thereby reducing additional weight. This would allow lighter, high-speed vessels to operate continuously for up to a full day, for example, by replacing battery packs at each berthing point or every other berthing point. Furthermore, the use of replaceable, smaller battery packs would enable standard-sized vessels to perform long-distance, zero-emission voyages solely on battery power. Also, since existing diesel vessels are not typically designed to carry the weight of large battery storage units, battery replacement is ideal for improving existing diesel vessels. In addition, a common battery pool can be shared among multiple vessels traveling back and forth between the same pier, thereby reducing the total amount of battery capacity required and benefiting from a sharing economy.

[0007] Therefore, it is necessary to find a way to replace used batteries with charged batteries while the vessel is docked at the pier. Ideally, such battery replacement should be fully automated and completed during the short time the vessel is at berth.

[0008] International Publication No. 2018 / 084716 describes a transport system for exchanging rechargeable batteries between the battery compartment of a floating vessel and a charging station located outside the vessel, allowing the vessel to approach the charging station. The transport system is based on a lift table for moving battery packs, a tall support column with a movable arm configured to lift the battery packs using a hoisting device, or a conveyor belt for transporting battery packs. The operation provided by the system described in International Publication No. 2018 / 084716 is complex and therefore difficult to automate. Furthermore, the movement of the vessel, especially small vessels, can cause delays in such battery transport operations.

[0009] International Publication No. 2020 / 190147 describes an autonomous battery swapping system for marine vessels in which an autonomous battery assembly operates between a land-based charging station and a docking station on the vessel. The autonomous battery assembly is configured to operate autonomously between the docking station and the charging station. To travel back and forth between the docking station and the charging station, the autonomous battery assembly uses the loading ramp of the marine vessel at the pier, which could potentially obstruct or interrupt the passage of vehicles or passengers, leading to delays in the vessel's departure.

[0010] International Publication No. 90 / 08093 describes a transport system for loading and unloading containers from a floating vessel. The transport system comprises a boom that can be mounted on a vessel, a crane that can move along the boom, and a hoisting mechanism for containers suspended from the crane. The boom is supported by two support structures, one of which is located on land and the other on a floating base on the seaward side of the vessel. The floating section of the crane is detachable from the land-based section.

[0011] Small ocean vessels, such as those used for passenger and vehicle transport services, are more exposed to seawater movement while docked than larger container ships. The transport system described in International Publication No. 90 / 08093, being designed for large container ships, will not adequately compensate for the rolling and pitching of smaller vessels. The movement of the vessel, especially small vessels, will cause delays during the round-trip transport of batteries. Therefore, this crane system is not very suitable for loading and unloading goods on small ocean vessels.

[0012] Considering the above issues, further development of transport systems for loading and unloading items such as battery packs on floating vessels is necessary.

[0013] [overview] The present invention aims to provide a stable transport system to and from ships, which can be used not only for battery packs but also for other items, with the movement of the ship compensated for.

[0014] The objective is achieved by the features specified in the following description and subsequent claims. The present invention is defined by the independent claims. The dependent claims define advantageous embodiments of the present invention.

[0015] In the first aspect, the present invention relates to a transport system for transporting articles back and forth between a storage area and a target area. The transportation system is - A base installed in either the storage area or the target area, - A main boom pivotably connected to a base, having a far end configured to be supported by the other of the storage area and the target area, while allowing at least one degree of rotational freedom between the other of the storage area and the target area, and having a passively adjustable span length, at least during the first operating mode of the transport system. Yes, it is retractable or foldable. A major trend and - Main boom connected to transport boom The transport boom extends horizontally from the storage area to the target area during operation. and, - Transportation boom Moved along or by transport boom The system comprises an article handler configured to handle articles being transported between a storage area and a target area.

[0016] The effects of the features of the transport system according to the present invention are as follows. First, the main boom supports provided at both ends provide a stable mechanical connection between the two regions while goods are being transported along the transport boom by a goods handler. Second, the transport system withstands the movement of the vessel by the following two features. The first feature is that the span length of the main boom is dynamically adjustable, allowing the main boom to compensate for the movement of the vessel, at least in the first operating mode of the transport system. Alternatively, a portion of the main boom may be fixed while another portion is passively adjustable. Passive adjustment of the span length of the main boom is also referred to herein as the free-float mode. The transport system may also have another operating mode in which the span length of the main boom is actively controlled by an actuator. A pivotable connection is required between the main boom and the base to allow for the corrected ship movements such as pitch, roll, and roll, but the system also requires at least one degree of rotational freedom between the far end of the main boom and its support in the region opposite the base. In particular, the combination of these two features allows for complete freedom of movement of the vessel, including rolling, pitching, vertical movement, and free motion, while the vessel is docked at the pier. The adjustable span length of the main boom can compensate for the movement of the vessel caused by rolling, pitching, and movement. The far end of the boom supported on the vessel must have at least one degree of rotational freedom to compensate for pitching motion. In a transport system, it is important to allow for movement of the vessel while the boom is mechanically connected to both the storage area and the target area. Otherwise, the forces generated by the movement of the vessel could damage and break components of the system. Furthermore, the adjustable span length of the main boom safely compensates for (or "withstands") the movement of the vessel. The main boom does not need to be slidably connected to the pedestal with the risk of protruding from the rear of the pedestal in order to compensate for the movement of the vessel. This also means that the main boom does not reciprocate behind the pedestal during the transport of goods. Therefore, people and vehicles may move freely behind the pedestal during the transport of goods.

[0017] To facilitate understanding of the present invention, one or more expressions are further defined below. Throughout this specification and the claims, the expression “span of the main boom” shall be interpreted as the distance between the ends of the main boom.

[0018] Throughout this specification and the claims, the expression “articles” should be interpreted as any kind of cargo capable of being transported between two areas. Articles may be battery packs, hydrogen tanks, other modules, boxes, containers, or cargo.

[0019] Throughout this specification and the claims, the term “article handler” should be interpreted as any type of gripping device for grasping and lifting articles. Alternative terms for article handler include docking head, remotely operated vehicle (ROV), docking hook, docking bar, docking claw, docking mushroom, vacuum suction cup, vacuum head, docking mechanism, cargo actuator, movable trolley, load actuator, robotic gripper, robotic arm, automatic hook, magnetic head, and latching mechanism.

[0020] Throughout this specification and the claims, the term “storage area” should be interpreted as any area on which an article can be placed. The storage area may be a land area, an area on a floating platform, an area on a floating vessel, or an area on a pier.

[0021] Throughout this specification and the claims, the expression “target area” should be interpreted as any area on which an article can be placed. The storage area may be a land area, an area on a floating platform, an area on a floating vessel, or an area on a pier.

[0022] Throughout this specification and the claims, the expression "pedestal" shall be construed as any structure capable of supporting a boom. Alternative expressions for pedestal are crane support, robot arm support, beam support, and boom support.

[0023] Throughout this specification and the claims, the expression "boom" shall be construed as a structure having an arm extending in a horizontal plane. Alternative expressions for boom are arm, robot arm, member, and beam.

[0024] Throughout this specification and the claims, the expression "passively adjustable" shall be construed as being adjustable under the influence of external forces, namely the movements of the floating ship (i.e., pitching, rolling, yawing, heaving, swaying, and surging) when the ship is moored to the shore. This means that when the main boom is passively adjustable by the movements of the floating ship, the main boom does not generate intentional reaction forces to dampen or oppose these movements.

[0025] Throughout this specification and the claims, the expression "transport boom" shall be construed as a structure having an arm extending in a horizontal plane and capable of moving an article handler or guiding an article handler along it. Alternative expressions for transport boom are arm, robot arm, member, beam, and guide.

[0026] Throughout this specification and the claims, the expression "joint" shall be construed as that which connects two booms. The joint can be a fixed joint, or a movable joint or a slidable joint. Alternative expressions for joint are connector, lock, or joint.

[0027] Throughout this specification and the claims, the expression "telescopic joint" shall be construed as a movable connector that connects two members and one member is slidable inside the other member. Alternative expressions for telescopic joint are telescopic connector and telescopic joint.

[0028] Throughout this specification and the claims, the expression "floating vessel" shall be construed as a vessel floating on water. Alternative expressions for floating vessels are ocean vessels, high-speed vessels, ferries, ships, boats, cargo ships, and rafts.

[0029] Throughout this specification and the claims, the expression "floating platform" shall be construed as a platform floating on water. Alternative expressions for floating platforms are cargo ships, rafts, flatboats, bases, and buoys.

[0030] Throughout this specification and the claims, the expression "transport device" shall be construed as any device capable of receiving an article and moving the article within or outside the reach of an article handler. Alternative expressions for transport devices are platforms, rotatable carousels (turntables, rotating carousels), movable platforms, conveyor belts, vehicles, robotic storage facilities, forklifts, cranes, and rack and pinion systems.

[0031] In one embodiment of the transport system according to the present invention, the transport boom is movably mounted on the main boom. This embodiment is advantageous because the sliding of the transport boom relative to the main boom corrects for the dynamic adjustment of the length of the span of the main boom.

[0032] In one embodiment of the transport system according to the present invention, the system further comprises at least two couplings between the transport boom and the main boom. At least one of the couplings is configured to actuate the transport boom to adapt its position relative to the main boom. This allows for control of the transport boom's position relative to the main boom. The relative motion of the transport boom relative to the main boom means that the transport boom can reciprocate over the length of the main boom, and thus, even though the transport boom may be shorter than the main boom, it can have the same span as the main boom. This makes it easier to extend the range over which goods can be transported along the main boom.

[0033] In a further embodiment of the transport system according to the present invention, the far end of the main boom is provided with a vertical support located in the other of the storage area and the target area. This embodiment constitutes a simple method of ensuring at least one degree of rotational freedom between the main boom and the other of the storage area and the target area. As a result, the main boom may pivot with respect to the area in which the main boom is supported.

[0034] In another embodiment of the transport system according to the present invention, the length of the vertical support is extendable. This facilitates the task of positioning the vertical support in the area where it is supported. Alternatively, the length of the vertical support can be shortened, reducing the space occupied by the vertical support when the transport system is not in operation.

[0035] In another embodiment of the transport system according to the present invention, the main boom comprises a first sub-boom and a second sub-boom pivotably connected to the first sub-boom. This allows for adjustment of the span of the main boom, and therefore allows the transport system to compensate for the movement of the vessel.

[0036] In one embodiment, the main boom is foldable, for example, vertically or horizontally. These two methods of implementing the transport system allow for adjustment of the main boom's span, enabling the transport system to compensate for the movement of the vessel. A main boom that is foldable vertically may also be called a knuckle boom, a term known in the crane technology field.

[0037] In one embodiment of the present invention, the main boom comprises at least one telescopic joint. This is an alternative configuration for the system to a knuckle boom and a horizontally collapsible boom, allowing adjustment of the span of the main boom by enabling adjustment of the length of the main boom. A key advantage of this embodiment is that the boom occupies less space when the transport system is retracted and not in operation.

[0038] In one embodiment of the transport system according to the present invention, the main boom is provided with at least two telescopic joints to allow adjustment of the span of the main boom. This embodiment allows for further options in adjusting the length of the main boom. The boom span may be the same as that of a boom with one telescopic joint, while the boom can be further shortened when the system is not in operation.

[0039] In a further embodiment of the transport system according to the present invention, the movement of each of the two telescopic joints is controlled by an actuator. The actuator may be based on a hydraulic cylinder or it may be an electric actuator.

[0040] In one embodiment of the transport system according to the present invention, each actuator has a locked mode and a free-float mode. While the actuator is in the locked mode, it is fixed in place to lock the position of the corresponding telescopic joint. While the actuator is in the free-float mode, it can extend and retract freely, allowing for passive adjustment of the span length of the main boom. The advantage of this embodiment is that it allows switching between the modes depending on the actual requirements, namely whether immobility or mobility is required. For example, on the target side, since the item handler is located at the end of the main boom, the actuator of the telescopic joint located on the opposite side, i.e., the storage area, can be in free-float mode. On the other hand, the actuator of the telescopic joint located on the target side can be in locked mode. In this way, the locked position of the telescopic joint closest to the item handler provides an immobile configuration that is advantageous when the item handler grasps and lifts the item from the target area, while the telescopic joint furthest from the item handler can move freely, thus compensating for the movement of the vessel. As the item handler moves toward the storage area, the actuator on the storage area side switches from free-float mode to locked mode, and the actuator on the target area side switches from locked mode to free-float mode. Therefore, the length of the main boom is adjustable on the target area side, allowing for compensation for the movement of the vessel. On the other hand, the main boom remains stationary on the storage area side, facilitating the placement of items by the item handler within the storage area.

[0041] In one embodiment of the transport system according to the present invention, the article handler is movable relative to the transport boom and is equipped with an actuator for controlling the position of the article handler relative to the transport boom. An advantage of this embodiment is that the movement of the article handler mounted on the transport boom can be controlled for the transport of articles between the storage area and the target area. This also expands the range over which articles can be transported.

[0042] In one embodiment of the transport system according to the present invention, the length of the article handler is adjustable to facilitate the picking up or releasing of articles. For height adjustment, there should be sufficient clearance between the article and the floor on which it is placed. In an exemplary transport system, the clearance is designed to be 300 mm, thereby determining the height adjustment of the article handler to be at least 300 mm.

[0043] In one embodiment of the transport system according to the present invention, the article handler is configured to grasp or release the grip interface of the article. This facilitates the lifting process during transport, and the configuration is easily automated.

[0044] In a variation of the embodiment in which the article handler has a variable length, the article handler alternatively has a fixed length. In this embodiment, to ensure clearance between the article and the floor on which the article is placed, the floor (instead of the article handler) is provided with height adjustment to create the necessary clearance and allow the article handler to move the article along the transport boom. This, of course, applies to both the storage area and the target area. In further combinations, the length or height of both the article handler and the corresponding floor is adjustable.

[0045] In one embodiment of the transport system according to the present invention, the article handler includes a mechanical gripper for gripping the grip interface of the article. In one embodiment of the transport system according to the present invention, the article handler includes a vacuum head for gripping the grip interface of the article.

[0046] In one embodiment of the transport system, when an item is suspended from an item handler, the item handler is controllably rotatable to manipulate the orientation of the item. An advantage of this embodiment is that it facilitates the placement of the item in the target area or storage area. This process also speeds up the transport operation.

[0047] In one embodiment of the transport system according to the present invention, the system further comprises a transport device for receiving articles in a storage area and moving the articles within or outside the reach of an article handler. This embodiment of the transport system is advantageous when multiple articles are transported between a storage area and a target area. In the case of a transport system used to transport battery packs between a floating vessel and land, the transport device can facilitate further transport of battery packs from a land-based storage area to, for example, a charging station for charging used battery packs. A charging station for charging empty battery packs may be integrated with the land-based transport device. A transport device provided in a storage area on a floating vessel may be configured to be electrically connected to the electric motor of the floating vessel.

[0048] In one embodiment of the transport system according to the present invention, the system further comprises another transport device for receiving articles in a target area and moving the articles within or outside the reach of an article handler. This embodiment of the transport system is advantageous when multiple articles are transported between a storage area and a target area. In the case of a transport system used to transport battery packs between a floating vessel and land, the other transport device can facilitate further transport of battery packs from the land-based target area to, for example, a charging station for charging used battery packs. The charging station for charging empty battery packs may be integrated with the other transport device on land. The other transport device provided in the target area on the floating vessel may be configured to be electrically connected to the electric motor of the floating vessel.

[0049] In one embodiment of the transport system according to the present invention, the transport device and / or other transport device can be selected from the group consisting of a platform, a rotating carousel, a movable platform, a conveyor belt, a vehicle, a robotic storage facility, a forklift, a crane, and a rack and pinion system. As described above, this embodiment of the present invention is advantageous when multiple articles are transported between a storage area and a target area. In the case of a rotating carousel, the article handler is moved upward to release the articles by placing them in the empty space of the carousel and to create space between the articles and the article handler. The carousel then rotates, and the next article is placed under the article handler, allowing the article handler to grasp and lift it. Similarly, a conveyor belt can remove the transported articles from under the article handler and allow the next article to be transported to be placed under the article handler for the next transport operation. The movable platform may be movable in a direction substantially perpendicular to the direction in which articles are transported between the storage area and the target area.

[0050] In a further embodiment of the transport system according to the present invention, the transport device and / or another transport device comprises a housing for storing a plurality of articles, the housing comprising a plurality of doors. The housing protects the articles from adverse weather conditions such as wind and rain. The plurality of doors are opened so that an article handler may grasp the articles and lift them from the transport device or another transport device.

[0051] In a further embodiment of the transport system according to the present invention, one of the storage area and the target area is located on a floating vessel or floating platform. In the case of a floating vessel, the target area and the storage area should preferably be positioned so that the base supporting the main boom is not located on the vessel. Nevertheless, the base supporting the main boom can be located on the vessel, but in this case, the load on the vessel increases and the energy consumption during the vessel's operation increases. Still, this is possible if a large floating platform functions as the storage area, in which case this problem does not apply.

[0052] In another embodiment of the transport system according to the present invention, the other of the storage area and the target area is located on another floating vessel or floating platform. When one of the storage area or the target area is located on a floating vessel or platform, it would be advantageous for the system to have a mechanism for adjusting to tidal conditions and / or loading conditions of the floating vessel or platform. By locating the other of the storage area and the target area on another floating vessel or floating platform, adjustments to tidal conditions and / or loading conditions would become unnecessary.

[0053] In one embodiment of the transport system according to the present invention, the transport equipment Place The height is adjustable. In a further embodiment of the transport system, the height of another transport device is adjustable. This height adjustment allows for adaptation to tidal changes and / or loading conditions for floating vessels. Alternatively, this height adjustment may be used to bring goods within reach of the goods handler (i.e., to reduce the clearance between the goods and the floor) or to receive goods from the goods handler. This is particularly useful in embodiments where the length of the goods handler is not adjustable.

[0054] In a further embodiment of the transport system, the height of the pedestal is adjustable. This height adjustment allows for adaptation to tidal changes and / or loading conditions of the floating vessel.

[0055] In one embodiment of the transport system according to the present invention, the other of the storage area and the target area includes a support column configured to receive the end of the main boom or the vertical support column of the main boom. This embodiment is advantageous because it can further stabilize the mechanical connection between the main boom and the support column and simplifies the connection work between the main boom and the other of the storage area and the target area.

[0056] In one embodiment of the transport system according to the present invention, the vertical support is provided with a ball, and the other support of the storage area and target area is provided with a ball socket to form a ball joint together with the ball when in contact with the vertical support. The advantage of this embodiment is that the ball joint forms a pivotable connection between the two members while maintaining a mechanical connection between the vertical support and the other support of the storage area and target area.

[0057] In one embodiment of the transport system according to the present invention, the transport system further comprises a control system for controlling the transport system. It is possible to generate a fully automated system using this control system. The detailed description further discusses how to construct such a control system. [Brief explanation of the drawing]

[0058] Examples of embodiments described in the attached drawings are shown below. [Figure 1] Figure 1 shows a transport system in parking mode, in which the base is located in a land-based storage area and the target area is located on a floating vessel. [Figure 2] Figure 2 shows the transport system of Figure 1 in operation, with the main boom supported by a strut on a floating vessel and the goods handler being moved toward the target area. [Figure 3] Figure 3 shows the transport system of Figure 1 in operation, with the goods handler moved to the floating vessel and ready to pick up the goods to be transported. [Figure 4] Figure 4 shows the transport system of Figure 1 in operation, with an item handler lifting an item and the item being moved toward the land side. [Figure 5] Figure 5 shows the transport system of Figure 1 in operation, with an item handler lifting the item and the item ready to be moved to the land side and placed in the storage area. [Figure 6]Figure 6 shows an alternative transport system in which the transport boom is integrated with the main boom. [Figure 7] Figure 7 shows an alternative transportation system, in which the transportation device includes a movable platform. [Figure 8] Figure 8 shows the transport system from Figure 7 in parking mode. [Figure 9] Figure 9 shows the transport system of Figure 7 in operation, with the main boom rotating, the platform rising, and the main boom extended. [Figure 10] Figure 10 shows the transport system of Figure 7 in operation, where the platform moves perpendicular to the direction of transport of the goods, the goods handler lifts the goods, and the goods are between the storage area and the target area. [Figure 11] Figure 11 is a diagram showing the transport system of Figure 7 in operation, in which goods are transported by an goods handler. [Figure 12] Figure 12 shows the flow of an automated transport system for exchanging battery packs between land and a floating vessel. [Modes for carrying out the invention]

[0059] [Detailed explanation] The following describes various exemplary embodiments of the subject matter. For clarity, this specification does not describe all features of actual implementations. Needless to say, it will be understood that in the development of these actual embodiments, numerous implementation-specific decisions will have to be made, such as adhering to different system and business relationship constraints in each implementation, in order to achieve the developer's specific objectives. Furthermore, it will be understood that while such development efforts may be complex and time-consuming, they may still be routine activities for those skilled in the art who benefit from this disclosure.

[0060] The subject matter of this publication will be described with reference to the accompanying drawings. In the drawings, various systems, structures, and apparatus are depicted schematically, solely for the purpose of explanation and in order not to obscure the publication with details that are well known to those skilled in the art. However, the accompanying drawings are provided to illustrate and illustrate examples of the publication. The terms and phrases used herein should be understood and interpreted as having meanings consistent with those skilled in the art in the relevant art. No special definition of a term or phrase, that is, a definition different from the ordinary and customary meaning as understood by those skilled in the art, is implied by the consistent use of terms and phrases herein. Where a term or phrase is intended to have a special meaning, that is, a meaning other than that understood by those skilled in the art, such a special definition is clearly described herein in a definitive manner that directly and explicitly gives the special definition of the term or phrase.

[0061] The present invention will be discussed in more detail with reference to the drawings. The drawings will be discussed primarily where they differ from prior drawings. Figure 1 shows a transport system 1 according to one embodiment of the present invention. The transport system 1 is constructed to transport goods 6 between a storage area 4, herein a land or pier 3, and a target area 5, herein a floating vessel 2 such as a ferry. In the illustrated example, the storage area is located on the pier or land 3. In this embodiment, the goods are battery packs. However, the present invention may also be used to transport any other type of cargo. Furthermore, in this embodiment, the transport system 1 is used to exchange an empty battery pack 6 located in the target area 5 for a fully charged battery pack 6 located in the storage area 4. The battery packs 6 are stored on a transport device 30 on the storage area 4 and on another transport device 31 in the target area 5. In this embodiment, the two transport devices 30, 31 comprise a rotating carousel. The transport system 1 further comprises a base 10 located in the storage area 4 and a main boom 11 pivotably connected to the base 10.

[0062] Figure 1 shows the transport system 1 in a parking position, with the main boom 11 retracted to minimize the volume of the main boom 11. In the parking position, the main boom 11 is parallel to the ground 3. The transport system 1 further comprises a transport boom 12 connected to the main boom 11. The main boom 11 and the transport boom 11 extend in the same direction. In the parking position, to minimize the volume of the main boom 11, the transport boom 12 can be retracted into a receiving section of the main boom 11 that receives the transport boom 12. An item handler 13 is connected to the transport boom 12, is movable along the transport boom 12, and is configured to handle a battery pack 6 for transport between the storage area 4 and the target area 5.

[0063] Figure 2 shows the transport system 1 of Figure 1 in operation. The main boom 11 is rotated 90 degrees in the substantial horizontal plane compared to its position in parking mode and extends toward the floating vessel 2. The carousel 30 and the pedestal 30 are raised compared to their respective positions in parking mode. The main boom 11 comprises three sections 19-1, 19-2, and 19-3 connected by two telescopic joints 20, i.e., 20-1 and 20-2.

[0064] In Figure 2, the inner portion 19-1 is connected to the central portion 19-2 by an inner telescopic joint 20-1, and the opposite side of the central portion 19-2 is connected to the outer portion 19-3 by an outer telescopic joint 20-2. Both joints 20-1 and 20-2 extend so that the far end 11e of the main boom 11 is positioned above the target area 5. In this embodiment, the far end 11e is provided with an extendable vertical support 14. The target area 5 is provided with a support 32 configured to receive the vertical support 14.

[0065] The extendable vertical support 14 is supported by the support 32 and together with the support 32 forms a pivotable joint. In other words, these parts together form a ball joint 33. This pivotable joint allows the floating vessel 2 to reliably and freely pitch and roll. The transport system 1 further includes a tilt actuator 24 between the base 10 and the main boom 11. When the vertical support 14 is supported by the support 32 on the floating vessel 2, the tilt actuator 24 is in free-float mode so that the main boom 11 can reliably and freely pivot in accordance with the vertical movement of the floating vessel 2. The pivotable joint between the extendable vertical support 14 and the support 32, and the pivotable joint between the main boom 11 and the base 10, allow the system to withstand the movement of the vessel without translational motion of the vertical support relative to the support 32 and translational motion of the main boom 11 relative to the base 10.

[0066] Each telescopic joint 20 is controlled by a telescopic actuator 22. The telescopic actuators 22 are parallel to the main boom 11. One end of the inner telescopic actuator 22-1 is connected to the inner section 19-1, and the other end of the inner telescopic actuator 22-1 is connected to the central section 19-2. Similarly, one end of the outer telescopic actuator 22-2 is connected to the central section 19-2, and the other end of the outer telescopic actuator 22-2 is connected to the outer section 19-3. Each telescopic actuator 22 can fix the position of the corresponding telescopic joint 20, or, in free-float mode, allow the passive movement of the corresponding telescopic joint 20 of the main boom 11.

[0067] When the item handler 13 approaches the far end 11e of the main boom 11 more closely than the base 10, the outer telescopic actuator 22-2 enters lock mode, while the inner telescopic actuator 22-1 enters free-float mode. This ensures that movement between the item handler 13 and the target area 5 is minimized when the item handler 13 approaches the floating vessel 2, making it easier to grasp and lift the battery pack 6 from the carousel 31. At the same time, the permissible passive movement of the inner telescopic joint 20-1 can compensate for the movement of the floating vessel 2.

[0068] In Figure 2, the transport boom 12 is equipped with rails and connected to the main boom 11 by two couplings 15. The transport boom 12 is slidable relative to the main boom 11. One coupling 15 is a linear actuator 15a for the transport boom 12, configured to move the transport boom 12 back and forth relative to the main boom 11. The linear actuator 15a is connected to the central section 19-2, while the other coupling 15 is a slidable coupling 15b that connects the transport boom 12 to the outer section 19-3, ensuring that the transport boom 12 can move along the outer section 19-3 on the main boom 11.

[0069] The article handler 13 is movable along the rails of the transport boom 12 and is equipped with an article handler actuator 23 for manipulating the position of the article handler 13 relative to the transport boom 12. In Figure 2, the article handler 13 and the transport boom 12 are moving toward the floating vessel 2 in the direction D1. The actuators 22, 23, and 24 may be hydraulic cylinders or electric actuators such as linear actuators.

[0070] Figure 3 shows the transport system 1 of Figure 1 in operation. Here, the transport boom 12 and the article handler 13 move relative to the main boom 11 so that the article handler 13 is positioned above an empty battery pack 6 located in a carousel 31 in a target area 5 on the floating vessel 2. The article handler 13 is configured to have a locking system 26 configured to grip and release the grip interface 25 of the battery pack 6. The article handler 13 is lowered in the D2 direction so that the locking system 26 may be fixed on the grip interface 25. The lowering and raising of the article handler 13 can be controlled, for example, by a system with a hydraulic cylinder or a jack system. As already mentioned in the introduction of this specification, in an alternative embodiment, the article handler 13 is not lowered or raised, but rather its length is fixed, while the height of the corresponding “floor” on which the battery pack (article) 6 is placed or to be placed is adjustable, and the article handler 13 only needs to grip and release the battery pack 6. The locking system 26 of the article handler 13 may be equipped with a mechanical gripper or vacuum head for gripping the grip interface 25.

[0071] Figure 4 shows the transport system 1. Here, the goods handler 13 lifts the battery pack 6, and the goods handler 13 carrying the battery pack 6 is moved toward land 3 in direction D3. At the same time, the transport boom 12 is also moved toward direction D3. When the goods handler 13 is closer to the base 10 than the far end 11e of the main boom 11, the inner telescopic actuator 22-1 switches from free float mode to locked mode. Conversely, the outer telescopic actuator 22-2 switches from locked mode to free float mode so that the outer telescopic joint 20-2 can move passively and compensate for the movement of the floating vessel 2. The locked position of the inner telescopic joint 20-1 allows for minimal movement between the goods handler 13 carrying the empty battery pack 6 and the carousel 30 located on land 3. When the item handler 13 carrying the battery pack 6 is moved toward the storage area 4, the item handler 13 can manipulate the orientation of the battery pack 6 to facilitate its placement on the storage area 4.

[0072] Figure 5 shows the transport system 1. Here, the transport boom 12 and the item handler 13 are moved relative to the main boom 11 so that the item handler 13, which will carry the battery pack 6, is positioned above the open space on the carousel 30. Both the transport boom 12 and the item handler 13 have moved further toward the base 10 compared to their respective positions shown in Figure 4. The item handler 13 is lowered in direction D4 to place the empty battery pack 6 on the carousel 30. The locking system 26 releases the grip interface 25 of the battery pack 6. The item handler 13 is retracted upward and ready to grasp and lift the new fully charged battery pack 6 to be transported to the floating vessel 2. In this embodiment, the carousel 30 is rotatable about a vertical central axis, as shown in Figure 5 as rotation direction R1. The carousel 30 can rotate to position the fully charged battery pack 6 beneath the item handler 13. Subsequently, the item handler 13 is lowered again and secured to the grip interface 25 of the fully charged battery pack 6, and the transport operation described above can be used to move the battery pack 6 to the target area 5 of the floating vessel 2. Once all transport operations are complete, the vertical support 14 is retracted from the support 32, the telescopic joint 20 is reduced to minimize the width of the main boom 11, and the main boom 11 can rotate back to the parking position shown in Figure 1.

[0073] Figure 6 shows another embodiment of the transport system 1. In this embodiment, the main boom 11 comprises five sections 19-4, 19-5, 19-6, 19-7, and 19-8 connected by four telescopic joints 20-3, 20-4, 20-5, and 20-6. In this figure, as shown, the first section 19-4 is connected to the second section 19-5 by the first telescopic joint 20-3, the second section 19-5 is connected to the third section 19-6 by the second telescopic joint 20-4, the third section 19-6 is connected to the fourth section 19-7 by the third telescopic joint 20-5, and the fourth section 19-7 is connected to the fifth section 19-8 by the fourth telescopic joint 20-6. The telescopic joints 20-3, 20-4, 20-5, and 20-6 can be extended and retracted using hydraulic cylinders or other types of actuators. Actuators may be located on the sides of the main boom 11, on the top of the main boom 11 as shown in Figures 1 to 5, or inside sections 19-4, 19-5, 19-6, 19-7, and 19-8. In this embodiment, the transport boom 12 is integrated with the third section 19-6 so as to be immovable relative to the third section 19-6. The item handler 13 can be moved along the transport boom 12. In this embodiment, the span length of the main boom 11 is adjustable as described above. The main boom 11 is also supported in both the storage area 4 and the target area 5. The reason for having more telescopic joints 20 in this embodiment is to ensure that the item handler 13 has sufficient length to pick up the items 6. Having more telescopic joints 20 on each side increases the mobility of the third section 19-6.

[0074] The embodiment shown in Figure 6 may be implemented as follows: When the article handler 13 approaches the target area 5, the fourth telescopic joint 20-6 is in the locked position, while the first telescopic joint 20-3 is in free-float mode. When the article handler 13 is moved toward the target area 5, the third section 19-6 is moved toward the far end 11e of the main boom 11. The second and third telescopic joints 20-4, 20-5 are locked when the third section 19-6 is positioned appropriately to be above any position on the carousel 31 in order to either grasp and lift the battery pack 6 or place the battery pack 6 on the carousel 31 and release it.

[0075] On the one hand, when the item handler 13 is close to the storage area 4, the first telescopic joint 20-3 is in the locked position, while the fourth telescopic joint 20-6 is in free-float mode. Similarly, when the item handler 13 is moved toward the storage area 4, the third section 19-6 is moved toward the base 10. When the item handler 13 is close to the storage area 4, the first telescopic joint 20-3 is in the locked position, while the fourth telescopic joint 20-6 is in free-float mode. The second and third telescopic joints 20-4, 20-5 are locked when the third section 19-6 is positioned appropriately to be above any position on the carousel 30 in order to either grasp and lift the battery pack 6 or place the battery pack 6 on the carousel 30 and release it.

[0076] Furthermore, this embodiment provides another solution for supporting the far end 11e of the main boom 11 over the target area 5. The vertical support 14 is operably provided, but in other respects, the components and functionality of the vertical support 14 are identical to those of the vertical support 14 described in Figures 1 to 5. The vertical support 14 is lowered so as to enter the interior of the support 32 over the target area 5. The vertical support 14 is controlled by a support actuator 45 (provided here as a cylindrical piston rod).

[0077] When the fourth telescopic joint 20-6 is in the locked position, the support actuator 45 is also in the same position, thereby ensuring a stable structure between the item handler 13 and the target area 5. When the support actuator 45 is in the locked position, the tilt actuator 24 is in free-float mode, which, along with the passive operation of the first telescopic joint 20-3, ensures that the floating vessel 2 can roll, pitch, move up and down, and move freely. Similarly, when the first telescopic joint 20-3 is in the locked position, the tilt actuator 24 between the base 10 and the main boom 11 is also in the locked position. This ensures a stable structure between the item handler 13 and the storage area 4. The support actuator 45 and the fourth telescopic joint 20-6 are then in free-float mode, allowing the system to compensate for the movement of the floating vessel 2.

[0078] When the item handler 13 carrying the battery pack 6 is moved between the storage area 4 and the target area 5, the item handler 13 can manipulate the orientation of the battery pack 6 to facilitate its placement on the carousels 30, 31. The actuators 24, 45 may be hydraulic cylinders or may be electrically driven.

[0079] The components of the transport system shown in Figures 1 to 6 may have the following approximate dimensions. The length of the main boom 11 in the parking position may be 6.5 m, and the length of the main boom 11 when the telescopic joint 20 is fully extended may be 13 m. The length of the inner section 19-1 may be 5 m, and the lengths of the central section 19-2 and the outer section 19-3 may be 4 m. The length of the transport boom 12 may be 6 m. The total height of the base 10 and the main boom 11 may be approximately 7 m. The height of the vertical support 14 when fully extended may be up to 1 m, and the height of the support 32 may be 2.5 m. The diameter of the item handler 13 may be 1 m, and its height may be 1.5 m. The battery pack 6 may be 2.5 m long, 1.6 m wide, and 1.7 m high, and may weigh 10 tons. The diameter of the rotating carousels 30 and 31 may be 5.1 m.

[0080] Figures 7 to 11 show an alternative transport system 1, in which the transport device on land 3 comprises a platform 60. Figure 7 shows the transport system 1 and a floating vessel 2 approaching land 3 where the storage area 4 is located. The battery pack 6 is stored on the platform 60 on land 3 and in a rotating carousel 31 on the floating vessel 2. Similar to the previously discussed embodiment, the far end 11e of the main boom 11 is provided with a vertical support 14, and the target area 5 on the floating vessel 2 is provided with a support 32 configured to receive the vertical support 14. The vertical support 14 is supported by the support 32 and together with the support 32 forms a pivotable joint.

[0081] Figure 8 shows the transport system 1 in parking mode. The main boom 11 is reduced in size to minimize its volume. In the parking position, the main boom 11 is parallel to the ground 3.

[0082] The platform 60 includes a lift mechanism 61 configured to raise and lower the platform 60. As shown in Figures 8 to 11, the lift mechanism 61 may raise and lower the platform along a vertical beam 63. In another example, the platform may be raised and lowered by another lift mechanism, such as a scissor lift. When the transport system 1 is in parking mode, the platform 60 is in the lowered position.

[0083] The transport device further comprises a housing 51 connected to a lift mechanism 61 so that the housing 51 may be raised and lowered together with the platform 60. The housing 51 may also be fixed to the platform 60. The housing 51 may protect the battery pack 6 from, for example, wind and rain during storage and charging of the battery pack 6. The housing 51 comprises two sliding intermediate doors 52 which are closed when the transport system 1 is in parking mode.

[0084] Figure 9 shows the transport system 1 in operation. The main boom 11 is rotated 90 degrees in a substantially horizontal plane compared to its position in parking mode and extends toward the floating vessel 2 (not shown here). The transport boom 12 is connected to the main boom 11, and the item handler 13 is connected to the transport boom 12 and is movable along the transport boom 12, configured to handle the transport of battery packs 6 between the storage area 4 and the target area 5.

[0085] In Figure 9, the lift mechanism 61 raises the platform 60 to approximately the same height as the carousel 31 (not shown) on the floating vessel 2. The intermediate door 52 is opened so that an empty slot for a battery pack is available to receive the battery pack 6 being transported by the goods handler 13. Thus, empty battery packs 6 being transported from the floating vessel 2 may be received in the intermediate slot of the platform 60 when the intermediate door 52 is open.

[0086] As shown in Figure 10, the platform 60 further comprises a sliding plate 62. The sliding plate 62 is slidable relative to the lift plate 61 and the housing 51 and is movable in a direction substantially perpendicular to the direction of transporting the battery pack 6 between the land 3 and the target area 5 on the floating vessel 2 (not shown here).

[0087] The housing 51 further comprises side doors 53. As shown in Figure 10, the side doors 53 located at each end of the housing 51 are connected to a sliding plate 62 such that the side doors 53 are movable relative to the housing 51 together with the sliding plate 62. The sliding plate 62 may move the battery pack 6 into the gap between the intermediate doors 52 so that the battery pack 6 is located below the main boom 11 (see Figure 10). In this way, the battery pack 6 becomes available for pickup by the transport handler 13. The item handler 13 is equipped with a locking system 26 having a mechanical gripper for gripping the grip interface 25 of the battery pack 6. The sliding plate 62 may move an empty slot on the platform 60 into the gap between the intermediate doors 52 so that the empty slot is located below the main boom 11. In this way, the empty slot may become available for receiving the battery pack 6 transported along the transport boom 12 by the item handler 13.

[0088] Figure 11 shows the battery pack 6 being transported by the item handler 13. The exchange of empty battery packs 6 transported from the floating vessel 2 with fully charged battery packs 6 stored on the platform 60 may be carried out as follows: When the floating vessel 2 is moored next to the storage area 4 on land 3, the pedestal 10 and platform 60 are raised to an appropriate height, the main boom 11 extends toward the floating vessel 2, and the vertical support 14 forms a pivotable joint with the support 32 on the target area 5 of the vessel 2. In this embodiment, the carousel 31 on the floating vessel 2 stores two battery packs 6 to be exchanged for the two fully charged battery packs 6 in the storage area 4.

[0089] The sliding intermediate door 52 opens so that an empty slot for the battery pack 6 is exposed in the center of the platform 60. The item handler 13 moves toward the carousel 31 on the floating vessel 2. When the item handler 13 is positioned above the first empty battery pack 6, the item handler 13 is lowered so that the locking system 26 grips the grip interface 25 of the first empty battery pack 6. The item handler 13 is raised and moved toward the platform 60 on land 3. The battery pack 6 may be lifted only a short distance from the carousel 31 to ensure sufficient space before being transported toward the platform 60. As described above, while the item handler 13 is moving along the transport boom 12, the telescopic joint of the main boom 11, the pivotable joint between the main boom 11 and the base 10, and the pivotable joint between the vertical column 14 and the column 32 switch between locked mode and free-float mode.

[0090] When the goods handler 13 carrying the first empty battery pack 6 arrives at the empty slot in the center of the platform 60, the goods handler 13 is lowered so that the first empty battery pack 6 transported from the floating vessel 2 is placed in the empty slot.

[0091] The item handler 13 is then moved upward to create space from the platform 60. The sliding plate 62 is moved to the left so that the first fully charged battery pack 6, located at the right end of the platform 60, is positioned below the main boom 11 between the open intermediate doors 52.

[0092] The item handler 13 is lowered so that the locking system 26 grips the grip interface 25 of the first fully charged battery pack 6. The item handler 13 is raised and moved toward the carousel 31 on the floating vessel 2. The battery pack 6 may be lifted only a short distance from the platform 60 to ensure sufficient space before being transported toward the carousel 31.

[0093] When the item handler 13 carrying the first fully charged battery pack 6 arrives at an empty slot on the carousel 31 (where the first empty battery pack 6 was previously stored), the item handler 13 is lowered so that the first fully charged battery pack 6 is placed in the empty slot on the carousel 31.

[0094] Then, the item handler 13 is moved upward from the carousel 31 to make space for it. The carousel 31 is rotated so that the second empty battery pack 6 is positioned below the item handler 13.

[0095] The item handler 13 is lowered so that the locking system 26 grips the grip interface 25 of the second empty battery pack 6. The item handler 13 is raised and moved toward the platform 60 on the land 3.

[0096] When the goods handler 13 carrying the second empty battery pack 6 arrives at an empty slot between the open intermediate doors 52 of the platform 60, the goods handler 13 is lowered so that the second empty battery pack 6 transported from the floating vessel 2 is placed in the empty slot.

[0097] Then, the item handler 13 is moved upward from the platform 60 to create space from the platform 60. The sliding plate 62 is moved to the right so that the second fully charged battery pack 6, located at the left end of the platform 60, is positioned below the main boom 11 between the open intermediate doors 52.

[0098] The item handler 13 is lowered so that the locking system 26 grips the grip interface 25 of the second fully charged battery pack 6. The item handler 13 is raised and moved toward the carousel 31 on the floating vessel 2.

[0099] When the item handler 13 carrying the second fully charged battery pack 6 arrives at an empty slot on the carousel 31 (where the second empty battery pack 6 was previously stored), the item handler 13 is lowered so that the second fully charged battery pack 6 is placed in the empty slot on the carousel 31.

[0100] Thus, the two empty battery packs 6 on the carousel 31 on the floating vessel 2 were replaced with two fully charged battery packs 6 transported from platform 6. At this point, transport device 1 may return to parking mode, and floating vessel 2 may depart from storage area 3.

[0101] In this embodiment, the carousel 31 on the floating vessel 2 stores two battery packs 6. However, more or fewer than two battery packs 6 may be stored in the carousel 31 on the floating vessel. Similarly, in this embodiment, the platform 60 stores two battery packs 6. More or fewer than two battery packs 6 may be stored in the platform 6 on land 3. The platform 60 in this embodiment has one empty slot for receiving a battery pack 6. The platform 60 may have one or more empty slots for receiving a battery pack 6. In another embodiment, the platform 60 may not have any empty slots, and the carousel 31 may have one or more empty slots for receiving a battery pack 6.

[0102] The specific embodiments disclosed above are merely for illustrative purposes, and the present invention may be modified and implemented in ways different from but equivalent to those disclosed, which would be obvious to a person skilled in the art who would benefit from the teachings of this disclosure. While the embodiments described in this disclosure relate to the transport of a battery pack 6 to and from a floating vessel 2, a person skilled in the art will understand that the systems and apparatus described in this disclosure may be used to transport any kind of article 6 between two areas, either located on land or on the same floating vessel or platform, or on two different floating vessels or platforms.

[0103] In the diagram, the storage area 4 is located on land 3 and the target area 5 is located on the floating vessel 2, but the reverse is also possible; the storage area 4 can be located on the floating vessel 2, and the target area 5 can be located on land 3. Although it is advantageous not to place the base 10 on the floating vessel 2 in order to minimize the load on the vessel 2, the base 10 can be located on either the storage area 4 or the target area 5.

[0104] The transport device and the base 10 may be surrounded by a barrier or fence. In the embodiments shown in Figures 1 to 6, the storage area 4 and the target area 5 are each equipped with transport devices in the form of rotating carousels 30 and 31. In another embodiment of the present invention, such transport devices may not be used, or only one of either the storage area 4 or the target area 5 may be used. The transport devices may also have alternative configurations such as the movable platform 60 shown in Figures 7 to 11, or conveyor belts, vehicles, or platforms. In the case of the transport system 1 used to transport battery packs 6 between the floating vessel 2 and land 3, the transport device on land 3 may also facilitate further transport of the battery packs 6 to a charging station for charging of used batteries, or the charging station may be integrated with the transport device on land 3. The transport device 31 on the storage area 4 or target area 5 on the floating vessel 2 may also be configured to be electrically connected to the electric motor of the floating vessel 2. The transport device may include mechanical guide elements to facilitate the placement of the battery packs 6 into the empty slots of the transport device.

[0105] In the embodiments shown in Figures 1 to 11, the main boom 11 is provided with a telescopic joint 20 for dynamic adjustment of the span of the main boom 11. In another embodiment of the present invention, the main boom 11 may comprise a first sub-boom and a second sub-boom pivotably connected to the first sub-boom to allow adjustment of the span of the main boom. The main boom 11 may be foldable, for example, vertically or horizontally. A vertically foldable main boom may be a knuckle boom.

[0106] In the above description, the article 6 to be transported is referred to as a battery pack 6. Those skilled in the art will understand that the transport system 1 can be used to transport any kind of article 6, such as, but not limited to, weight modules or hydrogen tanks. The function of the article handler 13 is independent of the locking system 26 or the grip interface 25 of the article 6. The article handler 13 can be a docking head, a remotely operated vehicle (ROV), a docking hook, a docking bar, a docking claw, a docking mushroom, a vacuum suction cup, a vacuum head, a docking mechanism, a cargo actuator, a movable trolley, a load actuator, a robotic gripper, a robotic arm, an automatic hook, a magnetic head, and a latching mechanism.

[0107] In embodiments of the transport system 1 according to the present invention, the transport system 1 further comprises a control system for controlling the transport system. It is possible to generate a fully automated system utilizing this control system. Using the embodiments of the transport system 1 shown in Figures 1 to 11, the transport system 1 can be used to exchange an empty battery pack 6 on a floating vessel 2 with a fully charged battery pack 6 on land 3. The transport system 1 shown in Figures 1 to 5 may be operated using the control system according to the steps shown in the flowchart in Figure 12.

[0108] The first step 100 is equipped with a pre-arrival signal from the floating vessel 2, which activates the mechanical power system of the transport system 1 5 to 10 minutes before the vessel 2 arrives on land 3. Upon receiving the pre-arrival signal, the carousel 30 and pedestal 10, located on the storage area 4 on land 3, are raised to an appropriate height based on the tides and the loading conditions of the floating vessel 2, so that the carousel 30 is at the same height as the carousel 31 on the floating vessel 2. The main boom 11 rotates 90 degrees from its parking position toward the sea surface in a substantially horizontal plane.

[0109] The next step 101 includes a control system that receives an automatic signal from the floating vessel 2 when the floating vessel 2 is anchored on land 3. This signal is confirmed by the bridge crew of the vessel 2 when the vessel 2 is safely anchored in the correct position along the land. The control system initiates the extension of the main boom 11 by extending two telescopic joints, thereby positioning the vertical support 14 above the support 32 on the target area 5 on the floating vessel 2. The control system initiates the extension of the vertical support 14 toward the support 32.

[0110] In step 102, sensor signals from the vertical support 14 supported by the support column 32 cause the internal telescopic actuator 22-1 and the tilt actuator 24 to switch to free float mode, and the external telescopic actuator 22-2 to switch to locked mode. The control system then initiates the movement of the item handler 13 above the empty battery pack 6 being lifted from the vessel 2 in the target area 5.

[0111] In the next step 103, a sensor (not shown) on the item handler 13 or the battery pack 6 determines the correct position to the control system, and the control system starts the item handler 13 so that it descends and is secured to the grip interface 25 of the battery pack 6 using the locking system 26. The item handler 13 lifts the battery pack 6 from the carousel 31. The sensor that determines the correct position may be a camera, proximity sensor, or laser, as known from the prior art.

[0112] In the next step 104, the item handler 13 is moved along the transport boom 12. As the item handler 13 and the battery pack 6 suspended from the item handler 13 move across the main boom 11, a signal is sent to the control system, which causes the outer telescopic actuator 22-2 to switch from locked mode to free-float mode and the inner telescopic actuator 22-1 to switch from free-float mode to locked mode. The orientation of the item handler 13 may be changed so that the battery pack 6 suspended from the item handler 13 is oriented correctly in its placement on the carousel 30 on land 2. The item handler 13, along with the empty battery pack 6, is moved to a position above an empty slot on the carousel 30.

[0113] In step 105, the sensor on the item handler 13 or the battery pack 6 confirms the correct position to the control system, and the control system starts the item handler 13 so that the item handler 13 descends and releases the grip interface 25 of the battery pack 6 in order to place the battery pack 6 in an empty slot on the carousel 30.

[0114] In the next step 106, the item handler 13 is retracted, creating vertical space towards the top of the empty battery pack 6. The control system then signals the carousel 30 to rotate in order to align the fully charged battery pack 6 with the item handler 13. In embodiments where three battery packs 6 are arranged on the carousel 30, the carousel 30 must rotate 120 degrees.

[0115] In a further step 107, the sensor on the item handler 13 or the battery pack 6 confirms the correct position to the control system, and the control system starts the item handler 13 so that it is lowered and secured to the grip interface 25 of the fully charged battery pack 6 using the locking system 26. The item handler 13 lifts the fully charged battery pack 6 from the carousel 30.

[0116] In the next step 108, the item handler 13 is moved along the transport boom 12. As the item handler 13 and the fully charged battery pack 6 suspended from the item handler 13 move across the main boom 11, a signal is sent to the control system, which causes the inner telescopic actuator 22-1 to switch from locked mode to free-float mode and the outer telescopic actuator 22-2 to switch from free-float mode to locked mode. The item handler 13, along with the fully charged battery pack 6, is moved to a position above an empty slot on the carousel 31.

[0117] Step 109 includes a sensor on the item handler 13 or battery pack 6 for the control system to determine the correct position, and the control system starts the item handler 13 so that the item handler 13 is lowered, the grip interface 25 of the battery pack 6 is released, and the battery pack 6 is placed in an empty slot on the carousel 31.

[0118] In the next step 110, the item handler 13 is retracted, creating vertical space towards the top of the fully charged battery pack 6. One empty battery pack 6 can be replaced with a fully charged battery pack 6, and the operation can be completed, or the cycle can be repeated.

[0119] In the final step 111, the item handler 13 is moved toward the base 10, the vertical support 14 is retracted, all sections 19 are retracted, the transport boom 12 is retracted into the receiving part of the main boom 11, and the main boom 11 is rotated to the parking position as shown in Figure 1.

[0120] To transport further battery packs 6, step 112 includes a control system that sends a signal to the carousel 31 to rotate the carousel 31 so that it aligns with a second empty battery pack 6 and the item handler 13. In embodiments where two battery packs 6 are placed on the carousel 31, the carousel 31 must be rotated 180 degrees. Steps 103 to 110 can be repeated until all empty battery packs 6 are replaced with fully charged battery packs 6.

[0121] Those skilled in the art may readily find alternative solutions to the transport system. The present invention encompasses all such modifications, insofar as they are included in the independent claims. No limitation is intended in the structural or design details described herein other than those set forth in the following claims. Therefore, it is evident that any specific embodiment disclosed above may be modified or altered, and that all such modifications are considered to fall within the scope of the present invention. Accordingly, the protections sought herein are as set forth in the following claims.

[0122] The embodiments described above illustrate the invention rather than limit it, and it should be noted that those skilled in the art can design many alternative embodiments without departing from the scope of the appended claims. In the claims, no reference numerals in parentheses are construed as limiting to the claims. The use of the verb "to provide" and its conjugations does not exclude the existence of elements or processes other than those described in the claims. The singular article preceding an element does not exclude the existence of multiple elements. The mere fact that multiple means are described in different dependent claims does not indicate that combinations of those means cannot be used advantageously. The invention may be carried out by hardware comprising several distinctly different elements, or by a appropriately programmed computer. In a device claim listing several means, some of these means may be embodied by one and the same item of hardware.

Claims

1. A transport system (1) for transporting an article (6) back and forth between a storage area (4) and a target area (5), wherein the transport system (1) is A base (10) is installed on one of the storage area (4) and the target area (5), A main boom (11) pivotably connected to the base (10), having a far end (11e) configured to be supported by the other of the storage area (4) and the target area (5), while allowing at least one rotational degree of freedom between the other of the storage area (4) and the target area (5), and having a span length that is passively adjustable, telescopic or foldable, at least during the first operating mode of the transport system, A transport boom (12) connected to the main boom (11) and moving horizontally from the storage area to the target area when in operation, the transport boom (12) extending in the same direction as the main boom (11) and mounted so as to be movable along the main boom (11) within the length range of the main boom, The system includes an article handler (13) which is movable along or by the transport boom (12) and configured to handle the article (6) being transported between the storage area (4) and the target area (5), Transportation system (1).

2. A transport system (1) according to claim 1, The transport boom (12) and the main boom (11) are further provided with at least two joints (15), A transport system (1) wherein at least one of the joints (15) is configured to actuate the transport boom (12) in order to adapt the position of the transport boom (12) to the main boom (11).

3. A transport system (1) according to claim 1 or claim 2, The transport system (1) comprises a main boom (11) whose far end (11e) is fitted with a vertical support column (14) which is installed in the other of the storage area (4) and the target area (5).

4. A transport system (1) according to claim 1 or claim 2, The main boom (11) comprises a first sub-boom and a second sub-boom that allow adjustment of the span of the main boom (11), The second sub-boom is pivotably connected to the first sub-boom. The transport system (1) is characterized by a main boom (11) that is foldable vertically or horizontally.

5. A transport system (1) according to claim 1 or claim 2, The transport system (1) comprises a main boom (11) and at least one telescopic joint (20) that allows adjustment of the span of the main boom (11).

6. A transport system (1) according to claim 1 or claim 2, A transport system (1) comprising an article handler actuator (23) for controlling the position of the article handler (13) relative to the transport boom (12).

7. A transport system (1) according to claim 1 or claim 2, The transport system (1) is configured such that the article handler (13) grasps or releases the grip interface (25) of the article (6).

8. A transport system (1) according to claim 1 or claim 2, The transport system (1) is such that the article handler (13) is controllably rotatable to control the orientation of the article (6) when the article (6) is suspended from the article handler.

9. A transport system (1) according to claim 1 or claim 2, A transport system (1) further comprising transport devices (30, 31, 60) for receiving the articles (6) in the storage area (4) and moving the articles (6) within or outside the reach of the article handler (13).

10. A transport system (1) according to claim 1 or claim 2, A transport system (1) further comprising other transport devices (30, 31, 60) for receiving the article (6) in the target area (5) and moving the article (6) within or outside the reach of the article handler (13).

11. A transport system (1) according to claim 1 or claim 2, A transport system (1) in which one of the storage area (4) and the target area (5) is positioned on a floating vessel (2) or a floating platform.

12. The transport system (1) according to claim 9, The height of the transport device (30) is adjustable in the transport system (1).

13. The transport system (1) according to claim 10, The height of the aforementioned other transport device (31) is adjustable in the transport system (1).

14. A transport system (1) according to claim 1 or claim 2, The transport system (1) comprises a support column (32) configured to receive the far end (11e) of the main boom (11) or the vertical support column (14) of the main boom (11) in the other of the storage area (4) and the target area (5).

Images